Dynamic SVD Controller Design of UPFC for Power Flow Control Considering Interactions

M. Ghanbari, S. M. Hosseini PhD Student of Islamic Azad University Science and Research Branch, Tehran, Iran Faculty Member of Islamic Azad University Ali Abad Katool Branch, Iran. mmm_gh_53@yahoo.com, Mhoseini346@gmail.com
Abstract- Unified Power Flow Controller (UPFC) is a multifunction Flexible AC Transmission System (FACTS) device with capability of performing such several functions as active and reactive power flow, voltage and stability control in a power system. It is well-known that strong interactions exist between active and reactive power flow control functions of a UPFC. From another point of view, there are also interactions within internal parts of UPFC and also between UPFC and power system. In this paper, considering power system and UPFCs model as a unit including series and shunt converters, common DC link and thevenin equivalent circuits of power system on either sides of UPFC, in addition to interaction analysis, a Singular Value Decomposition (SVD) controller will be designed for active and reactive power flow control. In order to evaluate the performance of the proposed controller, computer simulation using MATLAB/SIMULINK software has been provided comparing performance of the proposed controller with Decoupling Matrix (DM) and Proportional-Integral (PI) controllers. Simulation results have clearly confirmed the competence of SVD over DM and PI.

I.

INTRODUCTION

Fast growing of power electronics provided facilities to make use of FACTS devices. The capabilities of FACTS have been clarified in improving such areas as active and reactive power flow, voltage, stability, oscillation damping . . .[1,2,3]. These devices in the most perfect and applicable form, until now, have introduced themselves as UPFC. UPFC is a flexible device capable to perform several functions of which, active and reactive power flow control can be mentioned as the most important one. Fig. 1 shows the simplified schematic diagram of a UPFC. As shown in this figure, UPFC is composed of two fullycontrolled series and shunt converters connected to each other through a common DC link in one hand, and to power system through the corresponding series and shunt transformers, on the other. In the context of power flow control, these

converters are able to exchange active and reactive power through the DC link. In this respect, shunt converter is just responsible for providing the series converter with active power, while both can send and receive reactive power from the power network independently. Controlling the active power by the series converter involves in both the voltage amplitude and phase to be changed which, in turn, leads to some changes in reactive power [4,5]. Interactions between the internal parts of UPFC in one hand and between UPFC and power system on the other, along with interacting active and reactive power flow control, therefore, deteriorates the UPFC's performance. Form the control's point of view, it is desired to have different parts as independent as possible so that more effective control to be achievable. Aiming at improvement of active and reactive power flow control while considering the reduction of interactions, a method based on d-q axis have been developed in [6] for the first time. Addressed in [4], authors suggested a SVD based controller in which, they just focused on interactions between functions ignoring other ones including those between UPFC's internal parts and UPFC and power system. Another method called DM with the purpose of decoupling the whole UPFC's Multi-Input Multi-Output (MIMO) system into some Single-Input Single-Output (SISO) ones, which is based on the inverse transfer function of the system have been proposed in [8], but, totally, it cannot be generalize to all the systems. In this paper, considering power system and UPFCs model as a whole including series and shunt converters, common DC link and thevenin equivalent circuits of power system on either sides of UPFC, beside interaction analysis, a SVD controller will be designed for active and reactive power flow control. In order to evaluate the performance of the proposed controller, computer simulation using MATLAB/SIMULINK software has been provided. Simulation results have clearly proved the competence of SVD controller over DM and PI ones.
II.

POWER SYSTEM AND UPFC'S MODEL

Fig. 1, Configuration of a UPFC system,

The one-line diagram of the power system and UPFC is shown in fig. 2. In this figure, vse and vsh denote series and shunt converters, respectively. Rsh and Lsh are resistance and leakage inductance of shunt transformer. Power system of either sides of UPFC is shown by its thevenin equivalent circuit. vs, Rs, Ls, vr, Rr, Lr are thevenin equivalent voltage source and impedance of left and right side of UPFC, respectively. Considering this one-line diagram of the three-

978-1-4244-1706-3/08/$25.00 2008 IEEE.

vs = (vsd + jvsq ) : Sending end voltage vr = (vrd + jvrq ) : Receiving end voltage ise = (ised + jiseq ) : Series converter current ish = (ishd + jishq ) : Shunt converter current
vse = (vsed + jvseq ) : Series converter voltage

vsh = (vshd + jvhsq : Shunt converter voltage

A new control strategy (based on d-q rotating frame), representation for a UPFC system has been presented by the authors [9]. The principle of this new control strategy is to convert the measured three-phase currents and voltages in to d-q values and the current references are calculated from desired active and reactive power references and measured voltage by using (3) [10],
idref = 2 ( Pref vd Qref vq ) 2 2 vd + vq 3 2 ( Pref vq + Qref vd ) 2 2 3 vd + vq

