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1. INTRODUCTION
As a consequence of the advances in power electronics technologies over the last two decades, power electronics applications have quickly spread to all voltage levels,
from EHV transmission to low voltage circuits in end user
facilities. Commonly observed power electronics applications include HVDC terminals, various static var compensation (SVC) systems, high power AC to DC converter for DC
arc furnaces, static phase shifter, isolation switch, load transfer switch, converter/inverter based drive technologies,
active line conditioning, energy storage and instantaneous
backup power systems, renewable energy integration, and
numerous others covered under subjects of Flexible AC
Transmission Systems (FACTS) and Custom Power Systems
(CPS). The need for power electronics modeling and simulation is driven by both existing and new applications.
2-1
3. MODELING GUIDELINES
Digital computers can only simulate circuit phenomena at discrete frequencies or at discrete intervals of time
(step size (f or (t). This leads to truncation errors in all digital
simulations. Compared with the time domain calculation, a
frequency domain simulation is more robust because a circuit
solution is found at each individual frequency and truncation
errors are not accumulated. The programs using this solution
method often treat the nonlinearity of a system as known current sources. For a harmonic evaluation, the frequency
domain solution usually requires less computation time compared with a time domain solution. However, most available
frequency domain solution programs have difficulties in handling the system dynamics, control interfaces and fast transients. The time domain solution is based on the integration
over a discrete time interval. The numerical methods applied
in different programs can use either iterative techniques or
direct solution methods. The solution stability and accuracy
achieved are closely related to the time step size selection.
Because truncation errors can accumulate from step to step,
the solution m ay diverge from the true solution if an
improper time step is selected. The time domain simulation
has great advantages over a frequency domain simulation in
handling the system dynamics, power electronic interface
and transients.
Simulated Device
Characteristic
Real Device
Characteristic
Cathode
Anode
The tools of the first group may offer the best productivity if a detailed application topology and complicated
operation controls need to be simulated and if the main interest of the study is the power electronics subsystem. These
tools often have difficulties when an extensive utility net2-2
For numerical simulations, if the gating circuit power requirement is excluded from the study, there is very little difference
between modeling a GTO, IGBT or any other three-terminal,
controllable, unidirectional current flowing device. The device can all be represented by an simplified switch with gate
turn-on and turn-off controls. The different switching characteristics can be realized by applying different firing controls.
Vs
Conducting when V>Vs
V
Anode
Cathode
Vsf
Rf
Rb
Vsb
Gate
(1)
(2)
(3)
Rl
uses the least number of devices for a given power
electronics topology. The problem with this bidirectional current flowing switch representation is that it fails to correctly
represent an operation state during the idling period. This
can be better explained with an example of a simplified
inverter scheme used in a UPS as shown in Fig.6.
The switching characteristics of an actual, a simplified and an idealized SCR are shown in Fig. 4. To represent
the simplified SCR device, the turn-on control is added on
the simplified diode model. If the control is applied continuously, this switch simulates the diode which allows unidirectional current flow when the switch is forward biased.
Delaying the gate pulse allows control over the turn-on
instant of the forward biased switch.
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Simulated Device
Characteristic
Real Device
Characteristic
Ig1 Ig0
Vbo
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Anode
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DC R and L
Voltage
Source
GTO
Load
To Firing Control
Fig. 8. An Example Circuit to Show GTO Simulation.
type-13
switch
Fig. 9. The GTO Firing Signal.
type-11
switch
An example circuit given in Fig. 8 is used to illustrate how this module is used in a circuit simulation. In this
example, the GTO device is used to regulate the voltage at a
resistive load terminal. By controlling the GTO tuning-on
and off, the average voltage across the resistor can be
adjusted.
2-4
With these general guidelines, a voltage source converter model for a system dynamic evaluation can be built as
shown in Fig. 12. Irrespective of how many series and parallel GTO devices are used in an actual application, only two
GTO devices are used in each phase of the model to form a
converter leg. In this example, the just discussed GTO module is used as a building block to construct the converter
module.
