Hardware Implementation of Single Phase Dynamic Voltage

Restorer (DVR) using Digital Signal Controller TMS320F28027

By

TRIVEDI PALAK HASMUKHBHAI

(150290745006)

Mr. Hirak Nayak

Assistant Professor

Electrical Engineering Department

LCIT, Bhandu, Mehsana

A Thesis Submitted to

Gujarat Technological University in Partial Fulfilments of the Requirements for the

Master of Engineering in Power Electronics and Electrical Drives.

April 2017

LALJIBHAI CHATURBHAI INSTITUTE OF TECHNOLOGY, BHANDU.

 ACKNOWLEDGEMENT

Any kind of success, besides demanding dedication, sincerity and handwork, it also
requires some important keys like motivation, guidance, encouragement and time
management. An individual alone cannot accomplish any task. It takes numerous
hands and sources to successful; same is case with present work also.

I would like to express my sincere gratitude towards all the people who have
contributed their precious time and effort to help me, without whom it would have
been a great difficulty for me to understand and complete the project.

I would like to thank Prof. Hirak Nayak, my internal project guide, and Prof. Ripan
Patel, Head of the Department, Electrical Engineering, for their guidance, support and
encouragement throughout the period this work was carried out. Their readiness for
consultation all the time, educative comments, concern and assistance even with
practical things have been valuable.

I also convey my sincere gratitude and indebtedness to all other faculty members of
Department of Electrical Engineering (Power Electronics and Electrical Drives) and
my classmates for their friendly help and guidance.

Palak H. Trivedi
(150290745006)

vi
 TABLE OF CONTENTS

Title Page
No.
Title Page
Certificate Page i
Compliance Page ii
Paper Publication Page iii
Thesis Approval Page iv
Declaration of Originality v
Acknowledgements vi
Table of Contents vii
List of Figures ix
List of Tables x
Abstract xi
Chapter-01 Introduction 1
1.1 Overview 1
1.2 Problem Identification 2
1.3 Objective 4
Chapter-02 Literature Survery 5
Chapter-03 Increased Concern For Power Quality 9
3.1 Introduction 9
3.2 Power Quality 10
3.3 Problems Related to Power Quality 11
3.4 Solution to Power Quality Problems 13
Chapter-04 Dynamic Voltage Restorer 14
4.1 Introduction 14
4.2 Basic Principle of DVR 15
4.3 Voltage Injection Methods in DVR 16
4.4 Types of control techniques of DVR 17
4.4.1 Linear Controllers 17
4.4.2 Non Linear Controllers 17
4.5 Flux vector Modulation Advantages 18
4.6 Single phase standalone Inverter with flux vector 19
modulation
4.7 Implementation steps for Flux vector Modulation 20
4.7.1 Identifying Sectors 20
4.7.2 Identifying Vectors 21
4.8 Block Diagram of Inverter with Flux Vector Modulation 21
4.9 Mathematical Design of PI controller 23
Chapter-05 Simulation of Single Phase Inverter 26
5.1 Simulink Diagram of Single Phase inverter 26

vii
 5.2 Subsystem Simulink Models 27
5.2.1 90 degrees shift 27
5.2.2 Conversion from ds_qs to de_qe 28
5.2.3 SRRF Proportional-Integral (PI) controller 29
5.2.4 Flux Vector Modulation 29
5.3 Simulation Waveforms 30
5.4 Simulation of inverter applying DVR 37
5.4.1 Distribution System without DVR 37
5.4.2 Distribution system with Single phase Inverter and 39
DVR interfacing
Chapter-06 Conclusion 42
Future Scope and Work Plan 43
References 44
Appendix A - Review Card 46
Appendix B - Paper Publication Certificate 51
Appendix C - Conference Paper 52
Appendix D - Summary of Turnitin Software 58

viii
 LIST OF FIGURES
Figure Title Page No.

1.1 Types of custom power devices 1

3.1 Voltage Profile with PQ problems 12
4.1 Block Diagram of DVR 16
4.2 Single phase VSI with LC output 19
4.3 Vectors on X-axis 20
4.4 Inverter Flux tracking Sinusoidal flux 20
4.5 Inverter with flux vector modulation 21
4.6 LC filter circuit 22
4.7 Bode Plot of H(s) and G(s) with Ki=0 24
4.8 Bode Plot of H(s) and G(s) with Ki=0.4 25
4.9 Bode Plot of H(s) and G(s) with Ki=0.2 25
5.1 Simulink diagram of Single ph inverter with flux vector modulation 26
5.2 90 Degrees shift for d-q Axis 27
5.3 Conversion of voltage and Current values from de_qe to ds_qs 28
5.4 PI controller 29
5.5 Flux vector modulation block 29
5.6 Closed loop Output Voltage waveform 30
5.7 Closed loop Output Current waveform 31
5.8 Direct and Quadrature axis waveform of current and Voltage 32
5.9 Output waveform of Proportional Integral Controller 33
5.10 Output Waveform of Flux vector Modulator : Output voltage (green) 34
following Reference Voltage (red)
5.11 Switching Pulses of S1 and S3 35
5.12 Switching Pulses of S2 and S4 36
5.13 Simulink Block diagram of Distribution system without DVR 37
5.14 Input Voltage and current waveform of Distribution system without 38
DVR
5.15 Output Voltage and current waveform of Distribution system without 38
DVR
5.16 Simulink Block Diagram of grid connected DVR and inverter circuit 39
5.17 Input voltage and current waveform with voltage sag 40
5.18 a.) Output of PI controller b.) output of flux vector modulation block 40
5.19 Generated PWM for switching of inverter 41
5.20 Output voltage waveform with mitigated voltage sag 41

ix
 LIST OF TABLES

Table Title Page No.

2.1 Summary of Research Papers Referred 8

4.1 Switching states and corresponding voltage vectors of inverter 20
4.2 Selection of inverter voltage vector 21
5.1 System Parameters 39

x
 Implementation of Single Phase Dynamic Voltage Restorer (DVR)
using Digital Signal Controller TMS320F28027

Submitted By
TRIVEDI PALAK HASMUKHBHAI
(150290745006)

Supervised By
Prof. Hirak Nayak
Electrical Engineering Department
LCIT, Bhandu, Mehsana

ABSTRACT

Dynamic Voltage Restorer is a custom power device used for the mitigation of voltage
sags-swells, to improve power quality which is the major concern in power systems.
DVR has good compensating capabilities when compared to commonly used
compensator. Thus static series compensator (SSC), commercially known as Dynamic
Voltage Restorer (DVR) is capable of compensating voltage sag-swell by injecting
appropriate voltage at the supply side with the help of the series injection transformer
or booster transformer. This transformer helps to maintain constant load voltage. DVR
consists of injection transformer, voltage source inverter (VSI), passive filters and
energy storage device. Efficiency of the DVR depends on the efficiency of control
technique for the same and proper switching technique for the voltage source inverter.
Hence this thesis proposes the hardware implementation of single-phase DVR. The
flux vector modulation technique will be used for inverter switching. The DVR control
will be implemented using TMS320F28027 digital signal controller.

xi
 Introduction

CHAPTER-01

Introduction

1.1 Overview:
Now-a- days, increase in use of sensitive electronics equipments has lead to power quality
problems. Use of Non-linear load and Power Electronic load causes PQ problems. These
problems can result into adverse effect on sensitive apparatus, safety system and relay
too[1]. PQ problems majorly includes voltage dip and the opposite of it i.e. voltage swell
which affects the distribution system. Lightning strokes, faults, short circuits are the reason
for voltage sag. The factors that lead to voltage swells are badly regulated power sources,
single line to ground fault on system and start/stop of heavy loads.

