IEEE Transactions on Energy Conversion, Vol. 13, No.

3, September 1998

237

APPLICATION OF STATCOM FOR DAMPING TORSIONAL OSCILLATIONS IN SERIES COMPENSATED AC SYSTEMS

K.V. Patil

J. Senthil J. Jiang R.M. Mathur Department of Electrical Engineering The University of Western Ontario London, Ontario, Canada - N6A 5B9
Compensator (SVC) [3], [4], [5], NGH scheme [6], static phase-shifter [7], super conducting magnetic energy storage (SMES) [8] etc., have been suggested in the literature. The availability of high power gate-turn-off thyristors (GTO) have recently led to the development of a new equipment called Static Compensator (STATCOM) [9], [lo]. STATCOM is a second generation FACTS equipment based on voltage source inverter. STATCOM uses self commutating devices like GTOs and is a n advanced form of SVC. The operating and functional characteristics of STATCOM are however different from those obtained using SVC. The major advantages of STATCOM over the conventional SVC are, significant size reduction due to reduced number of passive elements, and ability to supply required reactive power even at low bus voltages [ll]. This paper examines the application of STATCOM for damping torsional oscillations in series compensated ac system. The IEEE first benchmark system [12] has been modeled with STATCOM at the generator terminal. The STATCOM considered is a voltage source inverter, and is equipped with a PI-controller that regulates the generator terminal voltage. The PI controller has an additional input derived from the generator speed deviations. The voltage controller and speed feedback gains are determined by eigenvalue analysis and step response studies of the linearized system. Time domain simulations using the nonlinear system model are also carried out to demonstrate the effectiveness of the proposed scheme under the condition of a three-phase fault at the infinite bus. 11. SYSTEM MODELING The one-line diagram of the IEEE first benchmark model [12], with STATCOM connected at the generator terminal is shown in Fig. 1-a. In order to develop a mathematical model for the studied system, the electric network equations as given in [5] are used. The STATCOM and its controller are modeled as given in the next section. The generator is represented by the d- and q-axis equivalent circuit with one damper winding and field winding in the d-axis, and two damper windings in the q-axis [13]. The mechanical system comprises six masses, i.e., the highpressure turbine (HP), the intermediate pressure turbine

dbstract- This paper presents the results of a study on the application of the recently developed FACTS device, Static Compensator (STATCOM), for the damping of torsional oscillations that occur in a series compensated ac system. The IEEE first benchmark system is considered for this study. In ordter t o suppress unstable torsional mode oscillations, STATCOM with PI controller t o regulate the bus voltage, and with an auxiliary signal derived from the generator speed deviations is employed at the generator terminal. Eigenvalue analysis technique is used for small signal analysis, and optimization of the control system parameters is done through step response studies. In addition, dynamic performance of the nonlinear system with optimized STATCOM controller is evaluated under a three-phase fault. Results from the analytical and digital simulation studies reveal the technical feasibility of using STATCOM for damping of turbine-generator torsional oscillations in series compensated ac systems. Keywords- Torsional oscillations, Series compensation, STATCOM

I. INTRODUCTION Series capacitor compensation is employed in electric power systems to raise the power transmission limit of long EHV lines. This however may lead to the phenomenon of subsynchrcmous resonance (SSR). SSR occurs when a natural frequency of a series compensated transmission system aligns with the complement of one of the torsional modes of the turbine-generator. Under such circumstances, the turbine-generator oscillates at a frequency corresponding to the torsional mode frequency, and unless corrective achion is taken, the torsional oscillations can grow and may result in the failure of the turbine shaft [l]. The first experience of such an interaction occurred at the Mohave substation in 1970. Since then, several countermeasureti for damping of torsional oscillations, such as use of excitation control [2], Static Var
PE-568-EC-0-01-1997 A palper recommended and approved by by the IEEE Electric Machinery Committee of the IEEE Power Engineering Society for publication in the IEEE Transactlons on Energy Conversion. Manuscript submitted August 23, 1996, made available for printing January 8, 1997

(IP), two low pressure turbines (LPA and LPB), the generator (GEN), and the exciter (EXC) as shown in Fig. 1-b.

