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Published in IET Generation, Transmission & Distribution Received on 29th August 2011 Revised on 10th January 2012 doi: 10.1049/iet-gtd.2011.0625

ISSN 1751-8687

Damping of subsynchronous oscillations in power system using static synchronous series compensator
M. Farahani
Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran E-mail: m.farahani@basu.ac.ir

Abstract: In this study, a static synchronous series compensator (SSSC) is used to damp the subsynchronous oscillation in a power system compensated by the series capacitor. In order to achieve an effective damping, a supplementary subsynchronous damping controller (SSDC) is added to the SSSC. The only input signal for the SSDC is the rotor speed deviation to generate the modulation index for controlling the injected voltage of the voltage-sourced converter (VSC). Also, the chaotic optimisation algorithm is employed to tune the parameter of SSDC. The design objective is to suppress the subsynchronous resonance (SSR) caused by the series capacitor. By using the SSDC, the SSSC connected at the transmission line is able to damp the SSR. The rst system of IEEE second benchmark model is used to evaluate the effective of SSDC on the torsional oscillations. The several simulations are used to demonstrate the ability of SSDC in damping the SSR.

Introduction

The use of series capacitor is a conventional method for reducing high reactance of long transmission lines. This method has some advantages such as increase in transient stability, improvement of load carrying of transmission lines and by controlling this reactance, they allow better control over load sharing between parallel transmission lines. However, despite these benets, these series capacitors can increase the risk of interaction between electrical power systems and turbine generators rotor torsional system. This problem is known as subsynchronous resonance (SSR) or subsynchronous oscillations. Subsynchronous oscillation is an electric power system condition where the electric network exchanges signicant energy with a turbine generator at one or more of the natural frequencies of the combined system below the synchronous frequency of the system following a disturbance from equilibrium [1]. The researchers have used many techniques to overcome this problem and proposed many controllers in the literatures. In general, most of these techniques can be divided into two main groups. The rst one contains the controllers based on the excitation system of generator [24]. The second one consists of the exible AC transmission systems (FACTS) devices. The FACTS devices provide a powerful mechanism in order to control the reactive power and voltage in power systems. Besides these abilities, the different types of these devices can be used in improving the stability of system. A lot of articles have been published about the use of these devices in damping the SSR [5 13]. In this paper, a static synchronous series compensator (SSSC) along with the supplementary subsynchronous damping controller (SSDC) connected at the transmission
IET Gener. Transm. Distrib., 2012, Vol. 6, Iss. 6, pp. 539 544 doi: 10.1049/iet-gtd.2011.0625

line is used to damp the SSR. The parameters of SSDC are tuned by the chaotic optimisation algorithm to achieve an effective damping. The SSSC is used as a voltage source in series with a xed capacitor. So, this combination can prevent the subsynchronous oscillations that may be caused by conventional xed capacitor. This factor, along with the simple control method, makes the proposed conguration highly effective in damping the SSR.

System under study

In this study, the rst system of IEEE second benchmark model shown in Fig. 1 is used to evaluate and analyse the risk of SSR [14]. In this model, a 600-MVA synchronous generator via two 500-kV transmission lines is connected to a large grid which is approximated by an innite bus. The turbine generator system as shown in Fig. 2 is modelled by four masses. As seen in Fig. 1, the SSSC injects a voltage Vs in series with the transmission line where it is connected. Voltagesourced converter (VSC) using insulated gate bipolar transistor (IGBT)-based pulse width modulation (PWM) inverters is used in this study. However, as details of the inverter and harmonics are not represented in the SSR studies, the same model can be used to represent a gate turn off (GTO)-based model. The overall performance of SSSC is completely explained in [10 11].

3
3.1

Proposed approach
Structure of control for the SSSC

An SSSC has an inherent damping capability and that only under certain circumstances it may be not sufcient [11],
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in the system power. Therefore the SSDC uses the rotor speed deviation to modulate the SSSC-injected voltage Vq to improve the damping of the unstable torsional modes. In Fig. 3, Vqref represents the reference injected voltage as desired by the steady-state power ow control loop. The steady-state power ow loop acts quite slowly in practice and hence, in the present study Vqref is assumed to be constant during the disturbance period. In the control system block diagram, Vd_conv and Vq_conv designate the components of converter voltage Vconv which are, respectively, in phase and in quadrature with current. The control system consists of A phase-locked loop (PLL) which synchronises on the positive-sequence component of the current I. The output of the PLL (angle u vt ) is used to compute the direct-axis and quadrature-axis components of the AC three-phase voltages and currents (labelled as Vd , Vq or Id , Iq on the diagram shown in Fig. 3). Measurement systems measuring the q components of AC positive-sequence of voltages V1 and V2 (V1q and V2q) as well as the DC voltage Vdc . AC and DC voltage regulators that compute the two components of the converter voltage (Vd_conv and Vq_conv) are required to obtain the desired DC voltage (Vdcref ) and the injected voltage (Vqref ). The Vq voltage regulator is assisted by a feed-forward-type regulator which predicts the Vconv voltage (the injected voltage on the VSC side of the transformer) from the Id current measurement. 3.2 Problem formulation