In early days, generation and transmission system were only the major focus for power
system reliability, as more capital cost is involved in this. In addition their insufficiency
can cause widespread consequences for both society and its environment[2]. But now
distribution systems play a major role for consistent performance.

In the beginning, for making power quality better or making the system more reliable
FACTS devices - like SSSC, STATCOM, UPFC, IPFC were developed. Now, for
improving power-quality in case of distribution systems, after modifications these devices
are better referred to as custom power devices or CPD in short. The most common CPD
for PQ improvement in a distribution-system are as classified follows[4].

Figure 1.1:- Types of Custom Power Devices

1
 Introduction

1.2 Problem Identification:

Power quality is a very important issue as it impacts electricity providers, manufacturers of

the equipment and consumers. Power quality" is defined as the variation or fluctuation in
Voltage/Current/Frequency of the Power System. It addresses a great span of variety of
Electromagnetic-Phenomenon that describes Voltage & Current at any given time and also
at any given location within Power-System[6]. Everyone is becoming concerned about
electric power quality which includes electrical utility side and users or customers side
Sensitive loads such as computers, PLCs, VSCs, and many others need supplies in great
quality. The concept of improvement in Power-Quality is itself a shield towards the
disturbances in the multitude of Power-System.

Quality efforts should be made to obtain flexible solutions to power quality problems.
Among these power quality solution lossless passive filters with L-C tuned circuit have
been widely used to decrease harmonics. Passive filters have low initial cost and high
efficiency. But passive filters have several drawbacks like instability and fixed
compensation. Thus active power filters are used instead of passive filters.

Types of Active power filter are: shunt, series and hybrid. Shunt APF compensates current
based distortions. Series APF compensates voltage based distortions. Hybrid Active Power
Filter is used for removing high order harmonics. But power quality level is not obtained
due to the high rating devices it has. This causes power disturbances and customer
dissatisfaction.

An advanced power electronics controller devices have been found to support and increase
reliability of the distribution system and face the PQ problems. The evolution of power
electronics controller devices has given to the birth of custom power devices[4].

The applications of custom and tailor-made power devices is proven to be one sure
solution to the problems caused by Voltage dip/sag and Voltage swells.

A voltage sag/dip is a short lived fall in RMS value of voltage which can be a result of a
short circuit, overloading or electric motors start. A voltage sag or dip occurs when the
value of RMS voltage falls in the range of 10% to 90% of very small voltage for one and a
half cycle up to a minute.

2
 Introduction

Voltage swell, on the other hand, is the opposite of voltage sag. Voltage swell can be
defined as a quick but short lived increase in the value of voltage, usually happens as a
result of heavy load turns off in a power system.Typical values of voltage sag and swell are
between 0.1 and 0.9 per unit and typical fault clearing times range from three to thirty
cycles depending on the fault current magnitude and the type of over current detection and
interruption. Voltage deviations can cause severe process disruptions resulting in
substantial production loss. Several recent surveys attribute that 92% of the disturbances in
electrical power distribution systems are due to voltage sag and swell.[5]

Apart from non-linear loads, some system events, both usual events (capacitor switching,
motor starting) and unusual events (faults) could also inflict power quality problems.[5]

The consequence of power quality problems could range from a simple nuisance flicker in
electric lamps to a loss of thousand of rupees due to power shutdown. A power quality
problem is defined as any manifested problem in voltage or current of leading to frequency
deviations that result in failure or miss operation of customer equipment. Power quality
problems associated with an extensive number of electromagnetic phenomena in power
systems with broad ranges of time frames such as long duration variations, short duration
variations and other disturbances.

Voltage sag and swell can cause loss in production in automated processes since voltage
sag can trip a motor or cause its controller to malfunction. Voltage swell is defined as
sudden increase in supply between 110% and 180% of the nominal value[11]. Switching
off a large inductive load or energizing a large capacitor bank is a typical system event that
causes swell. To compensate the sag/swell in a system, appropriate devices needed to be
interfaced at suitable locations. Power quality problems challenging the utility industry can
be compensated and power is injected into the distribution system. These system
equipment interface devices are commonly known as custom power devices of which DVR
is a powerful one for short duration voltage compensation. The counteract custom power
devices, also known in abbreviation as CPDs, comes as a tool for active filtering, balancing
of load, and in improving power factor voltage regulating i.e. Voltage dip and Voltage
swell. CPDs are devised so as to provide protection to sensitive loads, in case there is
power-line disturbance.

3
 Introduction

1.3 Objective:

The main objective of this thesis is to analyse the working of Dynamic voltage Restorer
(DVR) for compensation of voltage sag and swells and improve power quality which is to
be used by utilities and end users. Hence a proper custom power device will be developed
capable of mitigating PQ problems. DVR control and compensation scheme will be
studied. DVR Dynamic Voltage Restorer will give us the cost-effective way to answer
voltage dip by achieving the accepted levels Voltage-Quality, as needed by the consumer.
This would be done by using proper control method. Single phase flux modulation
technique will be used for switching of DVR inverter and hence reducing the number of
extra passive components. At the end DVR simulink model will be built and various
operations will be performed for better output. This will help in building accurate hardware
of dynamic voltage restorer for compensation during grid connections.

4
 Literature survey

CHAPTER-02

Literature Survey

Power quality has created great influence on high technology equipments related to
communication, advanced control systems, automation and embedded systems, precise
manufacturing and online services. Voltage sag/swell can have a bad influence on the
products of semiconductor devices with considerable losses.

PQ problems include transients, sag-swell, impulses and other many other distortions. One
of the most important power quality issues is voltage sag/swell that is a sudden short
duration change in voltage magnitude between 10% and 90% compared to nominal
voltage[2]. Major voltage sag, even of short duration, can have unbearable effects because
of the increasing use of voltage sensitive computer-based and variable speed drive loads.
Loads sensitive to low voltages will now develop in coming years.

Sags/swells are impossible to avoid because these faults have a particular fault clearing
time. The equipment can be made more tolerant towards sag/swell either via more
intelligent control or by storing more energy in the equipment. Instead of modifying each
component to make them tolerant towards sag/swell, a better solution might be to install
one Dynamic Voltage Restorer (DVR) to mitigate voltage sag. A DVR can minimize the
risk of load tripping at very deep voltage distortions.

DVR is a static var compensator device that is used in various transmission and
distribution systems. It is a series compensation device, which protects sensitive electric
load from power quality problems such as voltage sags, swells, unbalance and distortion
using power electronic controllers that use voltage source converters and power
semiconductor devices.

In 1996, the worlds first DVR - a 12.47 kV system, was put to use in South Carolina,
North America. After this accomplishment, several DVRs have been instilled to provide
protection to critical loads in domains of utilities, food processing and semi-conductors [3].

5
 Literature survey

In current age, the DVR is one of the most advanced and effective PQ devices giving the
solution to voltage dip issues.

The fundamental principle of a DVR is to induce needed amount of frequency and

appropriate magnitude of voltage at the input side. Doing this restores the voltage
waveform to its original shape. When the source voltage is not a balanced one, even then a
DVR is effective. Usually, it employs a thyristor (GTO- Gate Turn Off), solid state
switches in power electronic and with switches that are pulse width modulated[3]. The
DVR can absorb controllable real and reactive power at the load side. In other words, the
DVR is a circuit formation of DC to AC switching converter that injects a set of three
phase AC output voltages in series and in synchronization to the distribution line voltages
to restore the voltage distortions to its basic shape. DVR is a series connected device
designed to maintain a constant RMS voltage across any sensitive load.