0885-8969/98/$10.00 0 1997 IEEE

238

Mechanical damping is assumed to be zero for all masses to represent the worst damping conditions. The generator is equipped with a static excitation system. The configuration for the static excitation and the governor system are taken from [14]: The system data and the initial operating conditions of the system are given in the Appendix.

Etpt j0.14
1

0.02

j0.50

Xc

j0.06

*--wW-mm
Generator

AT

m ;
0

in addition to an electromechanical mode (mode 0). The IEEE first benchmark system is characterised by four unstable torsional modes. Each of these modes has its largest SSR interaction at a certain value of the series compensation X , [5]. Without STATCOM, the real part of the eigenvalues corresponding to the various torsional frequencies vary in magnitude and become unstable at different levels of series compensation as shown in Fig. 2. For each of the critical compensation levels at which the real part of the eigenvalue is maximum (indicating worst damping),the corresponding torsional and electrical mode eigenvalues of the system without STATCOM are listed in Table I. From Fig. 2 it can be seen that modes 1,2,3 and 4 become unstable at various values of X,. The objective is to damp all these torsional modes by employing STATCOM at the generator terminal.
TABLE I
FIRSTBENCHMARK EIGENVALUES

..............................
STATCOM
(a)

HP

IP

LPA

LPB

GEN

EXC

IModel
32%

% ComDensation Level
46.5%

59.25%

72.25%

0.168fj 10.0810.113fj 10.991

0.Ofi

11.851 - 0 . 3 1 f i 12.75

"6-'TE
(b)

1 2 3
4

-0.OOlrj 99.37 0.006rtj 99.70 0 . 0 4 4 f j 100.63 6 . 5 3 f j Q8.79 0.OOlfj 127.05 0.006kj 127.11 l . Z l & j l Z 6 . g 8 0.004fjl26.90

Fig. 1. (a)Network for SSR Damping Studies, (b) Six-Mass Rotor

I 0.017-fj 160.811 2 . 2 Q f j 1 6 0 . 4 Q ~ 0 . 0 1 7 r t160.251 j 0.002rtj160.41

2.135fj203.01 0 . 0 1 5 f j 202.58 0.002fj 202.73 -O.OOl&j202.80

Combining the equations of mechanical system, genera.-

1 E - B f j 298.18 - 1 E - 5 f j 298.18 -1E-5hj 298.18 -lE-5fj298.18

compensated transmission line results in a set of 27th order nonlinear differential equations without STATCOM. These differential equations are then linearized around an operating point to obtain the linear differential equations which are then used to obtain the system eigenvalues.
8
(99 rad/s) Mode 1

111. STATCOM MODEL

The state space model in R-I frame (the synchronously rotating frame of reference) for the STATCOM circuit in Fig.1-a can be written as below. It is to be noted that the per unit system adopted for modeling the STATCOM circuit is the same as for the rest of the system.

S _-R
A S

K cos Os
WO

-U0

'

10

- 1.5Kcos6,

c s

- 1.5Ksin0,

-_ R, L,

K sin Os
~

L s

c,

L, -- 1
%C,

[;I]

-60

20

30

Percent 40 Compensation 50 60

70

80

90

100

Fig. 2. SSR Modes of First Benchmark Model

The six-mass model of Fig. 1-b has five torsional modes

\

the dc side. The resistrance (&)in parallel with C, represents the losses in the capacitor. The STATCOM is connected to the generator terminal through a coupling transformer represented by leakage inductance ( L , ) and resistance (R,) [9]. The steady state solution of STATCOM circuit using the parameters listed in Appendix is plotted in Fig. 3 as a function of O d . In this plot, I,R and 1 8 are ~ the active and reactive components of the STATCOM current, I,, respectively. The reactive power output from STATCOM is controlled by varying Od. It is to be noted that 1 8 varies ~ almost linearly with O d , and the range of Od for controlling 181 within fl per unit is very small.

