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CHAPTER 3
3.1 INTRODUCTION
(a) (b)
Figure 3.2 shows the simple system with the series compensated
line. Assumptions that are made here are as follows:
The pre-fault and post-fault systems remain the same for the
series compensated system.
Figures 3.3 (a) and (b) show the equal area criterion for a simple
two machine system without and with series compensator for a three phase to
ground fault in the transmission line. From the figures, the dynamic
behaviour of these systems are discussed.
power and therefore the sending end machine decelerates. However, the
accumulated kinetic energy further increases until a balance between the
accelerating and decelerating energies, represented by the areas A1, As1 and
A2, As2, respectively, are reached at the maximum angular swings, 3 and s3
respectively. The areas between the P versus curve and the constant Pm line
over the intervals defined by angles 3 and crit, and s1 and scrit, respectively,
determine the margin of transient stability represented by areas Amargin and
Asmargin for the system without and with compensation.
(a) (b)
used in FACTS devices are Silicon Controller Rectifier (SCR), Gate Turn-Off
Thyristor (GTO), MOS Turn-Off Thyristor (MTO), Integrated Gate
Commutated Thyristor (GCT or IGCT), MOS Controlled Thyristor (MCT)
and Emitter Turn-Off Thyristor (ETO). Each of these types of thyristors has
several important device parameters that are needed for the design of FACT
devices. These parameters are di/dt capability, dv/dt capability, turn-on time
and turn-off time, Safe Operating Area (SOA), forward drop voltage,
switching speed, switching losses, and gate drive power.
flow oscillations where the response time required is moderate. There are two
modes of operation for the TSSC-voltage compensating mode and impedance
compensating mode.
line irrespective of the line current. From the phasor diagram, it can be stated
that at a given line current, the voltage injected by the SSSC forces the
opposite polarity voltage across the series line reactance. It works by
increasing the voltage across the transmission line and thus increases the
corresponding line current and transmitted power.
3.4 CONVERTERS
The conventional thyristor device has only the turn on control and
its turn off depends on the natural current zero. Devices such as the Gate
Turn Off Thyristor (GTO), Integrated Gate Bipolar Transistor (IGBT), MOS
Turn Off Thyristor (MTO) and Integrated Gate Commutated Thyristor
(IGCT) and similar devices have turn on and turn off capability. These
devices are more expensive and have higher losses than the thyristors without
turn off capability; however, turn off devices enable converter concepts that
can have significant overall system cost and performance advantages. These
advantages in principle result from the converter, which are self commutating
as against the line commutating converters. The line commutating converter
consumes reactive power and suffers from occasional commutation failures in
the inverter mode of operation. Hence, the converters applicable for FACTS
controllers are of self commutating type (Hingorani and Gyugyi, 2000).
There are two basic categories of self commutating converters:
43
primary windings are connected in series and the converter pulse patterns are
phase shifted so that the four voltage fundamental components sum in phase
on the primary side.
Pulses
emux 1
+
-
v Van_Tr1Yse
1 A+ a3 A
A1 2 B+ N
b3 B
B1 3 C+
C1 A-
c3 C -
B-
+
C- n Three-Level Bridge 7
Zigzag +
-
v Vab_Tr1Dse
Phase-Shifting Transformer g
Voltage Measurement1 Goto1 +
A+
a3 A
B+
N
C+
b3 B
A-
A
B
C
B-
-
c3 C
Three-Phase Breaker C- N
Zigzag +
v Van_Tr2Yse Three-Level Bridge1 8
-
a
b
c
Phase-Shifting Transformer1
Voltage Measurement2 Goto2 g
+
A+ a3 A
B+ N
b3 B
C+
A- -
c3 C
B-
-
C- n
Three-Level Bridge2 9
+
Zigzag -
v Vab_Tr2Dse
Phase-Shifting Transformer2 Voltage Measurement3 Goto3 g
+
A+
a3 A
B+
N
C+
b3 B
4 AA A-
A2 5 BB B-
-
c3 C
B2 6 CC C-
C2 Imes_SE Zigzag Three-Level Bridge3
Phase-Shifting Transformer3
transformers 1Y and 1D, and -7.5 degrees for transformers 2Y and 2D) allow
to neutralize harmonics up to 45th harmonic, as explained below:
where,
V = V cos m (3.4)
V = V ( 1 + cos m) (3.5)
m=48r±i, i=0,1,2,…
The voltages Vbc48 and Vca48 exhibit a similar pattern except the
phase shifted by 120o and 240o respectively. Similarly, the phase voltages
Vbn48 and Vcn48 are also phase shifted by 120o and 240o respectively. For the
input voltage of 20kV at the dc side, the waveform at the ac side of the 48
pulse VSI is shown in Figure 3.13. The THD of the voltage is 1.31% and it is
shown in Figure 3.14.