Following are the major papers referred in this dissertation:

Sr. No. Author/s, Title, Publication Conclusion

This paper presents

simulation of DVR using PI
C. Jayashankar, R Ilango, V. Prabaharan,
controller to mitigate voltage
Single Phase Dynamic Voltage Restorer
1. sag under different fault
for Abnormal Conditions, IJEAS
condition in distributed
systems

This paper presents the

J.Mangalanathan,"Hardware
Implementation of Single Phase Dynamic
voltage Restorer in Mitigating voltage sag
2. and swell", IJISET
hardware implementation of
single phase DVR. Single
phase inverter based on
MOSFET was designed and
firing pulse are provided by
micro controller based PWM
generation. Energy storage
device used in this work is
Battery which acts as input to

6

Satyaveer Gupt, Ankit Dixit, Nikhil Mishra,
S.P. Singh, Custom Power Devices for
3.
Power Quality imporvement, IJREAS
4. H.P. Tiwari and Sunil Kumar Gupta,
"Dynamic Voltage Restorer against Voltage
Sag", IJIMT
Dhaval Patel, Ritwik Chattopadhyay,
Sachin Madhusoodhanan,"Flux Vector
5.
Modulation for Single-Phase Inverter with
LC Output Filter", IEEE
B.Subhanandhini and Dr.V.Jegathesan,
"Application of Hysteresis PWM for
7
Literature survey
the inverter.
This paper discusses
advantages and importance of
various custom power
devices like DVR, D-
STATCOM, UPQC, etc
The capability reducing the
severity of a Dynamic
Voltage Restorer is majorly
influenced due to maximum
amount of load; Power-
Factor and maximum amount
of voltage dip/sag to be
counter-balanced. This work
is aimed to absorb the
quantity of DC Energy
Storage depending on the
Voltage-Sag/Dip.
This paper explains the
advantage of flux vector
modulation is that the voltage
control loop alone can damp
out the resonance of LC
filter. Hence, there is no need
to use extra passive
components or active
damping controller.
This paper presents the
description of Flux vector
hysteresis modulation

6. multilevel inverter", IEEE
Reza Davoodnezhad, "Thesis on Hysteresis
current regulation of VSI with constant
7.
switching frequency", IEEE
Mohammad Monfared, "A Synchronous
Reference Frame Voltage Control for
8.
Single-Phase Inverters", IEEE
9. Mukul Chandorkar, "New Techniques for
Inverter Flux Control", IEEE
Table 2.1:- Summary of papers referred
8
Literature survey
technique for two level or H-
bridge and multilevel
inverters.
It presents flux vector based
hysteresis modulation for all
VSI with constant frequency
and constant hysteresis band
This paper deals with the
design of a SRF control
strategy for single phase
inverter. The proposed
controller uses a SRFPI
controller to regulate the
instantaneous output voltage,
a capacitor current shaping
loop to provide active
damping and improve both
transient and steady-state
performances.
This paper describes a new
method for the direct control
of the inverter flux vector. It
illustrates the use of the
inverter flux in the control of
a utility-connected inverter.
 Power Quality problems and solution

CHAPTER-03

Increased Concern for Power Quality

3.1 Introduction:

In recent years, there has been an increased concern for the quality of power
delivered to factories, commercial establishments, and residences. This is due to the
increasing usage of harmonic creating non linear loads such as adjustable speed drives,
switched mode power supplies, arc furnaces, electronic fluorescent lamp ballasts etc.
Power quality is loosely defined, as the study of powering and grounding electronic
systems so as to maintain the integrity of the power supplied to the system. IEEE Standard
1159 defines power quality as[18]: The concept of powering and grounding sensitive
equipment in a manner that is suitable for the operation of that equipment. In the IEEE
100 Power quality is defined as[18]: The concept of powering and grounding
electronic equipment in a manner that is suitable to the operation of that equipment and
compatible with the premise wiring system and other connected equipment. Good power
quality, however, is not easy to define because what is good power quality to a refrigerator
may not be good enough for PC's and other sensitive loads.

The term power quality has become one of the most famous in the power industry
since1980s. This is an umbrella concept for a large number of individual types of power
system disturbances. The issues that fall under this umbrella are not new. What is new is
engineers attempting to deal with these issues using a system approach. There are four
major reasons for the increased concern[17]:

1. In comparison to the equipment used in the previous age, the PCD along-with the new
generation of load-equipment is much more sensitive to variations in PQ.

2. Power-Systems increase in Harmonic-Level.

9
 Power Quality problems and solution

3. Customers are now well aware of the issues of Power-Quality. Customers informed
about such issues- namely swells, transients, sag/dip, are asking or improvement in the
delivered Power-Quality.

4. Everything is now in a network, Interconnected, as a result failure of any component

may result in crucial side-effects or consequences[13].

3.2 Power-Quality

There can be many definitions for power quality. For example, a utility defines power
quality as reliability and show statistics that their system is 99.98 percent reliable. Criteria
established by regulatory agencies are usually in this layer[14]. A manufacturer of load
may define PQ as those characteristics of the power that enables the equipment to work
properly. These characteristics are different for different criteria.

When there is a problem with a piece of equipment, customers rant to the utility about an
outage that resulted in the issue problem. Several other incidents are out there resulting
in customers problems that never goes in to the statistics of that particular utility. To quote
an example of Capacitor-Switching, the one considered to be quite obvious on Utility-
Systems, but can cause severe over-voltages that results in damage and disrupts the
machinery.

To give one more example, lets say we got small fault in our system that leads to Voltage-
Dip/Sag at the consumers location. This incident may have happened as a result of an
adjustable-speed drive or because of tripping of a DG.Yet, the utility-system will not
have any indication that some failure has occurred on the feeder, unless we had installed a
PQ monitor in the first place[18].

As an answer to this increase tension around the Power-Quality topic, many utilities
(electric) have installed programs that can be of help to address consumers concerns. The
problems faced by utilities might have an important role to play in the way their programs
are installed or tailored. As the problems of PQ involves interactions among the customer,
equipment and of course the supply, the Regulating bodies should be assured of
distribution companies are indeed helping customers solve such problems.

10
 Power Quality problems and solution

As per Boolean opinion power quality can be defined as: Power quality is the
combination of voltage quality and current quality. This power quality is concerned with
deviations of voltage and/or current from the ideal. As per Moran opinion power quality
can be defined as: A power quality problem exists if any voltage, current or frequency
deviation results in a failure or in bad operation of the customers equipment. The quality
of power supply consists of basically of two elements the supply reliability and the voltage
quality [18].

3.3 Problems related to Power Quality:

Classification of areas of power quality is based on the PQ problems that arise or faced by
the consumer. Following are the areas that generate PQ problems such as,

1. Converter circuits.

2. Non Linearity of magnetic circuits.

3. Change in waveshape of signal due to harmonics.

4. Radio frequency interference.

5. The wave shape phenomena may be classified into synchronous and non-synchronous
phenomena.

6. Synchronous phenomena is for those in synchronism with A.C waveform.

Power distribution systems, should provide their customers with an uninterrupted flow of
energy. However, distribution systems, have various numbers of non-linear loads, which
affects the overall Power-Supply quality. Because of such issues, the quality of the Supply-
Waveform has eloped in many regions. Hence, this produces power quality problems[7].
The major cause of adversities in the Voltage-Waveform are Voltage-Sags(a.k.a Voltage
Dips) and Voltage-Swells, Inter-Harmonics, Harmonics and Voltage-Imbalances.

Problems of Voltage are described as follows [6]:

1. Voltage Sag: A Voltage Sag is a momentary decrease in the root mean square (RMS)
voltage between 0.1 to 0.9 per unit, with a duration ranging from half cycle up to 1 min.

11
 Power Quality problems and solution

It is considered as the most serious problem of power quality. It is caused by faults in

the power system or by the starting of large induction motor [3][6].

2. Voltage Swell: Voltage swell is defined as an increase in the root mean square (RMS)
voltage from 1.1 to 1.8 per unit for duration from 0.5 cycles to 1 min. Voltage swells are
not as important as voltage sags because they are less common in distribution systems.
The main causes for voltage swell are switching of large capacitors or start/stop of
heavy loads [3][8].