6
A 0

239

1+sTm

'2 -

'

'

'

'

'

Et- K~ I s i

9
I+sTm
32%

EtR

EtI

Fig. 4. STATCOM Controller

can be measured on a toothed wheel close to the generator with a magnetic or optical pick-up [15]. The speed signal is then filtered, compared with synchronous speed and normalised to obtain the per unit speed deviation.
TABLE I1 FIRST BENCHMARK EIGENVALUES WITH ONLY STATCOM VOLTAGE CONTROLLER

-'
1 2 -

Y
-1
-0.8 -0.6

-0.4

-0.2

0.2

'

0.4

0.8

'

0.8

" 1

Phrlse DifferenceAngle, degrees

Fig. 3. Steady State Characteristics of STATCOM

pde(
I
1

% Compensation Level

46.5%

59.25%

72.25%

0 I-3.990fi 2.921-4.338fi 2.911-4.773fj 2.741-5.176dzj 2 . 1 2 1 -0.198tj 99.64 -0.154fj100.08 0.754dzj100.65 1 . 3 2 6 d z j 99.44

IV. STA'IXOM C O N T R O L The STATCOM controller used for the study is shown in Fig. 4. The main function of STATCOM, like the conventional SVC, is to regulate the transmission line voltage a t the point of connection. When STATCOM with only voltage controller is incorporated into the power system, the torsional and electrical mode eigenvalues for all the critical compensation levels are listed in Table 11. From this it can be seen that STATCOM with the voltage controller alone is not sufficient to damp all the torsional modes of the IEEE firsi; benchmark system. Thus, there is a need for some additional control signal along with STATCOM voltage controller. The principal strategy in controlling STATCOM for damping the SSR oscillations is to use simple stabilizing signals [5]. The generator speed contains components of all the turbine modes. Consequently, if the generator speed is used to corttrol STATCOM, all the torsional modes, in addition to the mode corresponding to the generator mass will be aflected [5]. The auxiliary signal employed is therefore the generator speed deviations. To obtain the generator speed deviations, the generator speed

3 4 5

0.034fj160.91 0.354fj160.65 0.158&j160.54 0.090&j160.56

I 0.505fj203.031 0.144kj202.86l 0.667ztj202.9ll 0.040fj202.94

I -1E-5fj298.181 -lE-5fj29S.181 -lE-5fj298.181 -lE-5fj29S.18

ele -27.97fj193.66-2S.2Sfj144.541-27.46fjlO7.8Sl-25.76fj 76.97

The eigenvalues of torsional and electrical modes of the system with STATCOM equipped with voltage controller as well as auxiliary speed deviation feedback, for all critical compensation levels are listed in Table 111. For this case, all other system eigenvalues (not listed in the paper) were also found to be stable. From Table I it can be seen that at all the critical compensation levels, the electrical mode frequency is near or coincides with one of the torsional modes. Putting a STATCOM with voltage controller reduces the frequency of oscillations of the electrical mode (refer Table 11). However, the increase in system damping is not adequate. Inclusion of auxiliary signal derived from the generator speed deviation in the STATCOM controller not only reduces the frequency of oscillations of the electrical mode,

240
TABLE I11
Rotor Angle (degrees)

FIRST BENCHMARK EIGENVALUES WITH STATCOM VOLTAGE CONTROLLER A N D SPEEDDEVIATION FEEDBACK

Mode

32% 0
1
~

: : % Compensation Level
46.5%

i 50

59.25%

72.25%

-3.3485: 2.621-3.398fj 2.701-3.484%j 2.801-3.716rtj 2 . 9 2 -1.0045j 99.14 -1.442fj 99.25 -2.256kj100.50 -0.284fj101.20

Ll v 0

'

'

'

'

'

'

'

'

'