Fortunately, (except for some failure mode analyses), for the purposes of most application simulations it is not
necessary to represent all individual devices. Usually, what
needs to be simulated is the terminal characteristics of a
power electronic subsystem and how it interfaces with the
connected system. Thus, the following procedures can be
used to reduce the modeling complexity:
Use one or a few equivalent devices to represent series
and parallel combination of a group of devices
Represent power electronic loads with similar characteristics by an equivalent load
Use the simplest device model which is appropriate for
the application
Represent a power electronic subsystem by equivalent
source injection whenever it is acceptable
Represent only the front end of the drive system when
the major concern is utility interfacing
Include the system dynamic and controls only when necessary
Use modular approach for large scale model development
The GTO firing control signals for the six-step operation is given in Fig. 13. The firing signal for the switching
cells No. 1 through No. 6 are shown in this figure by the
traces with the magnitude 1.1 through 1.6 respectively. The
device firing starts when the time reaches one 60 Hz cycle
ending point. When the gating signal is greater than zero, the
corresponding GTO device is turned on. When the gating
signal is equal to zero, the device is turned off. The resulting
line-to-neutral and line-to-line output voltages are illustrated
in Figs. 14 and 15, respectively.
Fig. 13. The GTO Firing Signal for the Six Step Converter Operation
2-5
Harmonic cancellation when multiple loads are represented by their lumped equivalent
Existing system distortion.
Appropriate source topology for PE subsystem representation
System unbalance
Effects of a DC link or the inverter side connection on
the front end interface with the power supply system
Current or voltage sharing among the parallel or series
switching devices
Switching loss prediction
If the purpose is to characterize the harmonics generated by a particular type of power electronics application,
the power system model can be significantly reduced. When
a pre-existing voltage distortion level at a power electronics
interfacing bus is low, the rest of the power system can be
2-6
satisfactorily represented by one or a set of first order equivalents connected to the bus at a higher system voltage level.
For an example, if the power electronics application interfaces with the system at the low voltage bus of a step-down
transformer, the equivalent of the system can be placed on
the high voltage bus of the transformer. When a pre-existing
voltage distortion level is greater than 2%, one needs an adequate harmonic source to properly represent the background
distortion.
Extensive power system model is required for a harmonic propagation and resonant study. The main system
components and dominant topology need to be kept in the
power system model. Filter banks, nonlinear passive circuit
components, and all other harmonic injection sources should
be represented. Frequency dependent characteristics of the
system components might need to be considered.
3.4. Representation of System Controls
2-7
Uref
Vsyn
Va
Vd
ABC
COS()
Vb
VCO
PI
Vc
Vq
DQ
Uref
SIN()
RESET
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ATRMNL
GTRMNL
SNUBBR
SNUBBR
SNUBBC
The simulation programs using trapezoidal integration method are inherently prone to spurious oscillations
(also known as chatter) in capacitive and inductive circuits
when subjected to sudden changes such as step change in
voltage, current injection and switching. Some EMTP type
programs take special measures to detect and remove these
2-9
DC Link
Induction
Motor
IM
Six Pulse
Diode Rectifier
PWM
Inverter
4.1. Simulation of the Pulse Width Modulation (PWM) Voltage Source Inverter (VSI) Adjustable Speed Drive (ASD)
The first example is a PWM-VSI AC drive simulation using EMTP. The AC drive (Fig. 30) consisting of a
three-phase diode bridge rectifier, capacitive DC link and
three-phase PWM output inverter. The switching losses of
the drive are a secondary order consideration in the analysis
and the idealized switching characteristics are used.
Fig. 32. Simulated Carrier and Reference Signals for A PWM- VSI
Adjustable Speed Drive Firing Control
2-10
144 kV
10 MVA
7.87%
25 kV Bus
2 km 266 MCM
7.5 MVA
5.75%
ASD
harmonic
filters
5,7,11
6000 hp
other
loads
1500 kVA
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1500 kVA
4.7%
4.16 kV
0.5 uF
surge capacitors
PF Correction
Capacitors
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800 hp
other
loads
4.16 kV
10 km
1/0
Fig. 34. One line diagram for the first example system.
2-11
Rectifier AC
System
Two possible situations can be considered for modeling a rotating machine when simulating a power electronic
system
1. The machine is a component of a larger system where
one or several power electronic devices are operating,
for instance a synchronous machine connected to a
transmission network where FACTS devices are used to
control power flows and improve transient stability.
2. The machine is part of the power electronic system, for
instance an adjustable speed drive.
