2004 351h Annual IEEE Power ElectronicsSpecialisls Conference

Aachen, Germany. 2004

A Static Synchronous Compensator using Hybrid Multi-Inverters

Shoji Fukuda, Senior Member, IEEE, and Dongsheng Li Graduate School of Information Science and Technology Hokkaido University, Sapporo, Japan Email: fukus@eng.hokudai.ac.jp

Abstroc: - A static synchronous compensator (STATCOM) is required to have (1) less harmonic contents in the output, (2) higher compensation VA capacity, and (3) less devices losses. To satisfy these requirements this paper proposes a hybrid configurationSTATCOM, which consists of two GTO inverters with square-wave switching and one neutral-point-clamped IGBT inverter with PWM switching. The GTO inverters fulfill the second and third requirements and the IGBT inverter the first requirement. The IGBT inverter generates a voltage difference between the reference output and the sum of the two GTO inverter outputs. Therefore, the IGBT inverter has two functions: cancellation of the harmonic components generated by the GTO inverters and control of the compensation current. One problem of the hybrid STATCOM is that the IGBT inverter is forced to operate in an over-modulation range if required compensation voltage of the IGBT inverter is high. To solve this problem, this paper also proposes a variable DC voltage control strategy, where the DC voltage is adaptively adjusted in accordance with the required STATCOM output voltage. As a result, the proposed STATCOM can compensate for large reactive current almost without harmonic distortion.
1.

Fig. I . Arrangement of STATCOM, load and source.

INTRODUCTION

A static synchronous compensator (STATCOM) is an important member of a family of controllers known in flexible AC transmission systems (FACTS) [ I]-[3]. An ideal STATCOM can be considered as a three-phase sinusoidal voltage source that can control its magnitude as well as its phase displacement independently. STATCOM is placed in the utility grid as shown in Fig. 1. Many possible configurations of voltage source inverters (VSI) can be used in STATCOM. The most popular configuration consists of 12, 24 or 48-pulse inverters with square-wave switching [4], and also there is a PWM STATCOM consisting of multiple PWM inverters [ 5 ] . The output voltage of the conventional STATCOM has a stair-shaped waveform that approximates a sinusoidal reference. To obtain an acceptable output waveform, at least a set of inverters and transformers is necessary which can produce a 12, 24 or 48-pulse voltage waveform. This requires complicated circuit configurations, but the output still includes harmonic components. The PWM STATCOM can run very well with rapid dynamic performance and few harmonic contenls in the output. However, the device switching losses are very larger and the ratings of fast switching devices such as IGBTs are not high enough for building larger capacity inverters at this stage.

This paper proposes new configuration STATCOM using hybrid multi-inverters [ ] It can consist of n-l GTO 6. inverters (n: integer) with square-wave switching and a single neutral-point-clamped (NPC) IGBT inverter with PWM switching. The proposed STATCOM has the potential that the harmonic contents of the output voltage/current would be less than the conventional STATCOM, and the devise losses would be lower and the compensation VA capacity would be larger than the PWM STATCOM. One problem with the proposed STATCOM is that the IGBT inverter is forced to operate in an over-modulation range if a compensation reference is large, resulting in increased distortion in the compensation currents. To solve this problem this paper also proposes a variable DC voltage control strategy with which the IGBT inverter can operate in a linear modulation range even if a large compensation reference is required. As a result low current THD in the output voltagelcurrent throughout the compensable range can be realized.
11.

HYBRID MULTI-INVERTER SYSTEM

The configuration of proposed STATCOM is shown in Fig. 2. It consists of two GTO inverters and an NPC IGBT inverter connected in series by three output transformers. It is obvious that the GTO inverter count can be increased if a larger VA capacity is required a hybrid n-inverter configuration consists of n-l GTO inverters and one IGBT inverter.

A. GTO Inverters
The two GTO inverters operate in a square-wave switching mode at the same switching rate as a reference output voltage to minimize the switching losses of the GTOs.