Fig. 1 IEEE second benchmark model along with SSSC

Fig. 2 Modelling of the turbinegenerator system

thereby to achieve an effective damping, an SSDC must be designed and added to the SSSC. The structure shown in Fig. 3 is selected in this study in order to control the power ow. In this structure, there are two basic controllers implemented in SSSC, a Vq voltage regulator and a DC voltage regulator. The principal strategy in controlling SSSC for damping the SSR oscillations is to use simple stabilising signals. The rotor speed deviation of generator Dv contains components of all the torsional modes. Consequently, if the rotor speed deviation is used to control SSSC, all the torsional modes, in addition to the mode corresponding to the generator mass will be affected. As seen in Fig. 3, the SSDC input selected is the rotor speed deviation of generator. The input after passing through a washout lter excites the derivative gain Kd . The output signal of derivative gain signies the existence of the SSR

The transfer function of SSDC is y= TW s DvKd s 1 + TW s (1)

Although local control signals can easily be obtained, they may not consist of the oscillation modes. By considering the recent advances in optical bre communication and global positioning system, the rotor speed deviation can be measured and deliver to the control centre [10].

Fig. 3 Block diagram of power ow control of the SSSC along with SSDC
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In the SSDC, the signal washout block serves as a highpass lter, with the time constant TW, high enough to allow signals associated with oscillations in input signal to pass unchanged. The washout time constant TW is usually prespecied [10]. In this paper, TW is taken as 10 s. In order to achieve a satisfactory damping, the derivative gain Kd must be determined. Under steady-state conditions, the SSDC output and Vqref are constant values. During the dynamic and transient conditions the series injected voltage Vq is modulated to suppress the subsynchronous oscillations. 3.3 Optimisation problem 3.4 Chaotic optimisation algorithm In this paper, the COA based on the Lozi map is implemented and used. The Lozi map is as follows [15] y1 (k ) = 1 a|y1 (k 1)| + y(k 1) y(k ) = b y1 (k 1) z( k ) = y(k ) a ba (4) (5) (6)

It is worth mentioning that the SSDC is designed to minimise the modes oscillation. So, the objective can be formulated as the minimisation of objective function f given by f =
t =tsim t =0

t |Dv| dt

(2)

where tsim is the simulation time and Dv is the rotor speed deviation. For objective function calculation, the time-domain simulation of the system model incorporating all saturation limits of control signals is carried out for the simulation period. The purpose is to minimise this objective function to damp the torsional oscillations. The design problem can be formulated as the following constrained optimisation problem, where the constraint is the SSDC parameter bounds
min max Kd Kd Kd

(3)

In this paper, the chaotic optimisation algorithm (COA) is used to solve this optimisation problem and search for the optimal parameter. The implementation of optimisation algorithm is summarised in Fig. 4.

where k is the iteration number. In this work, the values of y are normalised in the range [0, 1] to each decision variable in the n-dimensional space of optimisation problem. Thus, y [ [2 0.6418, 0.6716] and [a, b] (2 0.6418, 0.6716). Many unconstrained optimisation problems with continuous variables can be formulated as the following functional optimisation problem. Find X to minimise f (X ), X [x1 , x2 , . . ., xn], where f and X are the objective function and the decision solution vector, respectively. The decision solution vector consists of n variables xi that are bounded by lower (Li) and upper limits (Ui). The COA based on the Lozi map is shown as follows [15] (Fig. 5): Where Mg , Ml , f and X are number of iterations of the chaotic global and local searches, the best objective function and the best solution of the current run of the chaotic search, respectively. The impact of the current best solution on the generating of a new trial solution is controlled by the step size l. A small l tends to perform exploitation to rene results by local search, whereas a large one tends to facilitate a global exploration of search space. In this study, we have n 1 and X [x1] [Kd]. The COA based on the Lozi map is completely explained in [15].