3. Harmonics: The fundamental frequency of the AC electric power distribution system is

50 Hz. A harmonic frequency is any sinusoidal frequency, which is a multiple of the
fundamental frequency. Harmonic frequencies can be even or odd multiples of the
sinusoidal fundamental frequency. The main causes for harmonic distortion are
rectifiers and all non-linear loads, such as power electronics equipment including VSDs
[13].

4. Voltage transients: They are temporary and undesirable voltages that appear on the
power supply line. Transients are high over-voltage disturbances (up to 20kV) that last
for a very short time.

5. Flicker: Oscillation of voltage value, amplitude modulated by a signal with frequency

of 0 to 30 Hz. The main causes are frequent start/stop of electric motors (for instance
elevators), oscillating loads [13].

Figure 3.1 shows the voltage profile with different power quality problems,

Figure 3.1:- Voltage Profile with PQ problems

12
 Power Quality problems and solution

3.4 Solution to Power Quality Problems:

There are two approaches to tackle power-quality problems.

(a) Load Conditioning (Solution at Customers end) or

(b) Line Conditioning. (Solution at the Utility end)

Load Conditioning, the first solution, suggests the less sensitivity of the equipment to
disturbances in power, and hence making it feasible for the equipment to operate even
when there is huge voltage distortion.

Line Conditioning is the second solution. These are the systems that backfire at the
distortions in the Power-System. PWM converters are foundation to these systems, then
they are connected to low/medium Voltage-Distribution system in Series or in Shunt. But,
restructuring Power-Sector and with the continuous shift towards the distributed
generation, these systems will play a major role in improving the inherent supply quality
[14].

There are many different methods to mitigate voltage sags and swells, but the use of a
custom Power device is most efficient. The term custom power refers to the use of power
electronics controllers in a distribution system, to deal with various PQ problems [2].

There are many types of Custom Power devices[6]. Some of these devices include:

1. Active Power Filters (APF)

2. Battery Energy Storage Systems (BESS)
3. Distribution STATic synchronous COMpensators (DSTATCOM)
4. Distribution Series Capacitors (DSC)
5. Dynamic Voltage Restorer (DVR)
6. Surge Arresters (SA)
7. Super-conducting Magnetic Energy Systems (SMES)
8. Static Electronic Tap Changers (SETC)
9. Static Var Compensator (SVC)
10. Thyristor-Switched Capacitors (TSC)

13
 DVR

CHAPTER-04

Dynamic Voltage Restorer

4.1 Introduction

In electricity industry, concerns that has grabbed eyes today is the issue of power quality
on loads that are sensitive and hence damaging equipment. The major issues of PQ are
result of varying fault conditions. Such conditions results in voltage-sag/dip [1]. This may
trip down the machine, shutting down of the equipment, both domestic and industrial,
damage the drive system. Dynamic Voltage Restorer (DVR) can provide the cost effective
solution to mitigate voltage sag by establishing the appropriate voltage quality level,
required by the customer [2, 3]. DVR is used as the active solution for voltage sag
mitigation. The basic structure of a DVR is divided into six blocks:

1. Energy Storage Unit: It is responsible for energy storage in DC form. Flywheels,

batteries, superconducting magnetic energy storage (SMES) and super capacitors can
be used as energy storage devices. It is supplies the real power requirements of the
system when DVR is used for compensation [3].

2. Capacitor: DVR has a large DC capacitor to ensure stiff DC voltage input to inverter.

3. Inverter: An Inverter system is used to convert dc storage into ac form [4]. Voltage
source inverter (VSI) of low voltage and high current with step up injection
transformer is used for this purpose in the DVR Compensation technique [3].

4. Passive Filters: Filters are used to convert the inverted PWM waveform into a
sinusoidal waveform. This is achieved by eliminating the unwanted harmonic

14
 DVR

components generated VSI action. Higher orders harmonic components distort the
compensated output voltage [1].

5. By-Pass Switch: It protects the inverter from high currents in the presence of faulty
conditions. In the event of a fault or a short circuit, the DVR changes into the bypass
condition where the VSI inverter is protected against over current flowing through the
power semiconductor switches. While line currents increasing its value, a bypass
scheme is incorporated to protect the power electronics devices [5].

6. Voltage Injection Transformers: In a three-phase system, either three single-phase

transformer units or one three phase transformer unit can be used for voltage injection
purpose. [1].

4.2 Basic Principle of DVR

Basic principle of DVR is to transfer the voltage sag compensation from DC side of the
inverter to the injected transformer after filter. The compensation capacity of a particular
DVR depends on the maximum voltage injection capability and the active power that can
be supplied by the DVR. When DVRs voltage disturbance occurs, active power or energy
should be injected from DVR to the distribution system [6]. A DC system, which is
connected to the inverter input, contains a large capacitor for storage energy. It provides
reactive power to the load during faulty conditions. When the energy is drawn from the
energy storage capacitors, the capacitor terminal voltage decreases. Therefore, there is a
minimum voltage required below which the inverter of the DVR cannot generate the
require voltage thus, size and rating of capacitor is very important for DVR power circuit
[7]. The DC capacitor value for a three phase system can be derived [8]. The most
important advantage of these capacitors is the capability to supply high current pulses
repeatedly for hundreds of thousands of cycles. Selection of capacitor rating is discussed
on the basis of RMS value of a capacitor current, rated voltage of a capacitor and VA
rating of the capacitor [9].

15
 DVR

The block diagram of DVR is as shown below:

Figure 4.1:- Block Diagram of DVR

is the source voltage, is the incoming supply voltage before compensation, is

the load voltage after compensation, Vdvr is the series injected voltage of the DVR, and I
is the line current. The DVR consists of an injection transformer, which has the secondary
winding connected in series with the distribution line.

4.3 Voltage Injection Methods in DVR

Voltage injection of a DVR depends on various factors such as; DVR power ratings,
various conditions of load, and different types of voltage sags. Some loads are sensitive
towards phase angle and some are sensitive towards change in magnitude. Therefore the
control strategies depend upon the type of load characteristics. There are four different
methods of DVR voltage injection which are

1. Pre-sag compensation method

2. In-phase compensation method

3. In-phase advanced compensation method

4. Voltage tolerance method with minimum energy injection

16
 DVR

4.4 Types of Control Techniques for DVR

There are basically two types of controllers used for controlling Dynamic Voltage Restorer

1. Linear controllers
2. Non-Linear controllers

4.4.1 Linear controllers:

The three main voltage controllers, which have been proposed in literature, are
Feedforward (open loop), Feedback (closed loop) and Multi-loop controller [3]. The feed-
forward voltage controller is basic use for the DVR i.e. Dynamic Voltage Restorer,
because it is extremely simple. Monitoring the voltage supply and comparing with
reference to a reference voltage; if at all any differences show up, the DVR injects the
required voltage. The drawback of the open loop controller is the high steady state error. In
the feedback control, the load voltage is measured and compared with the reference
voltage, the missing voltage is supplied by the DVR. This controller has the benefit of
precise response, but it comes at cost of complexity and causes delay in unit-time or
propagation. Multi-loop control is put to use along with an outer voltage loop for
controlling the voltage DVR and also to control inner current control loop. Such technique
has advantages of both strategies, feed-forward control and feedback control, with
disadvantage of increase in complexity, as a trade-off.