I 10

'Generator Speed (pu) Speed 1 pu = 377 rad/:

3
5

-0.718+j160.73-0.215fj161.33 -0.018fj160.97 -0.041fj160.86 -lE-5hj298.18 -lE-5rtj298.18-lE-5fj298.18-lE-5fj298.18

0 9950

1
1 2
3

10

but also increases the system damping considerably (refer Table 111). This reduces the torsional oscillations. It is to be noted that the eigenvalues listed in Tables I1 and I11 are with STATCOM controller gains specified in next section. V. S E L E C T I O N OF C O N T R O L L E R GAINS The STATCOM controller model as shown in Fig. 4 has three gains, the proportional gain K,, the integral gain K i , and the speed feedback gain K,. The objective is t o design a single controller which can be used t o damp all SSR modes at all compensation levels. Eigenvalue analysis is used t o obtain the range of K p , Ki and K , for which the system is stable. It is found that the system is stable for -6.25 5 K p 5 -1, -132 5 Ki 5 0 and 4 5 K, 5 11. From these K p , K; and K , values, final gain parameters are then selected by carrying out the step response test on the system and ensuring that the system settling time and the overshoot in generator speed is low. The final values of K,, Ki and K , thus obtained are -1, -1.25, and 8 respectively. For these gains, the plot of generator rotor angle and generator speed for a 10% step increase in V,,f for 72.25% compensation is shown in Fig. 5. VI. DIGITAL SIMULATION To support the results of the eigenvalue analysis given in Tables I1 and 111, time domain simulation based on nonlinear differential equations of the system under a threephase fault at the infinite bus is performed. A set of nonlinear differential equations are solved using the fourthorder Runge-Kutta algorithm. All system nonlineadtics are included in the model. The three-phase fault is initiated a t 0.2 second, and the fault duration is 5 cycles (83 ms). Plots of the generator rotor angle, generator electrical torque, LPB-GEN shaft torque, generator terminal voltage, and the phase difference angle are given in Fig. 6 for the case with STATCOM under voltage control but with no speed deviation feedback. For the case with

Fig. 5. 10 % Step Change in V , , , for 72.25% Compensation

2000
Generator Rotor Angle (dag) 1000
n

" 0
20

10

0
11\11

-20

10

200

4
Generator Terminal Voltage (pu)

-0
100

10

Phase Difference Anale fded

-200

5
Time,s

10

Fig. 6. SimdationResults with only STATCOM Voltage Controller for 72.25% Compensation

STATCOM under voltage control and with speed deviation signal, in addition to the above plots, plots of real and reactive components of STATCOM current are also given in Fig. 7. These results are for X,=0.505 pu, which corresponds to a compensation level of 72.25%. For other critical compensation levels (i.e., 32%, 46.5%, and 59.25%), for the case with STATCOM with voltage controller and

241
100
50 -

10

-5

10

1
1

4.

10

beneratdr Termitb.1 Voltade (pu)

'
9

0.5
0

10

STATCOM Reactive Current (pu)

" 0 5

10

STATCOM Real Current (pu)

0
-5
0

10

40L1

'

