An Analysis on the Influence of Interface Inductor to

STATCOM system with Phase-shift Control and

Corresponding Design Considerations
Guopeng ZHAO, Jinjun LIU and Zhaoan WANG
School of Electrical Engineering, Xian Jiaotong University, Xian, 710049, China
guopengzhao@ieee.org Tel/Fax: (86-29) 82665223

Abstract- The design of the STATCOM interface inductor is

very important. Previous publications regarding the design and
specification of interface inductors for STATCOM usually deal
with the interface inductor only, and seldom pay attention to the
influence of interface inductor to STATCOM system performance.
In this paper a detailed analysis on the interface inductor influence
to STATCOM system and corresponding design consideration is
presented. In STATCOM system, especially in high voltage and
power situation, two basic control methods are used. One is
phase-shift control, and the other is Phase and Amplitude Control
(PAC). In this paper, the phase-shift control is considered as the
STATCOM control strategy. First, the model of STATCOM is
carried out. Second, the transfer functions are presented. Through
frequency domain methods, such as transfer functions and Bode
plots, the influence of interface inductor on the STATCOM system
stability and filtering characteristics is extensively investigated.
Third, based on the analysis, the design considerations for
interface inductor are discussed, which leads to filter parameters
different to traditional design. All the computer simulation results
verified the validity of the above analysis and design.

I.

INTRODUCTION

Static Synchronous Compensator (STATCOM) is an

advanced reactive power compensator comparing with other
compensators. The compensator has been gaining wide
attentions in recent years [1-4]. There is a voltage source
converter connected to the grid through an interface inductor in
the STATCOM system. The interface inductor is a low pass
filter.
The design of the interface inductor is very important.
Previous publications regarding the design and specification of
interface inductor for STATCOM usually deal with the interface
inductor only [5, 6], and seldom pay attention to the influence of
interface inductor to STATCOM system performance. For
example, in [5, 6], the interface inductor must satisfy the ripple
current requirement, and, in [7], the voltage drop across the
inductor must be considered to design an interface inductor. In
practical application, the filtering performance is usually the
main aspect considered. And then, by using the experience of
practical application and many experimental results, the
parameters of the interface inductor are usually designed. But, it

,(((

is not enough. The influence of the interface inductor on the

STATCOM system performance is not considered, and with
different control algorithms the influences are different. How
will the interface inductor influence the stability of system?
How to design the interface inductor more reasonably and more
optimized?
In this paper, a detailed analysis on the interface inductor
influence to STATCOM system and corresponding design
consideration is presented. In STATCOM system, especially in
high voltage and power situation, two basic control methods are
used. One is phase-shift control [8-10], and the other is Phase
and Amplitude Control (PAC) [8]. In this paper, the phase-shift
control is considered as the STATCOM control strategy. First,
the model of STATCOM is carried out. Second, the transfer
functions are presented. Through frequency domain methods,
such as transfer functions and Bode plots, the influence of
interface inductor on the STATCOM system stability and
filtering characteristics is extensively investigated. Third, based
on the analysis, the design considerations for interface inductor
are discussed, which leads to filter parameters different to
traditional design. All the computer simulation results verified
the validity of the above analysis and design.
II.

SYSTEM CONFIGURATION

The main circuit of STATCOM is shown in Figure 1. The

variables are shown as follow. vsi (i a, b, c) source voltage, ii
output current, U dc DC side voltage, idc DC side current,
vi output voltage, Z R  jZ L impedance of inductor. The
losses of the STATCOM are regarded as the active power in the
resistor of the inductor [11].

vsc

vsb

vsa

ia

ib
ic

i dc

v1
v2
v3

Voltage
Source
Inverter


C

Udc

Figure 1. the main circuit of STATCOM

III.