4.4.2 Non-Linear Controllers:

It is observed that rather than using the linear type controller, using the nonlinear controller
is more suitable as DVR is itself a non-linear system because of the power semiconductor
switches present in the inverter bridge instilled in the system. Some examples of non-linear
controllers can be Space Vector Pulse Width Modulation (SVPWM), Artificial Neural
Networks (ANN), Fuzzy Logic (FL), Flux Vector Modulation [3][16]. Artificial Neural
Network control strategy has capabilities to adapt and self-organize. It also has ability to
learn that gives higher precision. SVPWM method of controlling is to get a space-vector of

17
 DVR

inverters voltage to improve performance in comparatively low switching frequency

conditions. The ux vector modulation in VSI with LC lter has an inherent advantage that
the single voltage control loop effectively damps out the LC lter oscillations. [15]

4.5 Flux Vector Modulation Advantages

The inverter is connected to the load through LC lter to lter voltage and current. The
voltage based modulation techniques, such as SPWM, SVM, SVPWM, require some kind
of current control in LC lter to damp out the LC resonance. The major advantage of ux
vector modulation is that the voltage control loop alone can damp out the resonance of LC
lter. Hence, there is no need to use extra passive components to dump the LC resonance,
neither the active damping controller is used.

In this dissertation, flux vector modulation for single phase full bridge inverter is
explained. The theoretical explanations of flux vector modulation is proposed. The
synchronously rotating reference frame (SRRF) proportional-integral (PI) controller is
used for output voltage control of single phase standalone inverter

Most of the modulation techniques for single-phase stand alone inverter switching are
based on voltage, such as SPWM, SVM, SVPWM [7]. These are carrier based modulation
techniques. Voltage controller alone is not sufficient for LC filter control of voltage source
inverter. Hence, an inner current control loop is essential for proper control. The
techniques based on current control for voltage source inverter are hysteresis type of
techniques. The current based modulation techniques are useful for L lter connected for
on-grid inverters. The ux vector modulation with LC lter has an major advantage that
only a single voltage control loop can damps out the LC lter oscillations [15].

In this thesis, the ux vector modulation for single-phase standalone inverter is studied.
The implementation steps are described as below. The proposed modulator is used for
single-phase sine-wave output inverter having LC lter. The PI voltage controller for sine-
wave inverter is implemented in SRRF [14], [15]. The control of inverter is designed based
on the stationary reference frame equivalence of SRRF PI controller.

18
 DVR

4.6 Single phase standalone Inverter with flux vector modulation:

Flux vector modulation of standalone single phase inverter is a based hysteresis

modulation technique. Here the time integral of inverter voltage vector is called inverter
virtual ux. It is used to generate the switching pulses for the inverter. The virtual inverter
ux is given as

t

(t)= V dt + (0). ----(1)
0

The reference ux * is tracked by switching proper inverter voltage vectors. The actual
ux vector tracks the reference ux vector * within a specified hysteresis band of h.

Figure 4.2 :- Single phase VSI with LC output[15]

Figure 4.2 shows the circuit diagram of standalone inverter with LC output filter . The
switching states and their voltage vectors for the single phase inverter as shown in figure
above are specified in Table I.

Switching states Voltage

Vector No.
S1 S2 S3 S4 vector
V V0 OFF ON OFF ON 0

V V1 ON OFF OFF ON V Vdc

V V2 OFF
O
N ON OFF V Vdc

V V3 ON OFF ON OFF 0

Table 4.1:- Switching states and corresponding voltage vectors of inverter

19
 DVR

For single-phase inverter, the voltage vectors occupy only on the x-axis, as shown in Fig.
4.3. An proper and specified switching vector is to be selected from aboveTable-I. The
selection of vector is based on the error between * and , such that the actual ux
tracks the reference ux *. The tracking of actual flux to that of the reference flux should
be as shown in Fig 4.4.

Figure 4.3:- Vectors on X-axis[15]

Figure 4.4 :- Inverter Flux tracking Sinusoidal flux[15]

4.7 Implementation steps for Flux Vector Modulation

Flux vector modulation for single-phase standalone inverter is implemented in mainly two
steps:

1) Identifying proper sector and

2) Identifying proper vector.

4.7.1 Identifying Sectors

For the specified sectors, some inverter vectors do not correct the error difference between
reference and actual flux. Hence, a particular sector selection helps to select one active
vector and one zero vector for tracking the reference flux. The sectors are identified using

20
 DVR

d *
d *
sign of . For positive values of dt , the vectors V and V0V , V1 and
dt

d *

V2V are used. And for negative values of dt the inverter switching vectors V0,

V2 and V3V and V ,V are used.

4.7.2 Identifying of Vectors

Identifying proper inverter voltage vector to track the reference flux depends on the error
between the reference flux and the actual flux . Selection of proper inverter voltage
vector can be done as shown in Table 4.2.

Sector Error status Vectors

*- h V V1
*- -h
I V or V V0 or V3
-h <*- < h
Previous vector
*- h V or V V0 or V3
II *- -h
V V2
-h <*- < h
Previous vector
Table 4.2:- Selection of inverter voltage vector

4.8 Block Diagram of Single phase Standalone Inverter Implementing

flux vector modulation

21
 DVR

Figure 4.5:- Inverter with flux vector modulation[15]

The flux vector modulation is used for single-phase standalone inverter with LC output
filter. The block diagram is as shown in Fig 4.5. The SRRF PI controller is used for
appropriate voltage control. Only output voltage controller is used, no need of inner current
control loop. It is assumed that the reference flux is exactly tracked by inverter flux.
Hence, inverter and flux vector modulator together can be calculated = as unity gain.
Therefore, only output LC filter is required to be modeled. The LC filter circuit with
voltage, current and flux is shown in Fig. 4.6, where R is the internal series resistance of
the inductor.[15]

Figure 4.6:- LC filter circuit[15]

The LC filter equations in form of virtual inverter flux from the figure 4.6 are as follows,

d d
inv Vc RiL L iL ------(2)
dt dt

d 1
Vc (iL iLoad ) ------(3)
dt C

Where inv is the virtual inverter flux, Vc is the capacitor voltage of LC filter, iL is the

inductor current, iLoad is the current of R load. All the above mentioned quantities are
varying with time.

For simplicity, it is assumed that the load is resistive of value R. Thus equation 3 results as
follows,

22
 DVR

d 1 V
Vc (iL c ) -------(4)
dt C Rz

Using (2) and (4), the transfer function of standalone voltage source inverter in Laplace
domain can be written as,

1
s
Vc LC
G( s) -------(5)
inv s 2 ( 1 R ) s ( 1 R )
CRz L LC Rz LC

The transfer function of voltage source inverter with LC filter based on SPWM or SVM
does not have a zero at the origin, hence it need an inner current control loop with outer
voltage control loop. Whereas the flux vector modulation technique does not require an
inner current control loop. Both voltage and current can be simultaneously controlled by
single voltage control loop.

Single-phase stand-alone and sine-wave output full bridge voltage source inverter shown in
Fig. 4 uses single voltage controller. The SRRF PI controller is used to generate the
reference flux for input to flux vector modulator. The output of SRRF PI controller is given
by

H SRRF (s) K p Ki / s -------(6)

Evaluating time domain of equation (6) and comparing it with equation (1) yields ,

h(t ) (t ), Ki dt Vdt and K p (0)

Where K p andKi are proportional and integral gain of PI controller. The physical system is

in stationary reference frame and the controller is in synchronous reference frame. Thus
they are required to be in the same reference frame for analysis and design of the
controller.

4.9 Mathematical Design of PI controller

The LC filter parameters can be determined on the basis of the resonant frequency with
should be atleast 10 times less than that of the switching frequency of the inverter. The
switching frequency of the inverter is 10KHz and thus resonant frequency of the LC filter

23
 DVR

can be estimated as nearly Fr = 1.12Kz by taking the values of L as 1mH and C as 20 F

according to the below given equation.

