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4, October 1998
C osed Loop
Abstract- This paper presents a new approach for t h e formation regarding its dynamic control or performance
dynamic control of FACTS apparatus, such as t h e STAT- has been published. As a result, the transient response
CQM and UPFC, which utilize voltage source inverters
(VSI) as t h e main building block. The control concept is of such equipment to faults and load fluctuations is un-
based on a linearization of the dq inverter model. Feed- available. In addition, the effect of system variations
forward techniques which are traditionally used for t h e on the closed loop dynamic performance of the overall
approximate decoupling of d and q-axis control a r e dis-
carded in favour of a high gain full state feedback ap-
system is also poorly documented.
proach which assigns both closed loop system poles and, This paper focuses on the control of a single VSI tak-
more importantly, their associated eigenvectors. Experi- ing into the account the effect of possible loading on
mental validation of t h e approach is carried out on a lab-
oratory STATCQM setup. Due to the nonlinear n a t u r e
the dc bus. The concepts are therefore applicable to
of t h e VSI equations and the uncertainty of ac system pa- both control of the STATCOM and of the excitation
rameters, actual closed loop system dynamics can s t r a y stage of a UPFC. Modeling and control of the system
quite dramatically from the desired. Root locus analy- is carried out in the synchronous dq-frame, as is quite
sis is therefore performed t o investigate the small signal
system dynamic behaviour. The loci demonstrate t h a t standard [3], [4].Although still based on the dq-frame
t h e effect of system nonlinearity on the closed loop poles model, the control design strays from the standard tech-
is virtually eliminated by t h e proposed control. T h e ef- niques which attempt to approximately decouple d and
fect of a c system parameter variations is also shown t o
be minimal.
q-axis quantities. Instead, a linear multi-variable ap-
proach based on state space theory is employed, which
Keywords- FACTS, STATCOM, control, dynamic mod- permits the entire eigenstructure of the closed loop sys-
eling tem t o be assigned [ 5 ] . The proposed approach yields
better dynamic decoupling of the d and q-axis currents
I. INTRODUCTION than is achieved by conventional techniques. This al-
lows higher feedback gains to be used which reduces the
Recent advances in the power handling capabilities inverter response time and attenuates any disturbances
of static switches has made the use of the voltage which might enter the system.
source inverters (VSI) feasible at both the transmission In order to confirm positive simulation results, the
and distribution levels. As a result, a variety of VSI proposed control scheme is implemented in a DSP con-
based equipment such as the static compensator (STAT- troller board and tested on a 5kVA laboratory setup.
COM) and the unified power flow controller (UPFC) The dynamic performance of the experimental system
have joined the previous generation of semiconductor proved excellent under all tests performed. Although
based equipment t o make flexible ac transmission sys- both simulation and experimental testing validate the
tems (FACTS) possible. proposed design, no quantitative measure of the robust-
The ability of this new FACTS equipment t o control ness of the controller to parameter variations is readily
system power flows as well as improve system stability obtained from a handful of specific tests. To ensure the
have been well documented [l],[a]. In spite of the in- robustness of the controller, as well as to offer insight
terest in this FACTS equipment however, very little in- into t o the interaction between the ac system and the
VSI dynamics, a root locus analysia is performed.
PE-198-PWRD-0-12-1997 A paper recommended and approved by
the IEEE Transmission and Distribution Committee of the IEEE Power II. THE STATCOM DYNAMIC MODEL
Engineering Society for publication in the IEEE Transactions on Power
Delivery Manuscript submitted July 16, 1997; made available for Figure 1 shows the schematic diagram of a STAT-
printing December 12, 1997. COM, where the inverter ‘on’ state switch resistances,
are lumped in with the transformer leakage resistance,
while switching losses are approximated by a shunt dc
side resistance. Due to the nature of the VSI, the ac
currents always sum to zero, independent of the ac sys-
tem connection. Only two of the three line currents can
0885-8977/98/$10.00 0 1997 IEEE
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Fig. 4. System response to a change in the reference reactive Fig. 5 . System response to a change in the reference reactive
power command from -0.5 to +0.5pu. power command from $0.5 to - 0 . 5 ~ ~ .