Fig. 2, Single phase equivalent circuit of a three-phase UPFC system -

phase UPFC, the state space presentation of the whole system will be as follows:

i sev 1 a b i sev i = c d i + shv shv g Ls v sev L sh v sv ( L sh + Ls )v rv L sh + L s + L Ls + Lr v shv Lr v sv Ls v rv s d dt

Where, a = Rsh Lsh Rr Lsh Rr Ls

(3)

(1)

iqref =

b = Rr Ls + Rs Lr

c = Rs Lsh Rsh Ls d = Rsh Ls Rs Lr Rsh Lr g = Ls Lsh + Lr Lsh + Lr Ls

The three phase differential equation (with v=a, b, c) in (1) can be transformed into an equivalent two-phase (d, q) system equations using Parks transformation [6]. The transformed equations in the dq reference frame can be written as follows:
ised wb g c 0 ised a c iseq 0 d iseq 1 wb g a = + d wb g ishd 0 dt ishd g b b wb g d ishq ishq 0 Lsh + Ls 0 Ls 0 0 Lsh + Ls 0 Ls Ls 0 Ls + Lr 0 v sed Ls v seq + 0 v shd Ls + Lr v shq 0

The power flow control is then realized by using properly designed controllers to force the line currents to flow their references. It is desired that the UPFC control system has a fast response with minimal interaction between the real and reactive power flow. A simple way to design a controller for a complex system is to obtain the state space equations of the system. Based on (1) - (2), the state space model of the system including UPFC is described by (4).

& x = Ax + Bu y = Cx

(4)

where C is a unitary matrix, x = [i sed , i seq , i shd , i shq ] is the & states vector and u = [v sed , v seq , v shd , v shq ] is the input vector and

y = [i sed , i seq , i shd , i shq ] is the output vector.

Using the state space presentation, the transfer function matrix G can be derived as:

G( s) = C (SI A) 1 B

(5)

Lsh v sd ( Ls + Lsh )v rd L v ( L + L )v s sh rq sh sq Lr v sd Ls v rd Lr v sq Ls v rq

( 2)

Note that d and q subscripts point to direct and quadratic axes components. As mentioned before, series and shunt converters are coupled through a common DC link. The Vdc is influenced by active power balance between two converters. If Pse>Psh, it decrease while for Pse<Psh, it increases, where Pse and Psh are active powers of series and shunt converters, respectively.

where, wb=2 fb is the fundamental frequency of the supply voltage. Other variables in (2) can be defined as follows:

[11]. These circles are plotted for the current model of power system and UPFC in fig. 5(d). Since circles exclude 1, system is stable, while including the origin means that system is not diagonally dominance emphasizing existence of interactions between inputs and outputs.
Fig. 3, dc equivalent circuit IV.

Approximate equivalent circuit, which is shown in Fig. 3, can be used for dc-link modeling,. Where, resistor R simulates the losses of a switching in both series and shunt converters. Referring to this figure, the dynamic behavior of the capacitor can be shown as: ic = ishd + ised iR (6) dVdc 1 V = (ishd + ised ) dc dt C RC The equation (6) is a linear differential equation from which Vdc can be obtained.
III.

SVD CONTROLLER DESIGN

The SVD of a matrix G is defined as follows [11,12,13]:

G = UV T

(8)

Where, is a scaling diagonal matrix with elements i (singular values of G) in descending order. V and U are rotation matrix of inputs and outputs, respectively. The closer i (for i=1, 2, 3, 4) to each other, the better, as this leads to control independent of input-output directions. The SVD can be used to obtain decoupled equations between linear combinations of sensors and linear combinations of actuators, given by the columns of U and V, respectively. If sensors are multiplied by UT and control actions are multiplied by V, as in fig. 4, then the loop, in the transformed variables, is decoupled, so a diagonal controller K D (such as a set of PIs) can be used. Usually, the sensor and actuator transformations are obtained using the DC gain, or a real approximation of G(j), where angular frequency is around the desired closed-loop bandwidth. From fig. 5, controller K can be written as:

INTERACTION ANALYSIS OF UNCONTROLLED SYSTEM

As mentioned above, within UPFC, active and reactive powers are desired to be controlled independently. In park's frame and UPFC system, the real and reactive power in series (shunt) inverter depends on id and iq of series (shunt) inverter's current respectively. So the control of real and reactive power can be reduced to the control of d and q axes currents respectively. In the following, the interactions between d and q axis currents of both converters, i.e., the state space of model's outputs are analyzed. The eigen values of uncontrolled system ( i , i=1,2,3,4) are: -667.9+314.2i, -667.9+314.2i, -1000.24+314.2i, -1000.24+314.2i. Since all the real parts are negative, the whole system will be stable [11]. As shown in fig. 5 (a), the step response of the system implies existence of strong interactions between unpaired inputs and outputs which sounds as an obstacle to independent control of P and Q. An accurate method for stating both static and dynamic interactions in MIMO systems is Relative Gain Array (RGA) which is defined as [12]:
G ( s ) = G (G 1 ) T

K = U T K DV

(9)

Applying this controller provide us with the new diagonally dominant system Gnew = GK . While evaluation of SVD as a function of s gives dynamic decoupled controller, here, s=0 has been chosen for controller as this provides good decoupling even at other frequencies. Using system data given in Table I, G0 is obtained as:

(7)

Where, and T are for element by element multiplication and transpose of matrix. Fig. 5(b)-5(c) show the off-diagonal and diagonal elements of G (s ) versus frequency. It can be seen that the diagonal RGAs in s=0 are more positive and greater than off-diagonal ones showing suitable pairing between inputs and outputs for decentralized control. Bearing in mind that the ideal RGA are equal to unit matrix, G ( s ) = I , fig. 5(b)-5(c) clearly show the exact amount of interactions for different frequencies. One measure to assess systems regarding interactions is to check whether a system is diagonally dominance or not. This concept can be easily determined using Gershgorin circles

G 0 = 10 3

9.78 4.61 5.58 2.50

4.61 9.78 2.50 5.58

6.06 2.94 2.94 6.06 10.38 3.76 3.76 10.38

(10)

Then SVD of

G0 is as follows:

- 0.6380 0.3134 - 0.2613 0.6530 0.3134 0.6380 - 0.6530 - 0.2613 G0 = U 0 0V0T = - 0.6499 0.2690 0.2212 - 0.6756 0.2690 0.6499 0.6756 0.2212 0 0 0.1735 0 (11) 0 0.1735 0 0 5 (10 ) 0 0 0.0452 0 0 0 0.0452 0 0 - 0.7229 0.0214 - 0.6906 0 0.6906 0.0214 0.7229 0 - 0.7232 0.0205 0.6903 0.7232 0 - 0.6903 0.0205

V.

INTERACTION ANALYSIS OF CLOSED LOOP

CONTROLLED SYSTEM

Block Diagram of controlled system is shown in fig. 6. The eigen values of the system including transfer function G(s) followed by the SVD controller have been brought in TABLE II, from which, the stability of the new combination can be inferred. Fig. 7(a) shows the step response of the system. It is obvious that SVD controller has cleared out unwanted interactions between unpaired inputs and outputs. Off-diagonal and diagonal RGA are shown in Fig. 7(b)-7(c), respectively. As these figures shows, the SVD designed with S=0 not only decreases the interactions in this frequency, but also improves interactions of other frequencies. Shown in fig. 7(d), the Gershgorin circles do not include the origin anymore implying the controlled system is diagonally dominant.
VI.

TABLE I Parameters of the UPFC control system RS 0.5p.u Rr 0.4p.u Rsh 0.3p.u w 2 50 wLS 0.15p.u wLr 0.18p.u wLsh 0.1p.u 1/wC 0.04p.u Rloss 40p.u vS= 1,

SIMULATION RESULTS

S =5,

vr= 1,

r =-5,

vsd=0.9962, vsq=-

0.0872, vrd=0.9962, vrq=0.0872

Vectors

U 0 and V0 will be used in controller K directly, while

(12)

K D should be derived as: K D = l ( s ) 0 1

the inverse matrix of Where controller which can be stated as:
1 0 is

0 and l (s ) is a PI
(13)

l ( s) = k p +

ki s

Fig. 6 displays the block diagram of control system for UPFC's power flow control considered based on SVD controller.