1
Fr -------(7)
2 LC

For obtaining value of the proportional gain Kp, the integral gain Ki is assumed to zero.
When Ki =0, then by combining equations (5) and (6) the transfer function which is open
loop becomes,

1
Kp s
H ( s) G( s) LC -------(8)
1 R 1 R
s (
2
)s ( )
CRz L LC Rz LC

Choice of Kp is according to the required band-width of the controller. Here, the band-
width is 6.9 x 103 rad/sec, which is less than the inverter main switching frequency 62 x
103 rad/sec. The switching frequency is decided by the hysteresis band of the modulator.
At 6.9 x 103 rad/sec frequency the bode plot of G(s) in Equation (5) has a gain of 60 dB.
Hence the transfer function should be multiplied by 0.001 to get decided band width. Thus
Kp is Kp=0.001. Thus the bode plot as per equation (8) with Kp=0.001 and Ki=0 is shown
below.

Figure 4.7:- Bode plot of H(s) and G(s) with Kp=0.001 and Ki=0

24
 DVR

The bode plot of Kp=0.001 and Ki=0.4 results in an unstable system as shown in figure
below. Hence Ki=0.2 is selected for good and proper transient response.

Figure 4.8:- Bode plot of H(s) and G(s) with Kp=0.001 and Ki=0.4

The bode plots of open-loop transfer function as per equation 8 for Kp = 0.001 and Ki =
0.2 is shown in Fig. 4.9.

Figure 4.9:- Bode plot of H(s) and G(s) with Kp=0.001 and Ki=0.2

25
 Simulation Results

CHAPTER-05

Simulation of Single Phase Inverter

5.1 Simulink Diagram of Single phase Inverter

Figure 5.1:- Simulink diagram of Single phase inverter with flux vector modulation

26
 Simulation Results

The above Fig. 5.1 shows the MATLAB simulink diagram of single phase Grid connected
inverter with closed loop PI controlling and Flux vector modulation. The subsystem blocks
1, 2 and 3 is the conversion of d-q components of voltage and current from stationary
frame to synchronously rotating frame (SRRF). The stationary components of Voltage and
current are given as V s and V s and the synchronously rotating reference frame
components are given as V and V . We know that q-axis and d-axis are 90 degrees
apart from each other. Hence the delay block in presented as shown in the simulink block
diagram above. The following are the simulink models of the subsystems simulated in
closed loop operation of single phase inverter.

5.2 Subsystem Simulink Models

The following are the subsystems playing a major role in the simulation of grid connected
single phase inverter. The subsystems include the closed loop operation of the inverter.
They are as given below.

5.2.1 90 Degrees shift

Figure 5.2:- 90 Degrees shift for d-q Axis

d-q axis known as Direct and Quadrature axis are the two components of sinusoidal signal
in stationary reference frame. Both the components are 90 degrees apart. Hence it is
necessary to obtain a 90 degrees phase shift between those two axis. The simulink model
diagram as shown in Fig. 5.2 above, fulfils the same objective. d-q axis are similar to that
of sine and cosine waveforms which are 90 degrees apart. d-axis is the x-axis or the cosine
component of voltage and current and q-axis is the y-axis or the sine component of voltage
and current. It is then fed to the stationary to synchronously rotating reference frame
transformation block, which is shown in Fig. 5.3.

27
 Simulation Results

5.2.2 Conversion of d-q axis from stationary frame to Synchronously Rotating

Reference Frame

Figure 5.3:- Conversion of voltage and Current values from de_qe to ds_qs

This happens according to the below given equation:

Vde cos .Vds sin .Vqs

Vqe sin .Vds cos .Vqs

And inverse park transformation can be given as

Vds cos .Vde sin .Vqe

Vqs sin .Vde cos .Vqe

28
 Simulation Results

5.2.3 SRRF Proportional-Integral (PI) controller

The SRRF PI controller is used to generate the reference flux for inverter flux modulator.
The out put SRRF PI controller is given by:

Ki
H SRRF ( s) K p Ki
s H F =K +
s

With Kp= 0.001 and Ki=0.2

Figure 5.4:- PI controller

The physical system here is available in stationary reference frame and the controller is
available in synchronous reference frame. Thus they are formed in the same reference
frame for analysis and design of controller.

5.2.4 Flux vector Modulation

Figure 5.5:- Flux vector modulation block

29
 Simulation Results

5.3 Simulation Waveforms

Figure 5.6:- Closed loop Output Voltage waveform

30
 Simulation Results

Figure 5.7:- Closed loop Output Current waveform

31
 Simulation Results

Figure 5.8:- Direct and Quadrature axis waveform of current and Voltage

32
 Simulation Results

Figure 5.9:- Output waveform of Proportional Integral Controller

33
 Simulation Results

Figure 5.10:- Output Waveform of Flux vector Modulator: Output voltage (green)
following Reference Voltage (red)

34
 Simulation Results

Figure 5.11:- Switching Pulses of S1 and S3

35
 Simulation Results

Figure 5.12:- Switching pulses of S2 and S4

36
 Simulation Results

5.4 Simulation of Inverter applying DVR

5.4.1 Distribution system without DVR

Figure 5.13:- Simulink Block diagram of Distribution system without DVR

Following are the waveforms of distribution line experiencing sags at particular frequency
when it id operated without DVR. These Sags may cause severe damages to the system and
may damage the equipments permanently. The below are the input and output voltage
waveforms

37
 Simulation Results

Figure 5.14:- Input Voltage and current waveform of Distribution system without DVR

Figure 5.15:- Output Voltage and current waveform of Distribution system without DVR

38
 Simulation Results

5.4.2 Distribution system with Single phase Inverter and DVR interfacing

The MATLAB Simulink block diagram of grid connected DVR based single phase inverter
is shown in Figure 5.16. Below Table 2. represents the summary of system parameters for
the simulink model

System Device Parameters/Standards

Three Phase input Voltage Source Amplitude - 440 V and Frequency-

50Hz

Load (RL) R= 10 and L= 1mH

PI controller Kp=15, Ki=0.1, Sample Time = Ts

Hysteresis Band 0.0001

Table 5.1:- System Parameters

Figure 5.16:- Simulink Block Diagram of grid connected DVR and inverter circuit

39
 Conclusion

Following are the input and output waveforms of simulink model of DVR indicating the
mitigation of voltage sag in output voltage and current waveform. Thus showing that DVR
is the efficient method of mitigating voltage sags in the distribution system. DVR can work
under different fault conditions constantly improving the voltage profile.

Figure 5.17:- Input voltage and current waveform with voltage sag

Figure 5.18:- a.) Output of PI controller b.) output of flux vector modulation block

40
 Conclusion

Figure 5.19:- Generated PWM for switching of inverter

Figure 5.20:- Output voltage waveform with mitigated voltage sag

41
 Conclusion

CHAPTER-06

Conclusion

Power quality problems occur due to improper and non standard voltage, current or
frequency, which ultimately results in failure of end use equipments. Thus in this era of
custom power devices, we have studied the advantages of using Dynamic Voltage Restorer
as the custom power device used to solve PQ problems like voltage sag, swell, flickers, etc.
The main advantage of DVR is it is small, low in cost and has fast dynamic response to the
disturbances. A DVR can reduce the risk of load tripping at major voltage distortions. With
the significant importance of DVR in mitigating voltage sag and swell, it control
techniques is equally important. Closed loop Flux vector modulation technique is proposed
in this thesis for accurate switching of single phase grid connected inverters. The inverter
switching is continuously monitored and fed back to the flux modulator via PI controllers,
to maintain the sinusoidal output. The DVR is connected before the grid so as to provide
distortion free voltage at the input of the distribution system. In this thesis we have studied
the concept of dynamic voltage restorer, flux vector modulation and simulation of grid
connected single phase inverter using flux vector modulation technique. We also plotted
waveforms for the same.