I
2
3
4 5 Time,s

reveal that STATCOM with the voltage controller and auxiliary signal derived from generator speed deviation is effective in damping torsional oscillations a t all critical compensation levels. Simulation was carried out for other compensation levels as well. Results for these cases (not given in the paper) reveal that STATCOM with the voltage controller and auxiliary speed signal is effective in damping of torsional oscillations. From the plots of generator rotor angle in Figs. 6 and 7 it can be seen that immediately after the application of the fault, the generator rotor angle decreases for a few tenths of a second before increasing. This is due to the presence of STATCOM. As soon as the fault is created, the generator terminal voltage transiently drops to zero for a few tenths of a second. The STATCOM voltage controller tries to boost the voltage by supplying reactive power. In this process, the STATCOM draws real power (refer plot of STATCOM real current in Fig. 7) to keep the dc side capacitor charged [16]. From the plots of I#R and I*I in Fig. 7 it can be seen that, in steady state, is^ is nearly zero, and id^ has a value of 0.35 pu. Since the STATCOM bus voltage E, is considered as 0.95, the pu MVA of STATCOM is 0.33. This implies that the size of STATCOM required would be of the order of 30-35% of the generator MVA rating. VII. CONCLUSIONS In this paper, a new concept of using STATCOM to damp the torsional subsynchronous oscillations in addition to controlling the voltage in power system has been proposed. The concept is verified by means of eigenvalue analysis and detail time domain simulations under a severe three-phase fault at the infinite bus. Application of this concept to the IEEE first benchmark system proved that STATCOM, provided a t the generator terminal and equipped with both voltage controller and an auxiliary signal derived from generator speed deviation is effective in damping the torsional oscillations a t all compensation levels.
ACKNOWLEDGMENTS

10

Fig. 7. Simulation Results with STATCOM Voltage Controller and Speed Deviation Feedback for 72.25%Compensation

0
-5

1 2 3

Shaft Torque (pu), 32% comp

10

Shaft Tdique (pi), 46.5% comp

--O

10

',l
I1

'Shaft Torque (pu), 59.25% comp '

]
I 10

-5

'

Financial support for carrying out this work was received from the National Science and Engineering Research Council, Canada. The authors are thankful to Prof. R.K. Varma for the discussions they had with him.

5
Times

REFERENCES
A.A. Fouad and K.T. Khu, "Subsynchronous resonance Bones in the IEEE benchmarkpower system", IEEE Trans.,PAS, vol. 97, no. 3, pp. 754-762,1978. A. Yan and Y.N. Yu, "Multi-mode stabilization of torsional oscillations using output feedback excitation control", IEEE !hns.,PAS, vol. 101, no. 5, pp. 1245-1253, 1982. T.H. Putman and D.G. Ramey, "Theory of the modulated reactance solution for subsynchronousresonance", IEEE !hns.,PAS, vol. 101, no. 6, pp. 1527-1535, 1982.

Fig. 8. LPB-GEN Shaft Torques for other Critical Compensation

Levels with STATCOM Voltage Controllerand Speed Deviation Feedback

speed deviation feedback, plots of LPB-bE?N shaft torque only are given in Fig. 8. Examination of these results

242
[4]

0. Wasync.uk, Damping subsynchronous resonance using reactive power control, IEEE Trans.,PAS, vol. 100,no. 3, pp.
1096-1103,1981.

[5] A.E. Hammad and M. El-Sadek, Application of a thyristor controlled var compensator for damping of subsynchronous oscillations in power system, IEEE Trans.,PAS, vol. 103,no. 1, pp. 198-212,1984. [6] N.G. Hingorani, A new scheme for subsynchronousresonance damping of torsional oscillations and transient torques-part 1 , IEEE Trans.,PAS, vol. 100, no. 4,pp. 1852-1855,1981. [7] M.R. Iravani and R.M. Mathur, Damping of subsynchronous oscillations in power system using a static phase-shifter, IEEE Trans.,P W R S , vol. 1, no. 2, pp. 76-83, 1986. [8] C-J. Wu and Y-S. Lee, Application of simultaneous active and reactive power modulation of super conductiong magnetic energy storage unit to damp turbine generator subsynchronous oscillations, IEEE Trans.,EC, vol. 8,no. 1,pp. 63-70,1993. [9] C.D. Schauder and H. Mehta, Vector analysis and control of advanced static var compensators, IEE Proc.- C, vol. 140,no. 4,pp. 299-306,1993. [lo] L. Gyugyi, Dynamic compensation of ac transmissionlines by solid-state synchronous voltage sources, IEEE Trans.,P WRD, vol. 9, no. 2, pp. 904-911,1994. [ll] C.W. Edwards P.R. Nannery K.E. Mattern E.J. Stacey and J. Gubernick, Advanced static var generator employing gto thyristors, IEEE ~ a n e . , W P R D , vol. 3,no. 4,pp. 1622-1627,
1988. [12] IEEE SSR Task Force, First benchmark model for computer