0-7803-8399-0/04/$20.00 IEEE. 02004

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2004 35th Annual IEEE Power Eleclronics Specialists Conference

Aachen. Gemany, 2004

The #2 GTO inverter operates with a phase displacement q =x/6 from the #I GTO inverter. The #2 output transformer has two secondary windings for each phase. The turns ratio of the windings A and B is A/B = that of the A,, ana A is assumed to be AdA=I; and that of the A, and C of the #3 output transformer is assumed to be A&=I. The reference output voltage v* of STATCOM, the output voltage waveform of #I GTO inverter V U I N , and that of the #2 GTO inverter vUZN, illustrated in Fig. 3 (a), (h) are and (c), respectively. The sum of the two GTO inverter =w output voltages, VGTO ~ " 1 2 ~ " , ~+ v,,~N, is also illustrated in Fig. 3(d). The VCTQ can he expressed by

the fundamental component will be

a,

v,,,,,,, = --vm 6 4n

= 2.21 v m

(3 1

5.IGBT Inverter The IGBT inverter operates in a PWM switching mode at much higher switching rate than the reference frequency. It is assigned to generate a voltage difference between the reference output voltage, and the sum of the output voltages of the two GTO inverters. Accordingly, the reference will voltage of the IGBT inverter v * t G B ~ be given by (2) and its typical waveform is illustrated in Fig. 3 (e).
" m r = V -"ma.

The IGBT inverter has to produce an additional fundamental component for controlling the total output voltage vc= + VIGBT. Fig. 4 shows how the fundamental component V,, and THD of the STATCOM output voltage v, v u y with the amplitude of the reference P, where the harmonic components up to the 4Olh are taken into account for the THD calculation. The linear relation between c" and KI is obtainable in the range P =3.82V~i2to 5.02Vw/2. The lowest THD = 2.5% is obtained at P = 4.42VDc/2. THD increases rapidly when the reference voltage is decreased below 3.6Vw/2 or increased above 5.2VK/2 because an over-modulation mode of operation becomes dominant in those ranges. Thus, the preferable reference output voltage range of the proposed STATCOM should be
P = 3.82VKi2-

5.02V0ci2

in order to maintain low THD in the total output vnltages/currents.

111. CONTROL SYSTEM

(2)

The PWM control is based on a triangle-comparison method [6]. If a reference signal exceeds a half of the DC J voltage, namely J Y * I C ~ T > Vp& the IGBT inverter operates in an over-modulation range at the corresponding duration, resulting in distortion in the output. For STATCOM, the over-modulation should be avoided because of the stringent requirement on the distortion in the output currents.
C. Preferable Output Voltage Range The two GTO inverters provide a fixed stair-shaped voltage waveform as shown in Fig. 3 (d). The amplitude of

A. Current Control Fig. 5 shows the proposed control system of STATCOM. The current control is executed in the d-q rotating coordinate reference frames using proportional and integral (PI1) regulators. The q-axis corresponds to the reactive component and the d-axis corresponds to the active b component. The q-axis load current i is a compensating current reference its', while the DC voltage control provides the d-axis reference ia*. The PI, regulators produce the reference voltages, which are divided by Vp&, yielding the normalized reference voltages wd* and vq*. Finally these voltages are transferred back to the stationary three-phase reference frames. Thus, the normalized references, vu*, v,*, and ww*, are obtained

Fig. 3. Wavcfom of(a) rcfcrence voltage, (b)-(d) output ofGTO inverters, Fig. 2. STATCOM using hybrid three-invcncrs.
and ( e ) referencc voltage of IGBT inverter.

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2004 35th A n n u l IEEE Power Elecrronics Specialists Confererice

Aachen. Germany, 2004

6
5.5

3.5
1
3 3.5

2
4
4.5

5.5

V*i(d2)

Fig. 4. Linearity and THD ofoutput voltagc in t c m of its rcfcrcnce.

In order to understand the usefulness of the proposed variable DC voltage control, step responses based on the conventional and proposed DC voltage control are compared by simulation. Fig. 6 shows responses when the load was changed stepwise from capacitive (reference current in rms ICs*= -8.7A) to inductive ( Icq*=8.9A) at r-0.1s under the conventional constant DC voltage control at vDc=75V. The IGBT inverter operates in an over-modulation range both at the capacitive and inductive loads because the reactive current is large in both cases. As a result one can observe a distorted voltage waveform in the reference vu*. Fig. 7 shows responses in the same situation as in Fig. 6 but the load change occurred at ~ 0 . 1 6 under the proposed s variable DC voltage control strategy. The DC voltage is , 57V to 91V according to the increased adaptively from=v required reactive currents. One can observe that the IGBT inverter always operates in the linear modulation range except for several cycles just after the load change, and can ohserve a sinusoidal reference voltage waveform.

Fig. 5. Control systcm used for STATCOM.

