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International Conference on Advances in Engineering and Technology-(ICAET 2014)

Novel and Faster Strategy for Effective Control of


Single Phase DVR
Sunil Sontakke Mahendra Ghat
Electrical Engineering Department, Electrical Engineering Department,
Annasaheb Dange College of Engineering and IIT Bombay, Maharashtra (India)-
Technology, Ashta. Sangli, Maharashtra (India) mahendraghat@iitb.ac.in
sontakke.sunil@gmail.com

Abstract— Due to evolution in the power system, the the concern of utilities and end users. Microgrid has
emergence of smaller generating systems such as micro become a better solution for this purpose because of its
turbines, Wind Turbines, Solar PV system, etc., have opened compact size and easy control. Power Quality mainly
new opportunities for onsite power generation which is affect due to disturbances like voltage sag, swell, transients
located at user’s site called Distributed Energy Resources (oscillatory and impulsive) momentary interruptions,
(DER). The significant potential of DER to meet customers harmonics, flicker etc. In microgrid these disturbances are
need and utilities independently can be captured by mainly due to power electronics circuits. Therefore it is
organizing these resources into Microgrid. With the ever necessary to monitor these disturbances continuously. So
increasing use of Power Electronics devices, Power Quality
that it can be corrected almost instantly. Further due to
has become a major concern for utility operators as well as
consumers. Power Quality mainly affect due to disturbances
deregulated environments, the use of distributed generators
like voltage sag, swell, transients (oscillatory and impulsive) has a greater impact on power distribution networks. Thus
momentary interruptions, harmonics, flicker etc. This according to IEEE Std:1459-2000 guidelines for
necessitates monitoring and estimation of these disturbances estimation of PQ indices is framed [2].
continuously so that it can be corrected almost instantly. The The Renewable energy sources, which have been
different methods for power quality indices estimation are expected to be a promising alter-native energy source, can
RLS, LMS, LES, FFT, Kalman Filter, Wavelet Transform, bring new challenges when it is connected to the power
etc. In this paper very simple and thus faster, Modified
grid. The power arising out of the DG when it connected to
Recursive Gauss Newton (MRGN) algorithm for power
Quality estimation is used. This estimation is done for the
grid system concerning the power quality measurements
output terminals of the DG and it is further used for a are; the active power, reactive power, voltage sag, voltage
simple control strategy of single phase Dynamic Voltage swell, flicker, harmonics, and electrical switching
Restorer (DVR), a series compensating device for power transients and it will exists when DG is connected to main
quality improvement in terms of Voltage Sag, Swell and grid. The power quality will be seriously affected by
Harmonics during supply disturbances. distribution and transmission network. System parameters
are detected by various methods such as voltage, phase
Keywords- DER, DVR, MRGN, Power Quality, Distributed angle, frequency, rate of change of frequency, impedance,
Generation, Microgrid. Introduction power output. These methods are Wavelet Transform, S-
Transform, Fast Fourier Transform (FFT), Least Mean
INTRODUCTION Square Algorithm Based Adalines and Neutral Networks,
Recursive Least Squares, Recursive Newton Type
The increased use of power electronic components Algorithm, Gauss-Newton Methods, Kalman and
within the distribution system and the increased Unscented Kalman Filter, Iterative Loop Approach [3-13].
dependency on renewable energy sources which employs
converters as interface between the source and the power In microgrid when the utility grid is severely affected,
system injects power quality problems for the operation of the DG should take over its own connected loads. Because
machines, transformers, capacitors and power systems. of this change over there will be some loading effects on
Power electronics equipment, such as adjustable speed DG. Similarly single phase loads will create unbalance and
drives, controlled rectifiers, cycloconverters, electronically harmonics in voltages and currents. Thus the Total
ballasted lamps, arc and induction Furnaces, and clusters Harmonic Distortions (THD) will increase. Also this will
of personal computers, represent major nonlinear and produce sequential components of voltages, currents, and
parametric loads used among industrial and commercial other power quality indices during islanded condition [4].
customers. Such load creates disturbances for the utility Each method of PQ estimation has got its own
and the end user's equipment. The main problem forms the limitation. For example the Least Mean Square based
basis for the flow of non-active energy caused by adaline is simplest but it is not useful for frequency
harmonic currents and voltages [1]. estimation during time varying conditions. Recursive
The subject of power quality is very broad in nature. It Newton method can estimate any frequency of power
covers all aspects of power system engineering from quality signal. Whereas recursive Gauss – Newton method
transmission and distribution level analyses to end-user when frequency is known and can estimate the amplitude
problems. Therefore, electric power quality has become and phase of the given signal [3-6].This necessitates a need

ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE


International Conference on Advances in Engineering and Technology-(ICAET 2014)

of have robust algorithm which can estimate power quality r = rth harmonic component.
signal parameters such as voltage, current, Power Factor, Ar = amplitude of the rth harmonic component.
Total Harmonic Distortion, sequential components. Thus it Φr = phase of the rth harmonic component.
is very essential to estimate the Power Quality problems wr = angular frequency of the rth harmonic component.
faster so that its severity can be assessed and suitable N = Harmonic order.
remedial action can be taken to minimize potential loss. To e = error signal
achieve this faster estimation of power quality indices is the estimation error is given by,
required which will detect the disturbances almost
instantly and also eliminate the use of PLL in the control

N
of DVR. One of the methods for estimation of PQ indices ek zk  ¦ Aˆ r k  1 sin wr k  Mˆr k  1 (2)
is MRGN (Modified Recursive Gauss-Newton method). r 1
Combination of MRGN and DVR as shown in Fig.1
should produce better results. In this paper, fast MRGN harmonic signal parameter is given by θ,
algorithm for power Quality assessment is presented along
with single phase DVR having simple control strategy
T r k [ Ar k Mr (k ) wr ] and its estimate is,
T
using MRGN. It works faster due to certain assumption (3)
and approximations for conventional Recursive Gauss-
Tˆr k [ Aˆ r k Mˆr (k ) wˆ r ]
T
Newton algorithm. This algorithm is used for time varying
signal and emergencies like sudden change in amplitude, A variable forgetting factor 'λ' is considered to obtain the
phase and frequency, harmonic components with better
accuracy. This is shown by the author that MRGN is time varying signal parameters based on cost function as
superior to LMS, RDFT, and other techniques after follows,
carrying out extensive studies [3]. k

] (k ) ¦O k i
k
2
e (i ) (4)
i 0

where, λ= forgetting factor and 0 İ λ İ 1, MRGN


method is chosen to minimize the cost function ζ(k), a
recursive formulation for sinusoidal parameter estimation
is obtained as,
Tˆ (k ) Tˆ ( k  1)  H ( k )\ ( k )e(k ) , and
1
r r
(5) r r

Ok H r (k  1)  \ r (k )\ r ( k )
T
H r (k )   

Figure 1. Use of MRGN for voltage sag mitigation. k

Hr k ¦O \ r (i )\ rT (i )   
k i
k

Custom power devices such as DSTATCOM i 0

(Distribution Static Compensator) which is also called as ª  sin w (k  1)i  Mˆ k  1 º


r r
w] ( i )
SSC (Static Synchronous Compensator), DVR, UPQC, \ r (i ) «  Aˆ k 1 w ( k  1)i  Mˆ k  1 »
cos  
« »
r r
UPFC, DPFC and some other combinations of custom
r

wT r ( i )
¬  Aˆ k 1 w ( k  1)i  Mˆ k  1 ¼
cos
power devices are very useful for mitigation of power 
r r r

quality problems. to have the approximation of Hessian matrix in equation


(7), off-diagonal elements are neglected and H-1(k) can be
I. MRGN ALGORITHM calculated with off diagonal elements equal to zero as,