F x p = 0.3 F1p = 0.26 FLPA =0.22 FLPB ~ 0 . 2 2

TCH~ 0 . s 3 TRH~ 7 . 0 s Tco =0.2 s

KG =

25

TSR= 0.2 s TSM=0.3 s

Exciter and Voltage Regulator [14]

K A =200 TA = 0.02 s TE = 0.002 s

EFD m a x = 7.3
E F Dmin =-7.3

STATCOM Circuit and Controller [9] R,=0.01 pu X,=0.15 pu Rp =128 pu Tm=0.0024 s K~=0.01 C,=0.013 pu Initial Operating Conditions Generator real power =0.9 pu Generator terminal voltage,Et=l pu Infinite bus voltage =1 pu STATCOM bus voltage,E, =0.95 pu Definition of Percent Compensation [ 5 ] x c %Compensation = x 100 0.14 0.5 + 0.06

simulation of subsynchronous resonance, IEEE Trans.,PAS, vol. 96,no. 5, pp. 1565-1570,1977. [13] P. Kundur, Power System Stability and Control, McGraw-Hill, Inc., New York, 1994. [14] Y.N. Yu, Electric Power System Dynamics, Academic Press, New York, 1983. [15] S. Svensson and K. Mortensen, Damping of subsynchronous oscillations by an hvdc link an hvdc simulator study, IEEE Trans.,PAS, vol. 100,no. 3,pp. 1431-1437,1981. [16] J.B.Ekanayake and N. Jenkins, A three-level advanced static var compensator, IEEE T r a n s . , P V R D , vol. 11, no. 1, pp.

where, 0.14 is the sending end transformer reactance, 0.5 is the transmission line reactance, and 0.06 is the equivalent system reactance at infinite bus.

BIOGRAPHIES
degree from the Indian Institute of Technology (IIT) Kanpur in 1991. From 1991-1995he was with Bharat Heavy Electricals (BHEL), New Delhi. Currently he is working towards his Ph.D at the University of Western Ontario, London, Canada. His research interests are in the areas of Control systems, and power system dynamics and Control. J . Senthil received the Ph.D degree from I I T Kanpur in 1991. &om 1992-1995he was with BHEL, New Delhi. Currently he is employed a s a postdoctoral fellow in the Electrical Engineering Department at the University of Western Ontario, London, Canada.

540445,1996.

K.V. Pati1 received his M.Tech

APPENDIX SYSTEM PARAMETERS Base MVA = 892.4, Base kV = 500 Rotor Spring Mass System [12]

HP-IP
0.155589

19.303 34.929 0.85867 52.038 0.884215 70.858 0.868495 2.822

IP-LPA LPA-LPB LPB-GEN GEN GEN-EXC

His research interests are in the areas of Power System Dynamics and Control. J . Jiang completed his Ph.D in 1988 from the Department of Electrical Engineering, University of New Brunswick, Redericton, Canada. Currently he is an Associate Professor in the Department of Electrical Engineering at the University of Western Ontario, London, Canada. His research interests are in the areas of control sys-

0,0342165

tems, power system dynamics and controls, and signal processing.

Synchronous Generator [12] X d ~ 1 . 7 PU 9 Xi =0.169 PU Xi=0.135 PU

X,=1.79 pu
Ti0=4.3 s T;b=0.05 s

X i =0.228 pu
Ti0=0.032 s XI =0.13 PU

X i =0.200 pu
Ti0=0.85 s

R i

~0.0

Turbine and Governor 1 1 2 1 .1 1 4 1

R.M. Mathur received the Ph.D degree from the University of Leeds in 1969. From 1969 to 1987 he was with the Department of Electrical Engineering at the Unversity of Manitoba, Canada. Since July 1987 he is the Dean, Faculty of Engineering Science at the University of Western Ontario, London, Canada. His research interests are in areas of Electrical Machines and Power Systems. Prof. Mathur is the recipient of the IEEE Centennial Medal, and is a Fellow of the Academy of Engineering, Canada.