Variable DC Voltage Control Sfrafegy The voltage across the DC capacitor, V,, is usually kept constant. The problem with the proposed STATCOM is that if a required compensation c w e n t is large, the IGBT inverter is forced to operate in an over-modulation range, resulting in increased distortion in the compensation current ic. To prevent this situation, this paper proposes a variable DC voltage control strategy. With this strategy the DC voltage V , is adaptively adjusted so that the amplitude of the normalized reference voltages vu*, vv*, vw* are kept constant at P=4.42V,/2, that provides a minimal THD value in the output voltage vc irrespective of the amount of compensating current as Fig. 4 indicates. Since the reference vd* is proportional to the amplitude of the reference voltage P because vd* >> vg*, vd* is controlled to be its reference Vd*,,as shown in Fig. 5 . The reference Vd*,, is constant and is determined by simulation and experimental studies. In our case it IS

B.

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

rirnc[sl

Fig. 6 . Rnponsu 10 a stcp load changc, capacifivc IO inductive at PO. Is undcr convcntional conslant DC voltagc control strategy.

0.12

0.14

0.16

0.18

0.2

0.22

0.24

0.26

V:&

=-

4 . 4 2 g = -5.41 ,

IirncIrl

where

@ is the coefficient of the uvwldq transformation.

Fig. 7. Rcspanses to thc same step load change 85 in Fig. 6 at 0.16s under the proposcd DC voltagc control stratcgy.

Actually, the PI, regulator produces a DC voltage reference V,*, and the PIz regulator controls the DC voltage V , through the active component current iCd*.

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2004 35th Annual IEEE Power Elecrronics Specialirrs Conference

Aachen. Germany, 2604

IV.

EXPERIMENTAL RESULTS

A 1-kVA prototype STATCOM was built for I. experiment. The parameters are listed in TABLE Fig. 8 shows the measured STATCOM output volttige wcu and source voltage v. waveforms in phase U. One can , observe an almost sinusoidal output voltage, vcw Fig. 9 shows the current and voltage waveforms when STATCOM is in operation with an inductive load. The STATCOM current ic. was sinusoidal, and the displacement power factor and THD of the source current is. were 99% and 1.67%. respectively. Fig. 10 shows the current and voltage waveforms with a capacitive load. The STATCOM current ic. was sinusoidal, and the displacement power factor and THD of the source current is" were 99% and 2.29%, respectively. Fig. 11 shows the measured DC voltage vDc and normalized reference voltages of STATCOM (normalized by VDd2). One can confirm that the normalized reference signal of the IGBT inverter w*IGBTu confined to a is linear-modulation range, namely / w * I G B ~ </ 1. ~ Fig. 12 shows the measured responses to a step load change, a capacitive load (Icq*=O A ) to an inductive load 4 (Icq*=3.0A) at 250[ms]. The DC voltage vK and its reference vDc* were adaptively increased from 46[V] to 6O[V]. It is noted that as a result, the amplitude of the normalized reference voltage vu* was kept constant at an optimal value, 4.42.

This observation indicates that the proposed variable DC voltage control strategy is quite useful for the IGBT inverter to ensure PWM operation in a linear modulation range.

0.005

0.01

0.015

0.02

0.025

0.03

0031

0.04

,imel,l

Fig. 9. Currents and source voltage of STATCOM

with inductive load (Experimental).

I5 10

5
-10

-15
0 0.WS 0.01
0.015
0.02

0.025

0.03

0.035

0.04

timelsl

Line-to-lineAC source voltagc

Carricr frcqucncy of IGBT invertcer

140[V]
2.4k[Hz]

Fig. 8. .Currentsand source voltagc of STATCOM with capacitive load (Experimental).

CapaciIance of DC capacitor
AC coupling rcaclor Lc

3300[pF]
IO[dI
-5.41
0.4[V/A]

Optimal refercnce V&,

P gain of PI, regulator
Igain o f PI, rcylator

P gain of PI? regulator

O.S[AN]
0

I gain of PIi regulator

P gain of PI, regulator 1gain ofPI, regulator
lOOOO[ lis]

10

IS

20
l"W"61

25

30

I5

40

Fig. I I.DC voltagc and normalized refercnce voltagcr of STATCOM (Experimental).

80

,,-..A---,.I

'C"
40

20

$
D
t

o
-20
40

-M
40

O.MS

on!

0.015

0.02
11m,11

no25

0.03

O.OX

0.m

IW

1 W

IW

400 5W
rime[m lI

600 7W

800 9W IWO

Fig. 8. Sourcc voltagc is,, and output voltage o f STATCOM io,

with inductivc load (Expc"mental).

Fig. 12. Response to a stcp load change from capacitive

to inductive load at 250[ms]

(Experimental).