SYSTEM MODEL AND CONTROL STRATEGY

The mathematical instantaneous three-phase model of

STATCOM [8] is shown as equation (1) and equation (2). Using
the transformation, equation (1) can be transformed to the

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,3(0&

synchronous reference frame as equation (3). With equation (4),

the system model can be carried out as equation (5).

id
d
iq
dt
u
dc

ia Ria v1 vsa
d
L ib  Rib v2  vsb
dt
ic Ric v3 vsc
d
1
udc  idc
dt
C
R

i  Ziq
d id 1 vd  vsd L d


dt iq L vq  vsq R
iq  Zid
L

3
udc idc
 vd id  vqiq 
2
vd kudc cos D
k
R

Z
cos D
L
L

id
R
k
1 v
Z

sin D iq  sd

L
L
L 0
3
udc
3

0
k cos D 
k sin D
2C

2C

where

KI
s

STATCOM
Main Circuit

Z sin D 0 R 3k  id0 sin D 0  iq0 cos D 0  sin D 0

 
,
L
cos D 0
2Cu dc0 cos D 0

R sin D 0
3k  id0 sin D 0  iq0 cos D 0  3k 2
Z

.

2Cu dc0
2CL
L cos D 0

(2)
(3)

s 2  as  b
R 2 3k 2
3Rk 2
2R 2
s3 
s  s 2 
 Z2 
2
L
L
CL
2

2CL

(4)

Vs
sin 2D 0
2R

id0

Vs
1  cos 2D 0 
2R

udc0

(6)

(8)

(9)

iq0

(5)

(10)

2 2Vs cos D 0  M 

(11)

k cos M

A. Inductive Compensation
The steady operation points are udc0=25kV, iq0=-4110A,
C=0.1F, L=3mH, =314, R=0.08, k=0.961, kp=0.00012, 0=
-2.37o, id0= -174 A. A 50MVA/10kV system is considered to
analyze.
When the controller is P controller, the pole-zero map and
Bode plots are shown in Figure 3 to Figure 5. From the figures,
the system is stable and the cut-off frequency of closed loop is
about 4Hz.
Pole-Zero Map

400

IQ

200
Imaginary Axis

Kp 

kP kudc0 cos D 0
L

(1)

So, the control diagram of the system can be obtained as

Figure 2. The interface inductor is related to the current loop.
When the interface inductor is designed, the stability of the
closed loop should be considered. The small signal model is
presented in equation (7). Where, the steady operation points are
udc0 , D 0 , id0 and iq0 .
I Q

G(s)

Figure 2. the phase-shift control diagram of the STATCOM

-200

(7)

-25

-20

-15
-10
Real Axis

-5

Figure 3. the pole-zero map (open loop)

Bode Diagram

Magnitude (dB)

40
20
0
-20
90

-90 -2
10

INFLUENCE OF INTERFACE INDUCTOR ON THE

STATCOM SYSTEM AND DESIGN METHOD

-1

10

10
10
Frequency (Hz)

10

10

Figure 4. the Bode plot (open loop)

Magnitude (dB)

The transfer function is shown in equation (8). From equation

(8), the small signal model is related to the steady operation
points, parameter L and parameter C. There are two types of
situations. One is inductive compensation, that is, the
STATCOM output current lags to the source voltage. The other
is capacitive compensation, that is, the STATCOM output
current leads to the source voltage. The relationships between
the steady operation points are shown in equations (9), (10) and
(11). Where, tan M Z L R .

Bode Diagram

0
-10
-20
-30
90
Phase (deg)

IV.

-400
-30

Phase (deg)

'id

'D
'i

1
q

2
2 3k 2 3Rk 2
R
'D

s
s
+s
Z




'udc

L
2CL 2CL2

'D

ku sin D
Z cos D
R cos D 0 3k  id0 sin D 0  iq0 cos D 0  3k 2
R 3k cos D 0  id0 sin D 0  iq0 cos D 0 
0 2
0
 dc0

s s
 
 Z 


2Cudc0 sin D 0
2Cudc0
2CL
L
L
L sin D 0

sin D 0

3k i sin D 0  iq0 cos D 0  sin D 0 R sin D 0

3k  id0 sin D 0  iq0 cos D 0  3k 2
kudc0 cos D 0 s 2  s Z sin D 0  R   d0


Z


L
cos D 0
L
2Cudc0 cos D 0
L cos D 0
2Cudc0
2CL

3k  i sin D  i cos D 

R
Z kudc0
2R
d0
0
q0
0
2
2

s  2 Z 
s 

2C
L

L
L  id0 sin D 0  iq0 cos D 0 

45
0
-45
-90
-1
10

10

10
10
Frequency (Hz)