In This method an unconstrained optimization ª1/ C (k ) 0 0 º


technique is used to minimize the error cost function in « »  
H 1 k « 0 1/ ˆ
A r
2
k  1 C ( k )C‡ 0 »
least square sense which is between the observed signal « »
1/ (C k CZ Aˆr 2 k  1 ) ¼
¬ 0 0
and the estimated signal. Further it is suitably operated to 
get a recursive decoupled formulation of modified
recursive Gauss-Newton algorithm. This method includes where, C (k ) 1  λ k 1 , C
2(1  λ k )
) k 2
 12k  1 / 2k 2  12k  2 ,
both; the gradient technique of Gauss method and speed
of convergence of the Newton algorithm. and CZ k 2
 12k  1 / 6k  1 (10)
The signal obtained at the DG terminals is assumed to
be comprised of the fundamental and harmonics using equations (3) - (10), the amplitude, phase and
components of the order N and is represented in discrete frequency are obtained in recursive manner as,
form by, Aˆr k Aˆr k 1  sin §¨ wr k 1 k Mr k 1 ·¸ e(k ) / C(k ) (11)
N
© ¹

z (k ) ¦ A (k  1)sin(w k  I (k  1))  v(k )


r r r (1) Mˆr k Mˆr k 1  cos §¨ wr
©
k 1 k Mr k 1 · e(k ) / § A
¸
¹
ˆ
¨ r
©
k 1 C k ·¸¹CM
wˆ r k wˆ r k 1  cos §¨ wr k 1 k Mr k 1 ·¸ e(k ) / §¨ Aˆr k 1 C k ·¸ Cw
r 1

where, © ¹ © ¹ (13)
z(k) = time varying voltage or current signal sample.
Thus above equations of Ar(k), Φr(k), ωr(k) represents
k = sampling instant (time instant).
amplitude, phase and angular frequency of voltage or
v(k) = random noise.
ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE
International Conference on Advances in Engineering and Technology-(ICAET 2014)

current signals. These equations are suitable for power V pre V pre ‘T pre Vrms (16)
system real time operation because of its decoupled
θpre is determined by phase freezer unit. The function of
nature.
the phase freezer is to fix (freeze) the presag phase angle
of the supply voltage, to be used as the reference phase
angle of the load voltage. The sag detection unit triggers
the phase freezer unit when Vs goes down to 0.95 p.u. of
the normal voltage. The proposed control scheme do not
need a phase lock loop (PLL), since the voltage phase
angle is estimated by using the MRGN filter.

A. Signal Based Load Voltage Control System


The signal based load voltage-control block restores
the fundamental frequency component of the load voltage
to its pre sag conditions [16]. It consists of source side
feed forward loop of voltage (for faster response) and a
load side feedback loop (for zero steady-state error). Each
of these control loops are included with magnitude and
phase control loop which are working independently.
Voltage to be injected by DVR is in complex form and a
Figure 2. MRGN Algorithm.
vector difference between supply side voltage and pre sag
voltage as shown in Fig. 4. This is calculated as,

II. PROPOSED DVR CONTROL STRATEGY BASED ON


V cosT pre  Vs cosT s  Vpre sin T pre  Vs sin T s
2 2

MRGN
V *inj1 J u pre

The block diagram of the complete control system [16] § Vpre sin T pre  Vs sin T s ·
T *inj1 arctan ¨
for single phase DVR is shown in Fig. 3. ¨ Vpre cosT pre  Vs cosT s ¸¸
© ¹
Vinj1* Vinj1*‘Tinj1*
Where, γ=multiplying factor,
it is 1 if Vpre cos T pre t Vs cos Ts and V pre cosT pre d Vs cosT s it
is -1. In figure 4, H1 and H2 are the PI controllers. H1 is
used to eliminate steady state errors of the load voltage
Figure 3. Estimation of signal parameter magnitude and H2 is used for phase angle. The parameters
of these controllers are set by trial and error for the
compensation of d.c. error signal for faster response.
Further the outputs of H1 and H2 are added to the outputs
of the phasor subtraction to set the total output of the
outer voltage-control loop as,
V *inj V *inj ‘T *inj V *inj1  V *inj 2 ‘ T *inj1  T *inj 2