42
 Future scope and Work Plan

Future scope

1. DVR can be implemented using different types of voltage Injection and controlling
method like Artificial Neural and Fuzzy Logic Controls.

2. Only feed-forward or combined Feedback and feed-forward control can be used for
improvement of accuracy

Work Plan

Month Work Done

First 15 days Second 15 days

Re-understanding the In-depth study of Flux
January
concepts of DVR vector modulation
technique

February Calculating the parameters Open loop Simulation of

used in simulation Standalone inverter

March Simulation of Inverter Preparation of detailed

using PI and Flux report and presentation
modulation method
Simulation of Inverter with
April
DVR and resolving the Preparation of Final Thesis
comments of MSR

May Preparation of Final

Presentation

43
 References

[1] Anita Pakharia, Manoj Gupta Dynamic voltage Restorer for compensation of voltage
Sag and Swell: A Literature Review, International Journal of advances in
Engineering and Technology, Vol. 4, Issue 1, pp 347-355, July 2012.

[2] C. Jayashankar, R Ilango, V. Prabaharan Single Phase Dynamic Voltage Restorer for
abnormal conditions, International Journal of Engineering and Applied Sciences
(IJEAS), ISSN: 2394:3661, Volume 2, Issue-4, April 2015.

[3] M Sharanya, B. Basavaraja, M. Sasikala An Overview of Dynamic Voltage Restorer

for Voltage Profile Improvement, International Journal of Engineering and Advanced
Technology, ISSN: 2249-8958, Volume-2, Issue-2, December 2012.

[4] Satyaveer Gupt, Ankit Dixit, Nikhil Mishra, S.P. Singh "Custom Power Devices for
Power Quality Improvement: A REVIEW", IJREAS, Volume 2, Issue 2, ISSN: 2249-
3905, February 2012.

[5] J. Mangalanathan, Hardware Implementation of single phase Dynamic Voltage

Restorer in Mitigating voltage sag and swell, International Journal of Innovative
Science, Engineering & Technology, ISSN: 2348-7968, Vol. 1 Issue 3, May 2014.

[6] Shazly A. Mohammed, Aurelio G. Cerrada, Abdel-Moamen M., and B. Hasanin,

Dynamic Voltage Restorer (DVR) System for Compensation of Voltage Sags, State-
of-the-Art Review, International Journal of Computational Engineering Research,
Vol. 3, Issue. 1, ISSN: 2250-3005, January 2013.

[7] H.P. Tiwari and Sunil Kumar Gupta, "Dynamic Voltage Restorer against Voltage Sag",
International Journal of Innovation, Management and Technology, ISSN: 2010-0248,
Vol. 1, Issue 3, August 2010.

[8] Dr. A. Jaya Laxmi, Dr. K. Uma Rao, Dr. M. Sushama, N.Tejasri Devi, "Hardware
Implementation Of Single Phase Dynamic Voltage Restorer", 16th NATIONAL
POWER SYSTEMS CONFERENCE, 15th-17th DECEMBER, 2010

[9] JG Nielsen, M Newman, H Nielsen, Control and Testing of a Dynamic Voltage

Restorer (DVR) at medium Voltage Level, IEEE Transactions on Power
Electronics.Vol.19, no.3, MAY 2004.

[10] N.G. Hingorani, 1995, Introducing Custom Power, IEEE Spectrum, 32(6), pp. 41-
48.

[11] Chellali BENACHAIBA, Brahim FERDI, Voltage Quality Improvement Using

DVR Electrical Power Quality and Utilisation, Journal Vol. XIV, No. 1, 2008.

44
[12] Dr. K Rama Sudha, K Padmavathi, MODELING AND SIMULATION OF
DYNAMIC VOLTAGE RESTORER (DVR) USING NEURO FUZZY INFERENCE
SYSTEM International Journal of Engineering Science and Technology, Vol. 4
No.03 March 2012.

[13] A. Almeida, L. Moreira, J. Delgado, Power quality problems and new solutions,
The electrical and computer engineering, pp. 1-9, 2003.

[14] Ray Arnold Solutions to Power Quality Problems power engineering journal,
pages:65-73. 2001.

[15] Dhaval C. Patel, Ritwik Chattopadhyay, Sachin Madhusoodhanan, Subhashish

Bhattacharya, Rajendra R. Sawant and Mukul C. Chandorkar,"Flux Vector
Modulation for Single-Phase Inverter with LC Output Filter", IEEE, ISSN: 1048-
2334, April 2014

[16] M. E. C. Brito, M. C. Cavalcanti, L. R. Limongi and F. A. S. Neves, Low Cost

Dynamic Voltage Restorer International Conference on Renewable Energies and
Power Quality, 28th to 30th March, 2012.

[17] Bhadresh Panchal, Unified Power Quality Conditioner for Voltage and current
harmonics reduction using p-q method, thesis at Merchant Engineering College,
May 2015.

Books:
[18] C. Sankaran, power quality, Page No: 12-34 and page No: 80-118.

[19] Roger C. Dugan, Mark F.Mcgranaghan, Surya Santoso and H Wayne Beaty,
Electrical power System Quality Second edition, pp.1-42 and pp.167-294.K. B.

[20] Khanchandani, Power Electronics, second edition, Tata McGraw Hill Edition, pp.
538-542.

45
 e-ISSN (O): 2348-4470
Scientific Journal of Impact Factor (SJIF): 4.72
p-ISSN (P): 2348-6406

International Journal of Advance Engineering and Research

Development
Volume 4, Issue 4, April -2017

Implementation of Single phase Dynamic voltage restorer with Flux vector

modulation switching of Single phase inverter
Palak H. Trivedi1
1
Department of Electrical Engineering, LCIT College, Bhandu, Gujarat, India

Abstract Dynamic Voltage Restorer is a custom power device used for the mitigation of voltage sags-swells, to
improve power quality which is the major concern in power systems. DVR has good compensating capabilities when
compared to commonly used compensator. Thus static series compensator (SSC), commercially known as Dynamic
Voltage Restorer (DVR) is capable of compensating voltage sag-swell by injecting appropriate voltage at the supply side
with the help of the series injection transformer or booster transformer. This transformer helps to maintain constant load
voltage. DVR consists of injection transformer, voltage source inverter (VSI), passive filters and energy storage device.
Efficiency of the DVR depends on the efficiency of control technique for the same and proper switching technique for the
voltage source inverter. This thesis proposes the Simulatory implementation of single-phase Dynamic Voltage Restorer.
The flux vector modulation technique will be used for inverter switching.

Keywords- Power Quality, Custom Power Devices, Dynamic voltage Restorer, mitigation of sag and swell, Flux vector
modulation.
I. INTRODUCTION

Power quality is a phenomenon that occurs as many type of disturbances in voltage, current and frequency of sensitive
electrical loads that results in failure of end user equipment. Poor power quality output may cause shutdown of industries
making significant financial loss to the industry. The reason for the degraded quality of power is not only due to utility
itself but mostly due to non linear loads that cause transients. As a consequence of which many industries may suffer
burning of core materials, unnecessary downtime, increased maintenance and much more. The solution to these problems
can be either from utility side or from customer side. The most efficient example to those solutions are FACTS devices or
Custom power Devices that are based on solid state power electronic components. To compensate the sag/swell in a
system, appropriate devices needed to be interfaced at suitable locations. These system instrumentation interface devices
area unit ordinarily referred to as custom power devices out of that DVR may be a powerful one for brief length voltage
compensation. [1] The main objective of this thesis is to analyze the working of Dynamic voltage Restorer (DVR) for
compensation of voltage sag and swells and improve power quality which is to be used by utilities and end users.
Dynamic voltage preserver can offer the value effective answer to mitigate voltage sag by establishing the acceptable
voltage quality level, needed by the client.