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2004 35fhAnnual IEEE Power Electronics Specialisrs Conference

Aachen, Germany. 2004

ESTIMATION ATTAINABLE OF STATCOM CAPACITY AND DEVICE LOSSES Here an attainable compensation VA capacity and device losses of a hybrid STATCOM are estimated. The selected GTOs, IGBTs, and fast recovery diodes that seem to have one of the highest ratings at this stage are listed in TABLE The combination of those devices establishes the II. following voltage and current ratings of the inverter:
V. DC supply voltage: Voc=3000V, Peak output AC current

VI. CONCLUSIONS This paper proposes new configuration STATCOM using hybrid multi-inverters. It can consist of n-1 GTO inverters (n: integer) with square-wave switching and a single NPC IGBT inverter with PWM switching. Thus, it can build a higher voltage larger capacity STATCOM with less switching-related losses and fewer harmonic contents in its output. It has advantages that the harmonic contents of the output voltage/current would be less than the conventional STATCOM, the ratio of the total switching losses to the total output capacity would be less than the PWM STATCOM, and the responses would be similar to the PWM STATCOM. This paper also proposes a new control strategy for the STATCOM. The proposed variable DC voltage control strategy can expand the linear compensation range without causing an over-modulation problem in the IGBT inverter. Thus, low current THD throughout the compensable range can be realized. The experimental results demonstrate the usefulness of the proposed STATCOM.
REFERENCES
N. G . Hingarani, L. Gyugyi: Undcrstanding FACTS Concepts and Technology of Flexiblc AC Transmission Syslems, IEEE Prcss, New York, 1999. Ken, A. S . Mchraban. et al.: Unified Power Controller (UPFC): Modcling and Analysis, IEEE Trans. Power Delivery. Vol. 14, No. 2, pp. 648454, 1999. S . Mori, et al.: Dcvclopmcnt of a Large Slatic Var Gcncralor Using Self-Commutatcd Inverten for Improving Powcr Systcms Stability, IEEE Trans. Powcr Delivery, vol. 8, No. I, Fcb., pp. 371-377, 1993. C. A. C. Cavalicrc, E. H. Watanabc and M. Aredcs: Comparison Bctwccn the Convcntional STATCOM and the PWM STATCOM, COBEP99, Brazil. 1999. P. Garcia-Ganzaler and A. Garcia-Gonzalez: Control Svstcm for a PWM-Bascd STATCOM, IEEE Trans. Powcr Deliv>ry, Vol. 15.No.4. pp. 1251-1257,2000. S. Fukuda, Y. Kubo, and Li Dongsheng, Introduction of a Series-Connected Hybrid Multi-Converter System, IEEE IAS02,
2002.

f i Ir=600A.

Estimated output capacity, and device losses of each 11. inverter are also listed in TABLE The maximum total ,&, output capacity of the STATCOM, Q, l was estimated as 7.31MVA and the total devices losses, L,,,.I, were 0.52% of the total output capacity. Also the following aspec:ts were observed. 1) The GTO inverters undertake 82% of the total VA capacity, and the IGBT inverter 18% of the total VA capacity. 2) The primary device losses (53%) stem from the IGBT inverter, and its majority comes from the switching losses. 3) The GTO inverter losses (46%) are smaller than those of the IGBT inverter. This is an important feature of the hybrid arrangement. The majority losses stem from the snubber loss. The estimation indicates that the maximum capacity of 7.31MVA would be attainable using devices available in the market at this stage. Thus, the proposed hybrid arrangement is useful for designing a higher voltage larger capacity higher eficiency STATCOM having fewer harmonic components in its inputloutput.
TABLE ESTIMATED OUTPUTCAPACITYA N D DEVICE LOSSES 11
Devices Ratings GTOs SSGT30JMM4 made by = ABB 171. VDRM 6000V. lr~~u=3000A with VmOl=4680V
IGBTs

FZ1200R33 madc by Eupcc [SI. VDBM= 3300V. IC == 1200A

Max. fundamental voltages Max. capacitics Device losscs

v,,,,=

I 060v

I I I

QGTo=5.97MVA bro=17.5kW

I I Ltasr=20.4kW

Fast recovery diodcs: SSDF IOH6004 made by ABB [SI, V~au=600OV, lp~vLus=1700A

ABB Semiconductors AG datl shccts on Gate turn-oNThyristor. SSGT 3016004,1999. E. KraR. A. Steimcl, J. Stcnkc, Three-lcvcl high-power invcncrs with IGCT and IGBT clcments comparcd on thc basic of mcasurcmcnts of thc devicc losses. EPE99, 1999. ABB Scmiconducton AG data sheets on Fast Recovery Diodc. SSDF IOH6004,1999. S . Fukuda, T. Kanayama, and K. Muraaka, Adaptivc lcaming based currcnt control of actiw filters needlcss to detcct current harmonics. IEEE APECW.

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