10

10

Figure 5. the Bode plot (closed loop)

In traditional design process, when the model of system and

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parameters are known, then the P controller can be used to

design a closed loop system. However, the parameter of
interface inductor which is designed by using many methods
isnt precise enough. In design process, the change of interface
inductor isnt convenient. So, we should choose a proper
parameter of P controller, then, the influence of main circuit
parameters on system should be analyzed. It can provide a more
optimized method to design an interface inductor. In Figure 6 to
Figure 14, the influences of parameters 0, R, L and C on system
are presented.
Magnitude (dB)

0.80deg
1.35deg
1.83deg
2.37deg
3.50deg
4.80deg
5.50deg

Phase (deg)

-20

-15 -10
Real Axis

-5

L=0.5mH
L=1mH
L=2mH
L=3mH
L=6mH

-20
-40

L=0.5mH
L=1mH
L=2mH
L=3mH
L=6mH

45
0
-45

Imaginary Axis

Magnitude (dB)
Phase (deg)

-1

10

 0 = - 4.80 deg
 0 = - 2.37 deg
 0 = - 1.83 deg
 0 = - 1.35 deg
 0 = - 0.79 deg

-90

-1

10

10
10
Frequency (Hz)

Imaginary Axis

Magnitude (dB)

R=0.20
R=0.10
R=0.08
R=0.05

Phase (deg)

-60

-50

-40 -30
Real Axis

-20

-10

Bode Diagram

20
R=0.05
R=0.08
R=0.10
R=0.20

-40
90
R=0.20
R=0.10
R=0.08
R=0.05

45
0
-45

10

-2

10

-1

10
Frequency (Hz)

10

C=4700F
C=8000F
C=20000F
C=100000F
C=200000F

0
-10
-20

C=4700F
C=8000F
C=20000F
C=100000F
C=200000F

45
0
-45
-2

10

-1

10

10
10
Frequency (Hz)

10

10

Figure 13. open loop Bode plot (change C)

Figure 8. change R

-20

-5

Bode Diagram

10

-90 -3
10

40

-15
-10
Real Axis

20

-30
90

-200

-90
-3
10

-20

Figure 12. change C

-400
-70

-25

30

Pole-Zero Map

200

10

10

Figure 7. open loop Bode plot(change 0)

400

10

C=4700F
C=8000F
C=20000F
C=100000F
C=200000F

10

Pole-Zero Map

-500
-30

-180 -2
10

10
10
Frequency (Hz)

500

 0 = - 4.80 deg
 0 = - 2.37 deg
 0 = - 1.83 deg
 0 = - 1.35 deg
 0 = - 0.79 deg

-2

10

Figure 11. open loop Bode plot (change L)

Bode Diagram

-100
90

Bode Diagram

-90
-3
10

-25

-50
Real Axis

20

-60
90

50

Magnitude (dB)

-100

Figure 10. change L

Figure 6. change 0

Phase (deg)

-150

40

-400
-30

-50

L=0.5mH
L=1mH
L=2mH
L=3mH
L=10mH

Imaginary Axis

-400

-200

-200

 0= 0 =  0=  0=  0=  0=  0= -

200
Imaginary Axis

200

Pole-Zero Map

400

Pole-Zero Map

400

10

Figure 9. open loop Bode plot (change R)

10

From Figure 6 to Figure 14, the parameter R influences the

low frequency, and has a small influence on the system stability.
It can be neglected. The parameters L and C influence the high
frequency. With the change of parameters, there will appear two
Right-half Plane Zeroes. It is a non-minimum phase system
which isnt a satisfied situation because of many disadvantages,
for example, it leads to a step response undershoot [12]. So,
when a system is designed, we usually avoid appearing the
Right-half Plane Zero.
B. Capacitive Compensation
The pole-zero maps and Bode plots are shown in Figure 3 to
Figure 5. From the figures, the system is stable.