A. Power Quality Problems:

Power quality may be a vital issue because it impacts electricity suppliers, instrumentality makers and customers. Power
quality distortion is delineated as the variation or fluctuation in voltage, current and frequency of the facility system. It
refers to a good kind of magnetism phenomena that characterize the voltage and current at a given time and at a given
location within the power system. Power quality improvement idea is an associate degree umbrella concept for the
multitude installation disturbances.[6]

The IEEE standards classify power quality disturbances into seven different types based on waveshape:
1. Transients 2. Interruptions 3. Undervoltage or voltage Sag 4. Overvoltage or Voltage Swell 5. Waveform Distortion
6. Voltage Fluctuations 7. Frequency Variations
Among all these PQ problems, Voltage sag and swell are considered as significant and as a major concern for the
customers.

Voltage Sag :
As per IEEE standard sag can be defined as, a momentary decrease in the root mean square (RMS) voltage between 0.1
to 0.9 per unit, with a duration ranging from half cycle up to 1 min. It is caused by faults in the power system or by the
starting of large induction motor [3][6].

Voltage Swell :
As per IEEE standard swell can be defined as an increase in the root mean square (RMS) voltage from 1.1 to 1.8 per
unit for duration from 0.5 cycles to 1 min. Voltage swells are not as important as voltage sag and is mainly caused due
to switching of large capacitor or start/stop of heavy loads.

@IJAERD-2017, All rights Reserved 899

 International Journal of Advance Engineering and Research Development (IJAERD)
Volume 4, Issue 4, April-2017, e-ISSN: 2348 - 4470, print-ISSN: 2348-6406

II. BASIC PRINCIPLES OF DVR

A. Principle:

Basic principle of DVR is to transfer the voltage sag compensation from DC aspect of the electrical converter to the
injected electrical device when filter. The compensation capability of a selected DVR depends on the utmost voltage
injection capability and also the active power which will be provided by the DVR. Once DVRs voltage disturbance
happens, active power or energy ought to be injected from DVR to the distribution system [6]. A DC system, that is
connected to the electrical converter input, contains an oversized capacitance for storage energy. It provides reactive
power to the load throughout faulty conditions. once the energy is drawn from the energy storage capacitors, the
capacitance terminal voltage decreases. Therefore, there's a minimum voltage needed below that the electrical converter
of the DVR cannot generate the need voltage therefore, size and rating of capacitance is extremely necessary for DVR
power circuit [7].

B. Components of DVR:

The basic block diagram of Dynamic Voltage Restorer is as shown in Figure 1. and the major components of DVR are as
explained below

Figure 1. Basic Block diagram of Dynamic Voltage Restorer

1. DC storage Device:- It supplies necessary energy to Voltage source inverters during compensation. Voltage source
inverter (VSI) will convert it into alternating quantity and fed to Injection Transformer.

2. PWM Inverter:- An inverter is used to convert DC to AC form. Its is a power electronics system consisting of
switching devices which can generate sinusoidal voltage at any required frequency, magnitude or
phase angle

3. Filter Unit:- The main task of the filter is to keep the harmonic content generated by Voltage Source Inverters to a
permissible limit and to eliminate higher order harmonics.

4. Voltage Injection Transformer:- It consists of two side, one is high voltage and other is low voltage side. The high
voltage side is normally connected in series with distribution network and low
voltage side is connected to DVR. This transformer is used to isolate DVR from the
distribution network system. In three phase systems, either three single phase
transformer is used or one three phase transformer is used.

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Volume 4, Issue 4, April-2017, e-ISSN: 2348 - 4470, print-ISSN: 2348-6406

III. FLUX VECTOR MODULATION TECHNIQUE

The Single phase voltage source inverter is connected to the load through LC lter to lter voltage and current. The
voltage primarily based modulation techniques, like SPWM, SVM, SVPWM, need some reasonably current management
in LC lter to damp out the LC resonance. the most important advantage of ux vector modulation is that the voltage
management loop alone will damp out the resonance of LC lter. Hence, there is no ought to use further passive elements
to dump the LC resonance, neither the active damping controller is employed.
In this paper, the ux vector modulation for single-phase standalone converter is studied. The implementation steps are
delegated as below. The planned modulator is employed for single-phase sine-wave output electrical converter having
LC lter. The PI voltage controller for sine-wave standalone inverter is enforced in SRRF [14], [15]. The design of
standalone inverter is intended supported by the stationary reference frame equivalence of SRRF PI controller.

3.1. Single phase inverter using flux vector modulation

Flux vector modulation of standalone single phase inverter is a based hysteresis modulation technique. Here the inverter
Virtual flux is given as the time integral of the inverter voltage vector. This virtual measured flux is used to generate the
switching pulses for the inverter. The virtual inverter ux is given as
t

(t) = dt + (0).
0
V

The reference ux * is tracked by switching between appropriate inverter voltage vectors. The actual ux tracks
the reference ux * within a specified hysteresis band of h and selects the appropriate voltage vector (i.e.)
V1=V4=0, V2= Vdc, V3= -Vdc, to generate the output as specified in Table I below

Table 1. Selection of appropriate voltage vector

Sector Error status Vectors

* - h V1
* - -h V0 or V3
I -h < * - < h Previous vector
* - h V0 or V3
II * - -h V2
-h < * - < h Previous vector

IV. SIMULATION RESULTS

The MATLAB Simulink block diagram and waveforms are as shown in Figure 2 and 3 respectively. Below Table 2.
represents the system parameters for the simulink model

Table 2. System Parameters

System Device Parameters/Standards

Three Phase input Voltage Source Amplitude - 440 V and Frequency-
50Hz

Load (RL) R= 10 and L= 1mH

PI controller Kp=15, Ki=0.1, Sample Time = Ts

Hysteresis Band 0.0001

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 International Journal of Advance Engineering and Research Development (IJAERD)
Volume 4, Issue 4, April-2017, e-ISSN: 2348 - 4470, print-ISSN: 2348-6406

Figure 2. Simulink Block Diagram DVR with Flux vector Modulation

4.1 Simulation results

The input voltage and current Waveforms with voltage sag of scope in Figure 1 is as shown below

Figure 3. Input Voltage and Current waveform with voltage sag

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 International Journal of Advance Engineering and Research Development (IJAERD)
Volume 4, Issue 4, April-2017, e-ISSN: 2348 - 4470, print-ISSN: 2348-6406

Figure 4. Output of PI Controller Figure 5. Output of Flux vector Modulation Block

Figure 6. Generated PWM pulses for switching of inverter

Figure 7. Voltage Sag mitigated Output Voltage Waveform

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 International Journal of Advance Engineering and Research Development (IJAERD)
Volume 4, Issue 4, April-2017, e-ISSN: 2348 - 4470, print-ISSN: 2348-6406

V. CONCLUSION

Power quality problems occur due to improper voltage, current or frequency, which ultimately results in failure of
customer equipments. Thus in this era of custom power devices, we have studied the advantages of using Dynamic
Voltage Restorer as the custom power device used to solve PQ problems like voltage sag, swell, flickers, etc. The main
advantage of DVR is it is small, low in cost and has fast dynamic response to the disturbances. A DVR can reduce the
risk of load tripping at major voltage distortions. With the significant importance of DVR in mitigating voltage sag and
swell, it control techniques is equally important. Closed loop Flux vector modulation technique is proposed in this thesis
for accurate switching of single phase grid connected inverters. The inverter switching is continuously monitored and fed
back to the flux modulator via PI controllers, to maintain the sinusoidal output. The DVR is connected before the grid so
as to provide distortion free voltage at the input of the distribution system. In this thesis we have studied the concept of
dynamic voltage restorer, flux vector modulation and simulation of grid connected single phase inverter using flux vector
modulation technique. We also plotted waveforms for the same.

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