Figure 4. Load voltage control (outer loop)

Figure 6. Vector diagram for the phasor subtraction unit

Figure 5. Instantaneous injected voltage control (inner loop) Normalization of the signal is done by VDC to nullify
the effect of dc link voltage. Limiter is used to limit the
From Fig.3, two similar MRGN filters are estimating the control signal amplitude and then it is converted into
magnitude and phase of the signals vs and vl, where, sinusoidal signal [15-16].
vs Vs u cos(Zt  T s ) and vl Vl u cos(Zt  Tl ) (14)
Vs Vs ‘Ts and Vl Vl ‘Tl (15) B. Injected Voltage-Control System
Pulse width modulation preferably sinusoidal PWM
The pre sag supply voltage is given by, (SPWM) is used to effectively compensate the voltage

ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE


International Conference on Advances in Engineering and Technology-(ICAET 2014)

sag, but it cannot eliminate harmonic filter resonance. To we can observe waveform distortion it will impact on
improve the stability and dynamic response of the DVR, THD hence its value is 4.77% for 60 Hz fundamental
an injected voltage controller and a filter capacitor current frequency as shown in Fig. 9. There is no phase shift
controller are utilized, which can attenuate the harmonic observed in estimated signal.
filter resonances. Here comparison between Vinj
(generated) and Vinj (measured) is done and the error is
fed to the voltage controller. H3 which basically a P
controller with the proportional gain of kv. As shown in
Fig. 5, the output of H3 is i*cap (reference signal for the
filter capacitor current control loop). It is compared with
the measured capacitor current icap and the error is fed to
the current controller H4 (P controller with the gain of kc).
Further the output of H4 is used for the production of
gating pulses of IGBTs in converter/inverter via SPWM. Figure 8. Load side estimation of voltage signal

III. SIMULATION AND RESULTS


The proposed MRGN algorithm is tested for a microgrid
shown in fig.7, for fault (non-islanding conditions).
Simulation is done in MATLAB/SIMULINK
environment with sampling frequency as fs = 20 kHz.
Simulation Data is given at Appendix A. Microgrid
comprises of Three DGs is used test. DG1 is a 10 MVA,
13 kV, 60 Hz, micro-hydro turbine. DG2 is a 2 MW, 575 Figure 9. THD for load side estimated signal.
V, 60 Hz, wind farm (4 x 500 kW doubly fed induction
Generators driven by wind turbines) and DG3 is 500V Three phase voltage signal at bus B5 is shown in Fig.
DC, 260V AC, 2 x100kW solar PV plant. Utility system 8. This signal is without using DVR compensation. Single
is of 79 kV, 60 Hz with base voltage of 79 kV and it is phase LG fault for ground resistance of 1 Ω is simulated
stepped down by a transformer TR1 to 79/13 kV and from 0.2 s to 0.3 s i.e. fault lasts for 100 ms. Voltage sag
connected to PCC. Thus PCC bus voltage is 13 kV. of 0.35 p.u. is observed during this fault i.e. voltage falls
Voltage correction system which uses DVR consists of from 1 p.u. to 0.65 p.u. (10400 V to 6800 V). Since there
single phase bridge connected DC to AC converter using is no voltage compensation is injected, load current which
MOSFET. The gating pulses are generated using sine is already unbalanced gets further unbalanced as shown in
PWM technique. Output of converter is fed to phase ‘a’ Fig. 9. RMS value of load voltage before DVR
through 10 MVA, 60 Hz, 500/8000 V series connected compensation is shown in Fig.10 which clearly gives the
injection transformer. Load of 3.8 MW, 2 MVAR is used picture that RMS voltage falls from 7300 V to 6500 V
for test purpose. Load side voltage and phase estimation is during fault period.
also done at load bus for the use of control system of
DVR.

Figure 10. Load side voltage sag in phase ‘a’.