Through applying the previously designed SVD controller to the original UPFC system, simulation using MATLAB/SIMULINK software has been done. Fig. 8 shows the simulation results for a change in active power from 1p.u to 1.3p.u. In order to compare the SVD controller's performance, PI and DM controllers characterized by values in Tables III-VI have been simulated and resulted ised, iseq, ishd, ishq, Vdc, P and Q were compared with those of SVD. It can be observed that the SVD controller has competence over DM and PI with regard to rise time, settling time and overshoot. Fig. 9 shows the outputs obtained as a result of changes in P and Q from 1 to 1.3p.u and -0.2 to 0.5p.u, respectively. These results undoubtedly prove the capabilities of SVD for realization of independent active and reactive power flow control. Great deals of problems related to MIMO systems such as UPFC are caused by unwanted interactions between unpaired inputs-outputs. In this paper, considering power system and UPFCs model as a unit including series and shunt converters, common DC link and thevenin equivalent circuits of power system on either sides of UPFC, beside interaction analysis, a SVD controller was designed for active and reactive power flow control. In order to evaluate the performance of the SVD controller, computer simulation using MATLAB/SIMULINK software has been provided, comparing SVD with DM and PI.
TABLE II Eigen values of controlled system

i
1 2 3 4 5 6 7 8

Eigen values(i )
-1.0014 + 0.3142i -1.0014 - 0.3142i -0.6669 + 0.3142i -0.6669 - 0.3142i -0.0010 + 0.0000i -0.0010 - 0.0000i -0.0010 + 0.0000i -0.0010 - 0.0000i 0

Fig. 4, Block diagram of SVD controller

i =9 to18

Simulation results have clearly proved the competence of SVD controller over two other ones.
AKNOWLEDGEMENT

TABLE V Proportional and integral gain of Z matrix parameter for DM

gain tS

500 40

This study is a part of a research project entitled "Studying and Analysis of Static and Dynamic FACTS Devices Models and MIMO Controller Simulation and Design for One of Such Devices in a Typical Power System" supported by Islamic Azad university branch of Ali Abad Katool. REFERENCES
[1] N. H. Hingorani, " Flexible AC transmission system ", IEEE Spectrum, April 1993, pp. 40-45. [2] L. Gyugyi, A unified power flow control concept for flexible ac transmission systems, ZEE Proceedings-C, vol. 139, no. 4, July 1992, pp. 323-331. [3] N. G. Hingorani and L. Gyugyi, "Understanding FACTS: Concept and Technology of flexible AC transmission systems", IEEE Press, 1999. [4] Q. Yu, S. D. Round, L. E. Norum, T. M. Undeland, "Dynamic Control of a Unified Power Flow Controller", IEEE 1996, pp. 508 - 514. [5] C.M.Yam and M.H.Haque, "Dynamic Decoupled Compensator for UPFC Control", Proc. 2002 IEEE Power System Technology, pp.1482-1487. [6] C. Schauder and H. Mehta, Vector analysis and control of advanced static var compensators", IEE Proc.-C (140) (No. 4) (1993) 299306. [7] C.M. Yam, M.H. Haque, "A SVD based controller of UPFC for power flow control", ELSEVIER, B. V., PP. 76-84, July 2006. [8] E. M. Farahani, S. Afsharnia, "DM for UPFC's Active & Reactive Power Decoupled Control", IEEE ISIE, pp. 1916-1921, July 2006. [9] Y. H. Song and A. T. Johns, "Flexible AC transmission systems (FACTS)", IEE Power and Energy Series 30, 1999. [10] M. T. Bina, "Nonactive and Harmonics Power Control", Khajehnasir, 1th , 2003. [11] P. Albertos, A. Sala, " Multivariable Control Systems: An Engineering Approach", Springer-Verlag London, 2004. [12] S. Skogestad, I. Postlethwaite , "MULTIVARIABLE FEEDBACK CONTROL: Analysis and design", JOHN WILEY & SONS, 2th, 2001. [13] J. M. Maciejowski, "Multivariable Feedback Design", Addison Wesley, 1th, 1989.

TABLE VI Proportional and integral gain of l(s) for SVD

kp ki

0.5 91

Fig. 6, Interaction results of uncontrolled UPFC system (a) Step response (b) off-diagonal RGA (c) Diagonal RGA (d) Gershgorin circles

Fig. 5, Block diagram of UPFC system with controller TABLE III Proportional and integral gain of the conventional PI controller

kp ki

7 15

TABLE IV Proportional and integral gain of the PI controller for DC voltage

kpdc kidc

1 6

Fig. 7, Interaction results of controlled UPFC system (a) Step response (b) off-diagonal RGA (c) Diagonal RGA (d) Gershgorin circles

Fig. 8, Outputs for a change in P from 1p.u to 1.3p.u (a) Vdc (b) ised (c) iseq (d) ishd (e) ishq (f) P (g) Q

Fig. 9, Outputs for simultaneous changes in P from 1p.u to 1.3p.u and Q from -0.2p.u to 0.5p.u (a) Vdc (b) ised (c) iseq (d) ishd (e) ishq (f) P (g) Q