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V. EXPERIMENTAL RESULTS
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time (s) time (s)
Fig. 7. Response of the voltage controller to tripping of a feeder Fig. 8. Response of the voltage controller to tripping of a load
(SI opens). (S3 opens).
very clearly seen from the traces that the controller also with the actual FACTS equipment were needed in the
decouples the reactive current regulation from both dc design, i.e. the transformer impedance, the dc capacitor
bus voltage and d-axis current variations. value and an approximate model of the inverter losses.
As already stated in Section 111, an external voltage This evokes two questions regarding the dynamic per-
control loop can be introduced to regulate the ac bus formance of the closed loop system:
voltage amplitude. Ac bus voltage variations can result 1) how does the operating point affect the dynamics
from either changes in source or load configurations, and 2) how does the introduction of, and variations in, the
both these scenarios are investigated. Referring back t o ac system impedance affect the dynamics.
Figure 3, it can be seen that two similar feeders as well Clearly the test cases presented show that the closed
as two separate loads are connected to the STATCOM loop dynamic performance of the STATCOM is excel-
bus through breakers (5’1t o 5’4). lent at least under certain system conditions. Also, the
Figure 7 depicts the transient response of the system test cases were chosen to be representative of the types
when one of the two feeder trips off (SIopens) while of disturbances a STATCOM might be subject t o in the
supplying both loads. The droop characteristic of the field. Nonetheless, neither of these facts ensures that the
voltage controller results in the post-event ac voltage system even remains stable under other, untested condi-
being somewhat lower than the reference, while the pre- tions. To resolve this uncertainty, a root locus approach
event voltage was somewhat higher. It is clear that this is used which can at least ensure whether the system is
scenario represents a case where the impedance between stable in some range about an operating point.
the ideal ac system voltage and the STATCOM termi- Consider first how the operating point affects the
nals changes rather dramatically. This change, however, closed loop system dynamics. The operating point of
seems t o have little effect on the closed loop performance the STATCOM is uniquely d e h e d if the steady state
of the STATCOM. ac bus voltage amplitude, dc bus voltage amplitude and
The last test performed is that of a tripping of a part the reactive current are known. Neither the ac nor the
of the load. Figure 8 show the transient response to the dc voltages vary more than a few percent from their
tripping off of the 6kVA load. Performance similar t o nominal values, due to practical constraints. The effects
that of the last case is seen. of variations in these quantities on the system dynamics
are therefore secondary to the effect of reactive current
VI. DISCUSSION OF RESULTS changes. Applying the fixed linear controller designed in
As demonstrated by the experimental results, the in- Section I11 t o the open loop nonlinear system equations,
ner STATCOM control loop appears to function nearly yields the set of closed loop nonlinear equations. Lin-
identically under all conditions. This seems counter- earizing these new equations about i, = 0 yields closed
intuitive since the controller is designed based only on loop eigenvalues which are located at the specified lo-
a linearization about one specific operating point. Also, cations (since this is the operating point for which the
with exception of the PI voltage controller, the entire feedback matrix was designed). Due to the nonlinear-
control structure was designed without the knowledge ity of the equations, however, at other values of reactive
of ac system parameters under either nominal or contin- current the eigenvalues are not at the same location.
gency conditions. Only the parameter values associated Figure 9 gives the root locus as the reactive current
1384
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O- i flect the associated rightward shift of the system roots.
In addition it should be mentioned that it is better for
.4
s -=O the system poles to move towards the right rather than
the left due t o the introduction of ac system reactance,
since a leftward movement of the poles would cause the
transport delay of the inverter to become problematic.
Fig. 9. Root locus as the reactive current increases from -1 to 1
pu (note unequal axis scaling). VII. CONCLUSIONS
The linearized dq-frame model is used to design a
multi-variable control for STATCOM and UPFC ap-
plications. Complete eigenstructure assignment is em-
ployed t o ensure reactive current regulation is dynami-
cally decoupled from the other system states, while the
required feedforward terms are found for elimination of
steady state errors.