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Pole-Zero Map

200
Imaginary Axis

200
Imaginary Axis

Pole-Zero Map

400

R=0.20
R=0.01
R=0.08
R=0.05

400

-200

-200

-400
-30

-20

-10

-400
-70

-60

-50

-40 -30
Real Axis

Real Axis

Figure 14. the pole-zero map (open loop)

Bode Diagram

Magnitude (dB)

30
20
10
0

0
-20
90
45

0
-45
0

10
10
Frequency (Hz)

10

10

R=0.05
R=0.08
R=0.10
R=0.20

20

45

-1

R=0.20
R=0.10
R=0.08
R=0.05

0
-45
-90
-3
10

-2

10

10
10
Frequency (Hz)

10

10

Figure 20. open loop Bode plot (change R)

Figure 15. the Bode plot (open loop)

Bode Diagram

Pole-Zero Map

400

L= 0.5mH
L=1mH
L=2mH
L=3mH

300
-10

200
Imaginary Axis

Magnitude (dB)

-1

10

-20

-30
45
Phase (deg)

40

-10
90

10

-10

Bode Diagram

60

40

Phase (deg)

Phase (deg)

Magnitude (dB)

50

-90
-2
10

-20

Figure 19. change R

100
0
-100
-200

-300
-400
-150

-45

-100

-50

Real Axis
-90
-1
10

10

10
10
Frequency (Hz)

10

10

Figure 21. change L

Bode Diagram
Magnitude (dB)

Figure 16. the Bode plot (closed loop)

Pole-Zero Map
 0 =4.00deg
 0 =3.50deg
 0 =2.90deg
 0 =2.30deg
 0 =1.83deg
 0 =1.35deg
 0 =0.80deg

400
300

100

L=0.5mH
L=1mH
L=2mH
L=3mH

20
0
90

L=0.5mH
L=1mH
L=2mH
L=3mH

Phase (deg)

Imaginary Axis

200

40

-100
-200
-300
-400
-30

-25

-20

-15

-10

-5

45
0
-45
-90 -2
10

-1

10

Real Axis
Bode Diagram

500

 0 =0.79deg
 0 =1.83deg
 0 =2.30deg
 0 =3.50deg
 0 =4.00deg

Imaginary Axis

Magnitude (dB)

Phase (deg)

-50
90
 0 =0.79deg
 0 =1.83deg
 0 =2.30deg
 0 =3.50deg
 0 =4.00deg

-90
-2
10

10

C=4700F
C=8000F
C=20000F
C=100000F
C=200000F

-500
-30
1

10
10
Frequency (Hz)

10

Pole-Zero Map

-20

-10
Real Axis

-1

10

Figure 22. open loop Bode plot (change L)

Figure 17. change 0

50

10
10
Frequency (Hz)

10

Figure 23. change C

10

Figure 18. open loop Bode plot (change 0)

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Magnitude (dB)

40
30

C!

C=4700F
C=8000F
C=20000F
C=100000F
C=200000F

20
10
0

C=4700F
C=8000F
C=20000F
C=100000F
C=200000F

-10
90
Phase (deg)

of denominator (equation (16)).

Bode Diagram

50

45
0
-45
-90
-3
10

-2

-1

10

10

10
10
Frequency (Hz)

10

10

Bode Diagram
Magnitude (dB)

80
60
40
20

Phase (deg)

0
0

2Zudc0

(13)

Z sin D 0 R 3k  id0 sin D 0  iq0 cos D 0  sin D 0

 
!0
cos D 0
L
2Cudc0 cos D 0

(14)

R sin D 0
 id0 sin D 0  iq0 cos D 0  k
Z
 t0

udc0
L
L cos D 0

(15)

R sin D 0
3k  id0 sin D 0  iq0 cos D 0 
Z
Z2 d 0

2Cudc0
L cos D 0

Figure 24. open loop Bode plot (change C)

From Figure 17 to Figure 24, the parameter R has a small

influence on the system stability with P controller. It can be
neglected. The parameters L and C influence the high frequency.
With the change of parameters, there will appear two Right-half
Plane Zeroes.
When the controller is PI controller, the influence of
parameters on system is almost the same as P controller, because
the integration part only influences the low frequency
characteristic in Bode plots.
If the system has Right-half Plane Zeroes, the phase curve in
Bode plot may cross the 180 degrees. Then the system may
become unstable in Figure 25. In [8-10], the paper also
presented an unstable system which used an additional
non-linear control to solve the problem. However, if the system
stability was considered when the interface inductor was
designed, the problem may be solved, that is, the additional
non-linear control wasnt used. In equation (8), if the resonance
frequency of nominator is lower than the resonance frequency of
denominator, the system is stable.