Inverter AC
System
12
12
Filters
FC
Rectifier
Inverter
Filters
FC,SC
SVC
Similar modeling guidelines for representing rotating machine in both situations can be used, however some
particular considerations can be taken into account in some
cases and studies. Modeling guidelines provided in this document assume that power electronic systems operate at low
frequencies, between DC and 3 kHz. Therefore only the representation of rotating machines for this frequency range is
discussed. Regardless of the application to be simulated a
detailed modeling for the electrical and the mechanical parts
is usually required, saturation effects should be included, and
2-12
2-13
tance, Xr, and a voltage source, , at the receiving end, respectively. The STATCOM is connected at BUS 1 of the
transmission line as shown in Fig. 39. The STATCOM
model in EMTP consists of a harmonic neutralized voltage
source inverter, VSI1, a magnetic circuit, MC1, a coupling
transformer, T1, a mechanical switch, MS1, current and voltage sensors, and a controller. The STATCOM injects an
almost sinusoidal current at the point of connection. This
injected current is almost in quadrature with the line voltage,
thereby emulating an inductive reactance or a capacitive
reactance at the point of connection. To achieve the basic
function of a STATCOM, the inverter is operated by regulating the reactive current flow through it.
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The UPFC which is connected to the simple transmission line is shown in Fig. 41. The UPFC model in EMTP
consists of two harmonic neutralized voltage source inverters, VSI1 and VSI2, two magnetic circuits, MC1 and MC2,
two coupling transformers, T1 and T2, four mechanical
switches, MS1, MS2, MS3, and MS4, two electronic switches,
ES2 and ES22, current and voltage sensors, and a controller.
The voltage source inverters are connected through a common DC link capacitor. In a basic operation of a UPFC, the
STATCOM is operated by regulating the reactive current
flow through it and the SSSC is operated by injecting a voltage in series with the transmission line.
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angles after appropriate phase shift. The pole voltages from
the ABC inverter exhibits a 6-pulse harmonic neutralized
waveform with harmonic components n = 6k 1 for k = 1, 2,
3, etc. Similarly, the pole voltages from the DEF inverter
exhibits a 6-pulse harmonic neutralized waveform whose
harmonic components (n = 6k 1 for k = 1, 2, 3, etc.) have
the same magnitudes as the corresponding harmonic components of the ABC inverters 6-pulse harmonic neutralized
waveform. However, the harmonic components (n = 6k 1
for k = 1, 3, 5, etc.) are in opposite phases while the harmonic
components (n = 6k 1 for k = 2, 4, 6, etc.) are in phases with
the corresponding harmonic components of the ABC
inverters 6-pulse harmonic neutralized waveform. Therefore, if all the outputs from each 6-pulse inverter are combined by connecting the corresponding phases in series, a 12pulse harmonic neutralized waveform is obtained. The
resulting output voltage exhibits a fundamental component
and odd harmonic components (n) given by the equation (1)
where n = 12k 1 for k = 1, 2, 3, etc. Note that the output
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dead angle = 0.
Fig. 45 shows a possible configuration of the magnetic circuit which can be used to generate a 12-pulse harmonic neutralized voltage. The ABC 6-pulse inverter
voltage is fed to a Y-Y transformer and the DEF 6-pulse
inverter voltage is fed to a (-Y transformer. The inverter side
A winding and DE winding will have per turn fundamental
component voltages which are of same magnitude and in
phase and the fifth and the seventh harmonic components
each of which are of same magnitude but in opposite phase.
Therefore, if the line side of the transformer windings are
connected in series, the phase-X voltage will exhibit only a
2-15
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An SSSC controller uses a solid-state voltage source
inverter to inject an almost sinusoidal voltage, of variable
magnitude, in series with a transmission line. This injected
voltage is almost in quadrature with the line current. A small
part of the injected voltage which is in phase with the line
current provides the losses in the inverter. Most of the
injected voltage which is in quadrature with the line current
emulates an inductive or a capacitive reactance in series with
the transmission line. This emulated variable reactance,
inserted by the injected voltage source, influences the electric
power flow in the transmission line. If an SSSC is operated
with an energy storage system, the controller becomes an
impedance compensation controller which can compensate
for the transmission line resistance as well as reactance. The
reactance compensation controller is used to operate the
inverter in such a way that the injected alternating voltage in
series with the transmission line is proportional to the line
current with the emulated reactance being the constant of
proportionality [57]. When an SSSC injects an alternating
voltage leading the line current, it emulates an inductive
reactance in series with the transmission line causing the
power flow as well as the line current to decrease as the level
of compensation increases and the SSSC is considered to be
operating in an inductive mode. When an SSSC injects an
alternating voltage lagging the line current, it emulates a
capacitive reactance in series with the transmission line causing the power flow as well as the line current to increase as
the level of compensation increases and the SSSC is considered to be operating in a capacitive mode. An SSSC controller can also be used for stable reversal of power flow in the
transmission line.