Experimental tests on a 5kVA laboratory STATCOM
demonstrated that the resulting closed loop system dis-
played rapid and well damped response under all system
conditions. Root locus analysis verified that the closed
Fig. 10. Root locus as the system reactance increases from 0 to
0.2pu, with i, = 0 (note unequal axis scaling). loop VSI dynamic performance could be made nearly
independent of both operating point and ac system pa-
rameter values by appropriate controller design.
is varied from -1pu t o i-lpu. As can be seen, the closed
loop dynamics vary only slightly with the changing op-
erating point. This is a result of the high feedback
ACKNOWLEDGMENTS
gain minimizing the effect of the nonlinearity in the sys- The authors would like to acknowledge the contribu-
tem equations. Since the poles remain very near the tions of Dr. R. Bonert and Mario Schwegmann whose
help made the experimental validation possible.
real axis, the desired nonoscillatory system behaviour is
maintained, independent of reactive current. References
To ensure that ac system parameter variations also [l] L. Gyugyi, “Dynamic compensation of ac transmission lines
by solid-state synchronous voltage sources,” IEEE n u n s . o n
don’t adversely affect the closed loop STATCOM dy- PWRD, vol. 9, p&. 904-911, April 1994.
namics, an additional root locus analysis is performed. [2] R. MihaliE, P. Zunko, I. PapiE, and D. Povh, “Improve-
The system of Figure 3 is again used, with switches ment of transient stability by insertion of FACTS devices,”
in I E E E / N T U A Athens Power Tech Conference Proceedings,
SI,S3 and S4 open. Assuming that the XIR ratio of pp. 521-525, September 1993.
the ac system stays approximately constant, the system 131 C. Schauder and H. Mehta, ‘‘Vector analysis and control
impedance is allowed t o vary from 0 to 0.2~14while the of advanced static VAR compensators,” IEE Proceedings-C,
vol. 140, pp. 299-306, July 1993.
reactive current supplied by the STATCOM is held at [4] C. Schauder et al., “Operation of &lo0 W A R TVA STAT-
zero. It should be expected that such a parameter vari- CON,” I E E E P E S Winter Power Meeting, February 1997.
ation move both open and closed loop system poles, but [5] J. D’Azzo and C. Houpis, Linear Control System Analysis and
Design. New York: McGraw-Hill, 1995.
t o varying degrees. In addition, the voltage at the ac sys- [6] P. Vas, Vector Control of A C Mnchines. New York: Oxford
tem bus which the STATCOM transformer is connected University Press, 1990.
to, will no longer be constant. As a result this parame- [7] V. Blasko and V. Kaura, “A new mathematical model and
control of a three-phase ac-dc voltage source converter,” IEEE
ter variation also causes a slight shift in operating point T r a n s . on Power Electronics, vol. 12, pp. 116-123, January
which must also be accounted for. It is assumed that 1997.
the voltage behind the system’s transient reactance is P.W. Lehn received the B.Sc. and M.Sc. degrees in electrical
constant. engineering from the University of Manitoba in 1990 and 1992.
From 1992 until 1994 he was employed by the Network Planning
The case where the system reactance is zero corre- Group of Siemens AG, in Erlangen, Germany. He is presently a
sponds t o roots lying a t the locations specified by the Ph.D. candidate in the Department of Electrical and Computer
pole placement (since ac system reactance was neglected Engineering at the University of Toronto.
M.R. Iravani received his B.Sc. degree in electrical engineering
in the pole placement). As the system reactance in- in 1976 from Tehran Polytechnique University and started his ca-
creases, the poles move as shown in Figure 10. In this reer as a consulting engineer. He received his M.Sc. and Ph.D.
degrees also in electrical engineering from the University of Man-
case the two poles which were placed in the fax left hand itoba, Canada in 1981 and 1985 respectively. Presently he is a
plane move towards the origin somewhat. This does professor a t the University of Toronto. His research interests in-
slow the dynamics a little, but does not destabilize the clude power electronics and power system dynamics and control.