3k iq0

(16)

The equations are complex, and they should be simplified.

First, if the system is no losses and inductive compensation, that
is, iq0>0, the system must satisfy equation (13) in order to be
stable. The parameters R and 0 are very small, so
iq0 cos D 0  id0 sin D 0 . The equations (14), (15) and (16) can be
simplified as equation (13) when the parameter id0 isnt too big.
The requirement to simplify the equations is that id0 is very small,
that is, 3kid0 cos D0  2Cudc0  must be very small. In general, the
requirement can be satisfied, so equation (13) can be used to
approximately choose the parameters. And, the bigger the
capacitor is, the better the stability is. Second, if the system is no
losses and capacitive compensation, that is, iq0<0, the system
must satisfy equation (17) in order to avoid Right-half Plane
Zero. The equations (14), (15) and (16) can be simplified as
equation (17) when the parameter id0 isnt too big. So, when it is
an inductive compensation, the equation is the approximate
method to choose the parameters. And, in practical application,
Z Liq0 is near the voltage drop across the interface inductor and
kudc0 is near the output voltage of inverter, so the equation (17)
is satisfied in general.
ku
(17)
L d  dc0
Ziq0
In one word, equation (13) can be used to approximately
design an inductive compensation system. More optimized
equations are shown in equation (14) to equation (16).

-45
-90
-135
-180
-225
-270
-2
10

10

-1

10
10
Frequency (Hz)

10

10

V.

Figure 25. open loop Bode plot with unstable system

In [13], the approximate resolutions of the characteristic

equation in transfer function are presented. Then the
characteristic equation can be expressed as equation (12).

3k 2
3k 2
(12)
2

3k

R
R
2
D ( s ) s  22CL
 Z 2
s  2  22 CL s 
3
k
3
k
L
L
2
CL
2
2

Z
 Z

2CL
2CL

So, there are three issues that should be considered to design

the interface inductor.
1. If R=0, 0= 0(no losses), the system must satisfy equation
(13) in order to be stable;
2. If there is no Right-half Plane Zero, the system must
satisfy equation (14) and equation (15);
3. The resonance frequency of nominator is lower than that

SIMULATION RESULTS

In order to verify the analysis and specification, the

simulation was carried out. An example was presented. The
steady operation points were udc0=2550V, iq0=4085A,
C=4700F, L=5.4mH, =314, R=0.08, k=0.961, 0= 2.3o, id0=
-164 A. In [5, 6], the ripple current was 20% (usually selected at
1000Hz). The inductor was 5.4mH. The STATCOM was used to
compensate the line voltage drop. The compensation results
were shown in Figure 26. The STATCOM can be used to
compensate the source voltage drop. If the equation (13) to
equation (16) werent considered, it may be an unstable system
shown as Figure 27. In Figure 27, the system became unstable at
t=2.00s, when there was a step disturbance. When the equations
were considered, the system was stable by using the proper
parameters. Simulation investigations are shown in Figure 26 to
Figure 28. The simulation results verified the validity of the

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above analysis and design.

Figure 26. compensation results

Figure 27. unstable system

Figure 28. stable system

VI.

CONCLUSIONS

In this paper a detailed analysis on the interface inductor

influence to STATCOM system and corresponding design
consideration is presented. Through frequency domain methods,
such as transfer functions and Bode plots, the influence of
interface inductor on the STATCOM system stability and
filtering characteristics is extensively investigated. A method to
design the interface inductor is presented in this paper. All the
computer simulation results verified the validity of the above
analysis and design.
REFERENCES
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