0.1
0.05
voltage (pu)
-0.05
-0.1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
time (sec)
Figure 3.14 THD of the voltage at the ac side of the 48 pulse VSI
47
There are two ways in which the voltage source converter can be
internally controlled (Hingorani 2000). They are:
The inputs to the internal control are the line current, the injected
compensating voltage, and the reference voltage. The control is synchronized
to the line current through the PLL which, after a + /2 or – /2 phase shift,
provides the basic synchronising signal . The output polarity detector
determines the positive capacitive or negative inductive reference voltage
48
The phase locked loop determines the frequency and t of the bus1
voltage. Bus2 voltage is converted to d-q components as Vd and Vq.
Similarly, current flowing from bus1 to bus2 is also converted to d-q
components as Id and Iq using d-q transformations as below. The abc to dq0
transformation computes the direct axis, quadrature axis and zero sequence
quantities in a two axis rotating reference frame for a three phase sinusoidal
signal. For the three phase voltage, the following equations are used to
compute the two axis rotating reference voltages.
V = (V + V + V ) (3.8)
For obtaining the dq currents from three phase currents, the voltage
is replaced with current.
50
The reference inputs to the controller are Pref and Qref, which are to
be maintained in the transmission line. The instantaneous power is obtained in
terms of d-q quantities of voltages and currents as below:
P= V I + V I (3.9)
Q= V I + V I (3.10)
From equations 3.9 and 3.10, the required current references are
calculated as follows:
I = P V + Q V / V + V (3.11)
I = P V + Q V / V + V (3.12)
Series Controller
Scope
Scope1
PQ
Idqref
Fre q f requency
PQ
PQref PQref
1 1/z Va b c( p u ) wt wt
Idqref Idqref
Vb1 Vdq Vdq
Sin _C o s 2 1/z Vabc Vdq
Vabc_B2 Reference Computation
PLL
Idq Idq
3 1/z Iabc
Iabc
--
Terminator Subsystem
0 D _Alpha
Pulses 1
4 1/z Vdc angle Alpha
Pulses
VdcPM_SE
wt
Mag and angle
Firi ng Pul ses
Generator
Scope2
Figure 3.17 Matlab / Simulink model for the generation of firing pulses
for the 48 pulse VSI
Figure 3.17 shows the Matlab / Simulink model for the generation
of firing pulses for the 48 pulse VSI. The desired current references namely
Idref and Iqref are compared with actual current components Id and Iq
respectively and the error signals are processed in the PI controller. The PI
51
13 pu. But the final power flow achieved is 12.8 pu which is shown in
Figure 3.19.
12
11
Line power flow (pu)
10
8
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.18 Real power flow through line 2 for case (a)
13
12
Line power flow (pu)
11
10
8
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.19 Real power flow through line 2 for case (b)
-0.2
Reactive power flow (pu)
-0.4
-0.6
-0.8
-1
-1.2
-1.4
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
3
i
2
0.25 of line current (pu)
Injected voltage (pu)
1
v
0
-1
-2
-3
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.21 Wave forms for 0.25 of line current and injected voltage
25
20
Line power flow (pu)
15
10
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
20
Reactive power flow (pu)
15
10
-5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
150
100
Line Current (pu)
50
-50
-100
-150
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s)
Figure 3.24 represents the current flow through line 2 and the value
is 10 pu during normal operating condition and the peak value goes to 147 pu
during fault. Figure 3.25 shows the injected voltage from SSSC and it is 0.06
pu during steady state condition and the oscillations are more during fault
period.
0.8
0.6
0.4
Injected voltage (pu)
0.2
-0.2
-0.4
-0.6
-0.8
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
4
x 10
6
Voltage across the capacitor (Volts)
-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.27 and 3.28 show the waveforms of the electrical power
output from generator 1 for the cases without and with SSSC respectively.
Figures 3.29 and 3.30 show the waveforms of the load angle for the machine
and from the figures it is clear that the oscillations are reduced for the system
with SSSC. The overshoot and settling time are also less for the system with
SSSC.
2.5
Output active power (pu)
1.5
0.5
-0.5
-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.27 Electrical power output from generator 1 for the case
without SSSC
2.5
2
Output active power
1.5
0.5
-0.5
-1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.28 Electrical power output from generator 1 for the case with
SSSC
57
60
50
40
Load angle (degrees)
30
20
10
-10
-20
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.29 Load angle of machine 1 for the case without SSSC
50
40
Load angle (degrees)
30
20
10
-10
-20
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Figure 3.30 Load angle of machine 1 for the case with SSSC
Table 3.1 Comparative results for the system without and with SSSC
3.7 CONCLUSION