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almost 90 out of phase with the line current. The instantaneous DC link capacitor voltage is proportional to the amplitude of the inverter voltage.
Therefore, when an SSSC emulates a reactance in
series with the transmission line, the power flow in the transmission line always decreases if the emulated reactance is
inductive. Also, the power flow always increases if the emulated reactance is capacitive.
Fig. 52 shows the expanded view of the two sections of Fig.
51. The inverter voltage show the presence of 24-pulse harmonic components.
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The stand alone operations of the STATCOM and
the SSSC, as just described, only allow the inverters to
exchange almost exclusively reactive power at their terminals. However, if both the inverters are operated from a common DC link capacitor, the injected voltage by the SSSC can
be at any angle with respect to the line current. The real
power exchanged at the terminals of the SSSC appears at the
terminals of the STATCOM through the DC link capacitor.
The STATCOM can still be used to control the reactive current flow through it independently [58]. The current injected
by the STATCOM has two components. First, a real or direct
component, which is in phase with the line voltage, absorbs
or delivers the real power exchanged by the SSSC with the
line. Second, a reactive or quadrature component, which is
in quadrature with the line voltage, emulates an inductive or
a capacitive reactance at the point of connection with the
transmission line.
The SSSC can be operated in many different modes,
such as voltage injection, phase angle shifter emulation, line
impedance emulation, automatic power flow control, etc. In
each mode of operation, the final outcome is such that the
SSSC injects a voltage in series with the transmission line
[58]. In this section, the SSSC is operated in a voltage injection mode. The control block diagram for the SSSC is shown
in Fig. 53.
The desired peak fundamental voltage, Vdq*, at the
output of the inverter and its relative angle, , with respect to
the reference phase-lock-loop angle are specified. The phase
angle, 2, of the inverter voltage is calculated by adding the
relative angle, , of the inverter voltage and the phase-lock-
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Fig. 54 Performance of a Unified Power Flow Controller with a 24Pulse Quasi Harmonic Neutralized Inverter with 3-Level Poles Operating in a Voltage Injection Mode
4.5.4 SUMMARY
FACTS devices - STATCOM, SSSC, and UPFC,
have been modeled using an EMTP simulation package. The
UPFC consists of two voltage source inverters - one injects
an almost sinusoidal voltage in series with the transmission
2-20
3.
5. CONCLUSIONS
10.
4.
5.
6.
7.
8.
9.
11.
12.
13.
14.
15.
16.
17.
18.
19.
20.
2-21
21.
22.
23.
24.
25.
26.
27.
28.
29.
30.
31.
32.
33.
34.
35.
36.
37.
38.
39.
40.
41.
42.
43.
44.
45.
46.
47.
48.
49.
50.
51.
52.
2-22
53. L. Tang, M. F. McGranaghan, R. A. Ferraro, S. Morganson, b. Hunt, Voltage notching interaction caused by
large adjustable speed drives on distribution systems with
low short circuit capacities, IEEE PES 95 SM 388-9PWRD.
54. O. B. Nayak, A. M. Gole, D. G. Chapman, and J.B.
Davies, Dynamic performance of static and synchronous compensators at an HVDC inverter bus in a very
weak AC system, IEEE Trans. on Power Systems, Vol.
9, NO. 3, August 1994, pp. 1350-1358.
55. M. Szechtman, T. Wess, C. V. Thio, First benchmark
model for HVDC control studies, Electra, No. 135,
April 1991.
56. K. K. Sen, STATCOM - STATic synchronous COMpensator: Theory, Modeling, and Applications, 99WM607,
IEEE PES Winter Meeting, New York, USA, 1999.
57. K. K. Sen, SSSC - Static Synchronous Series Compensator: Theory, Modeling, and Applications, IEEE Transactions on Power Delivery, vol. 13, No. 1, January 1998.
58. K. K. Sen and E. J. Stacey, UPFC - Unified Power Flow
Controller: Theory, Modeling, and Applications, IEEE
Transactions on Power Delivery, vol. 13, No. 4, October
1998.
2-23