Figure 11. Load side currents

Figure 7. Microgrid under test

Firstly we will discuss about the results obtained by


Simulink model of MRGN. It is applied for the voltage
signal tapped from the DG terminals for phase ‘a’. The
same model can be used for other phases, current signal
and also for other DGs. The load side estimated voltage Figure 12. RMS value of load voltage before correction.
signal during fault and without fault is shown in Fig. 8.
Initially from 0 s to 0.05 s algorithm takes time to get Control system block which is shown in Fig. 3,
stabilized hence the waveform is distorted similarly continuously calculates how much error required to be
during fault condition, at the start of fault and end of fault compensated? Fig.11 depicts that from 0 to 0.2 s error
ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE
International Conference on Advances in Engineering and Technology-(ICAET 2014)

compensation is negligible and it is 600-500V during 0.2 DVR in this simulation uses VSI using MOSFET.
to 0.3 s and again negligible when fault is cleared. This Parameter for MOSFET is given in Appendix A. Simple
shows that control system is tuned properly. The transfer Sine PWM (SPWM) is used to generate gating pulses
functions of the controllers used in simulation are as according to the output produced by control system as
follows: shown in Fig.17. VSI generates 1000 V amplitude voltage
H1(s) = kp1+ kI1/s, where kp1=0.5 and kI1= 50. signal only during 100 ms fault duration which is
H2(s) = kp2+ kI2/s, where kp2= 1 and kI2= 500. connected to the phase ‘a’ through series connected
H3(s)=kv, and H4(s)=kc, where kv=0.5 and kc =0.28. injection transformer. Primary voltage waveform of
injection transformer is shown in Fig.18. Injection
transformer is 10 MVA, 60 Hz, 7500/500 V linear
transformer. Secondary of it injects about 3600 V as
shown in Fig.19 which is the desired compensation of
0.35 p.u. Total Harmonic Distortion (THD) for phase ‘a’
Figure 13. Control system output as error to be compensated. by FFT analysis is 1.47% as shown in Fig.20. This clearly
indicates that harmonic components are also reduced
IV. RESULTS USING DVR COMPENSATION considerably.
When DVR is connected for compensation of voltage
sag introduced due to fault occurring at 0.2-0.3 s, load
side voltage and current waveforms obtained at bus B5
are shown in Fig.14. During fault period of 100 ms,
accordingly DVR injects voltage which is required to Figure 17. Control system output when DVR connected.
bring the voltage level to desired value. The maximum
voltage injection capability of the designed DVR under
nominal VDC conditions is set to 0.76 p.u. Thus, the
voltage magnitude limiter, shown in Fig.3, is set at ±1 p.u.
But, during sag compensation, the DVR unable to inject
Figure 18. Primary voltage waveform of injection transformer.
this complete 0.76 p.u voltage practically, because VDC
gets decayed. Thus, the dc capacitor value is chosen in
order to enable the DVR to restore single-phase sags with
0.35-p.u. at the depth for 100 ms, under rated load
conditions. Current unbalance is removed by and large
and voltage is restored to its nominal value as shown in
Fig.14. Waveform for individual phase ‘a’ voltage after Figure 19. Secondary voltage waveform of injection transformer.
compensation is shown in Fig.15 and its RMS value is
shown in Fig.16.

Figure 20. Total Harmonic Distortion for phase ‘a’ after DVR
compensation

The result of studies demonstrates that the proposed


control strategy results in fast and effective load voltage
Figure 14. Load side voltages and currents
restoration, independently for the fault condition. It must
be noted that when VDC falls below a certain value, the
DVR is unable to maintain the load voltage magnitude at
the nominal value.