Simulations and results

The optimisation of SSDC parameter is carried out based on the following initial operating condition and assumptions: 1. The generator delivers 1 p.u. power to the transmission system and the magnitude of the generator and innite bus voltages are adjusted at 1.00 p.u. 2. The compensation level provided by the series capacitor is set at 55% 3. It is assumed that three-line-to-ground fault is occurred at the beginning of the line 2. In order to acquire better performance, 2000 and 500 iterations are considered for the global search and the local search, respectively. It should be noted that the COA is run several times and then the optimal parameter of SSDC is chosen. The nal value of SSDC parameter is Kd 0.839. To show the effectiveness of SSSC with the proposed SSDC, three simulations are carried out using MATLAB/ SIMULINK. 4.1 Increase in input mechanical power

Fig. 4 Flowchart of optimisation

IET Gener. Transm. Distrib., 2012, Vol. 6, Iss. 6, pp. 539 544 doi: 10.1049/iet-gtd.2011.0625

As the rst test case, a 10% decrease in input mechanical power is applied to the generator at t 0.5 s and removed at t 1 s. Also, the compensation of the line 1 and the operating conditions are 55% and P 0.85 p.u., Vt 1 p.u., respectively. The rotor speed deviation of generator Dv as shown in Fig. 6 is well controlled and the
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Fig. 5 COA based on the Lozi map

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Fig. 6 Rotor speed deviation during and after a small disturbance

Fig. 7 Torque of Gen-LP section during and after a small disturbance

oscillations amplitude is clearly decreased by the SSSC. Fig. 7 illustrates the torsional oscillation on the shaft in generator-low pressure turbine (Gen-LP) section. It is observed that in the absence of SSSC, increase of the oscillation amplitude indicates that the generator have a growing torsional vibration, which would probably lead to great damage on the shaft. When the SSSC is applied to the system, the subsynchronous oscillation is successfully damped out. 4.2 Disconnection of the line 2

clear that in this disturbance, the SSSCs performance is still satisfactory. The torsional oscillations on the shaft in Gen-LP section is depicted in Fig. 9. As the SSDC parameter is tuned under heavy operating conditions and with a large disturbance, the SSSC with the SSDC show a proper performance in other operating conditions and with different disturbances. 4.3 Three-line-to-ground fault

For the second simulation, it is assumed that the transmission line 2 is tripped out at t 1 s and again reclosed at t 4 s. Also, the compensation of the line 1 and the operating conditions are 55% and P 0.9 p.u., Vt 0.95 p.u., respectively. Fig. 8 shows the rotor speed deviation. It is

For completeness, the performance of SSSC is also investigated under a large disturbance. To demonstrate the robustness of SSSC with the proposed SSDC, the performance of SSSC is evaluated in different operating conditions. For this purpose, it is assumed that a serious three-phase short-circuit fault occurs at the beginning of line 2 and the compensation of the line 1 and the operating

Fig. 8 Rotor speed deviation during and after the disconnection of line 2
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Fig. 9 Torque of Gen-LP section during and after the disconnection of line 2
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controller called SSDC is designed and added to the SSSC. A simple structure is proposed for the SSDC. The COA is used to tune the parameter of SSDC in order to minimise the oscillation amplitude. A simple signal is chosen as the input of SSDC. This signal contains all the torsional modes so that the SSSC with the proposed SSDC can improve the stability of system. The SSSC is used as a voltage source in series with a xed capacitor. So, this combination can prevent the subsynchronous oscillations that may be caused by conventional xed capacitor. This factor along with simple control method, make the proposed conguration highly effective in damping the SSR. Some simulations are used to demonstrate the ability of the SSSC with the proposed SSDC.

Fig. 10 Rotor speed deviation during and after a large disturbance

References

Fig. 11 Torque of Gen-LP section during and after a large disturbance

conditions are 55% and P 0.95 p.u., Vt 1.05 p.u., respectively. The rotor speed deviation is depicted in Fig. 10. It is clear that the proposed controller is robust and provides efcient damping even under large disturbance conditions. The torsional oscillation on the shaft in Gen-LP section is shown in Fig. 11. For short time after the fault (about , 1 s), the magnitude of the oscillations is large, because of the severe impact of the fault. The SSSC with the proposed SSDC is clearly able to decrease during the short time so that the severe vibration on the shaft is quickly debilitated. In addition to these simulations, sufcient simulations have been carried out for other operating conditions and with large but different disturbances. Totally, SSSCs performance is good in damping all the torsional modes and can satisfactorily weaken the vibrations caused by SSR in disturbances.

Conclusion

In this paper, an SSSC is proposed to dampen the SSR. In order to achieve an effective damping, an auxiliary

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