243

Discussion

Z. Yao and V.Rajagopalan (Chaire de recherche

industrielle Hydro-Qukbec-CRSNG, UniversitC du Quebec,Trois-Rivieres, Quebec, G9A 5H7, Canada) : The authors have presented an interesting paper on application of STATCOM for damping torsional oscillations in series compensated ac systems. However, this STATCOM is ihstalled at the terminal of the generator just for improving damping to torsional oscillation. We would like to know how this can be justified if an excitation clontrol can do the same job [l]. Furthermore, the STATCOM controller design based on the averaged model (see page 2) usually is not valid for stability analysis of the same system with a detailed representation of STATCOM. To explain this, we suppose the authors use a 12-pulse SPWM technique. Although this topology would encounter some other technical problems because of high switching frequency (12x60 = 720 Hz), we would like just to show the problem of control performance. Since the controller cannot do anything during the width of a pulse (see Fig. l), the STATCOM and the power system can be considered somehow discretized. The sampling period is more than 1 millisecond. Thus, a question is raised : how can this controller which is designed based on a continuous model stabilize a discrete system with a large sampling period ?
1

0
-1

K.V.Pati1, J.Senthi1, J.Jiang and R.M. Mathur: The authors thank the discussers for their interest in this paper and their valuable questions and comments. First bench mark model is characterized by four unstable torsional modes which are excited because of four different series compensation levels as shown in Fig.2 of this paper or as given in [ 5 ] . The idea is then to design a unique controller which can damp out all these four unstable modes. In [2] suitability of the multiple signal output feedback excitation control for multi-mode stabilization of torsional oscillations is examined. However excitation controller may not effectively damp all torsional modes for certain power system configurations. For such situations different methods such as use of static var compensator [3,4,5], NGH scheme [6], static phase shifter [7], super conducting magnetic energy storage [8] are discussed in the literature. Furthermore, in this paper it is shown that a STATCOM equipped with voltage controller alone is not sufficient to damp all modes (refer Table 11).The generator speed deviation feedback along with STATCOM voltage controller not only reduces the frequency of oscillations of the electrical mode, but also increases the damping (refer Table 111),thus stabilizing all torsional modes at all critical compensation levels. Our past experience shows that as far as improving damping is concerned, the best location for any device employed for such a purpose is the generator terminal [17,18]. The STATCOM is used t o regulate the bus voltage by controlling the instantaneous reactive power at the point of connection. The STATCOM model is developed considering the fact that the instantaneous power at the ac- and dc-terminals of the inverter is equal. We do not see why the STATCOM controller designed based on this principle is not valid for stability analysis of the same system with a detailed representation of STATCOM. The approach followed in HVDC, SVC systems is similar. The controller is designed based on continuous system model and tuned while performing simulator studies. Also in [9] experimental results of the dynamic response of the instantaneous reactive current controller of an ASVC are shown. Here the controller was designed based on this same principle.

0.002

0.004 0.006 Time (s)

0.008

[17] Nelson Martins, L.T.G. Lima, Determination of

Suitable Locations of PSS and SVC for Damping Electro-mechanical Oscillations in Large Power Systems, Proc. of Power Industry Computer Application Conference, pp. 74-82, May 1989.
[18] M. Sainath Moorty, Generalized Design of Damping Control, M.S. Thesis, The University of Western Ontario, April 1990.

Fig. 1 : Pulse generation for an SPWM inverter [l] A. Yan and Y. N. Yu, Multi-mode stabilization of torsional oscillation using output feedback excitation control, IEEE Trans. on PAS, Vol. 101, No. 6, 1982, pp. 1527-1535.

Manuscript received February 18, 1997

Manuscript received September 23, 1997.