Figure 15. Load side voltage sag compensation for phase’a’. V. CONCLUSION
In this paper a new faster approach for estimation of
power Quality parameters such as amplitudes of voltage,
current, phase angle and frequency are presented. This
approach minimizes an error cost function by multiplying
it with Forgetting Factor, to obtain Hessian Matrix. By
Figure 16. RMS value of load voltage for phase ‘a’ after neglecting off-diagonal elements of Hessian matrix is
compensation. further simplifies the equations to have the faster
calculations. Thus these expressions are suitable for real
time calculations accurately in recursive manner. Further
ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE
International Conference on Advances in Engineering and Technology-(ICAET 2014)

these PQ indices can be utilized for control strategy of the indices estimation”. IEEE Trans Power Deliv
custom power devices such as DVR, UPQC. DVR is 2007;22(3):1351–9.
utilized here since most of the disturbances on distribution [10] Terzija VV. “Improved recursive Newton-type
network are in terms of voltage sag and swell and DVR is algorithm for frequency and spectra estimation in
a device which can compensate this very effectively with power systems”. IEEE Trans Instrum Measure
reduction in harmonics distortion. 2003;52(5):1654–9.
Voltage Source Inverter using MOSFETs is used as DVR [11] Yang J, Xi H, Guo W. “Robust modified newton
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on the estimated signal delivered by MRGN. One of the [12] Zheng J, Lui KWK, Ma WK, So HC. “Two
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designed using wind farm, solar PV farm and micro-hydro [13] Xue SY, Yang SX. “Power system frequency
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[1] T.E.Del Carpio Huayllas, D.S. Ramos, R.L. Vasquez, APPENDIX A
“Microgrid Systems: Current status and challenges”, Component Component Parameters
2010 IEEE/PES Transmission and Distribution
GEN (Generator) V = 79 kV, Base Voltage = 79 kV,
Conference and Exposition: Latin America. Simulates power utility system f = 60 Hz., Rs = 0.377 Ω,
[2] Definitions for the measurement of electric quantities Ls = 16.8 mH
under sinusoidal, non-sinusoidal, balanced, or DG - 1 10 MVA, 13 kV, 60 Hz,
unbalanced conditions. IEEE Std.; 1459-2000. Mechanical power is provided H = 3.8s, Rs = 0.048 p.u.
[3] P. K. Dash, M. Padhee, S. K. Barik, “Estimation of by a hydraulic turbine Xs = 0.18 p.u., Xd = 1.315 p.u.
combined to PID governor Xd’ = 0.286 p.u., Xd” = 0.255 p.u.
power quality indices in distributed generation systems system. Excitation is provided Xq = 0.574 p.u. Xq” = 0.254 p.u.,
during power islanding conditions”, Elsevier; by IEEE type I voltage T’d0 = 5.485 s, T”d0 = 0.068 s,
Electrical Power and Energy Systems 36; (2012); 18– regulator combined to an T”q0 = 0.1 s
exciter.
30.
DG – 2 2 MW, 575 V, 60 Hz, wind farm,
[4] M. Padhee, P.K.Dash, K.R.Krishnanand, P. K. Rout,” (4 x 500 kW doubly fed rated wind speed = 11 m/s,
A Fast Gauss-Newton Algorithm for Islanding induction Generators driven by H = 5.012 s, Rs = 0.0072 p.u.
Detection in Distributed Generation”, IEEE wind turbines) Ls = 0.17 H, Rr = 0.0057 p.u.
Lr = 0.165 H, Lm = 3.34 p.u.
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[5] P.K. Dash, K.R. Krishnanand, M. Padhee, “Fast DG – 3 500V DC, 260V AC, 2 X 100kW
Solar PV plant of 2X100kW at 20kvar capacitor bank
recursive Gauss – Newton adaptive filter for the 1000 W/m2 sun irradiance
estimation of power system frequency and harmonics
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in a noisy environment”. IET Gener. Transm. Distrib., Vbase = 13 kV, D1Yg
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[7] Joorabian M, Mortazavi SS, Khayyami AA. coupling transformer
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ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE
International Conference on Advances in Engineering and Technology-(ICAET 2014)

Load L1 = 9.4 MW, 3.6 MVAR


L2 = 3.8 MW, 2 MVAR
L3 = 2 MW, 1 MVAR
L4 = 0.75 MW, 0.4 MVAR

ISBN No.: 978-1-4799-4949-6 @ 2014 IEEE

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