STATCOM - STATic synchronous COMpensator: Theory, Modeling, and Applications

Kalyan K Sen, Member, IEEE

Westinghouse Electric Corporation 1310 Beulah Road Pittsburgh, PA 15235, USA
Abstract - This paper describes the theory and the modeling technique of a Flexible Alternating Current Transmission Systems (FACTS) device, namely, STATic synchronous COMpensator (STATCOM) using an Electromagnetic Transients Program (EM")simulation package. The STATCOM, a solid-state voltage source inverter coupled with a transfonner, is tied to a transmission line. A STATCOM injects an almost sinusoidal current, of variable magnitude, at the point of connection. This injected current is almost in quadrature with the line voltage, thereby emulating an inductive or a capacitive reactance at the point of connection with the transmission line. The functionality of the STATCOM model is verified by regulating the reactive current flow through it. This is useful for regulating the l i e voltage. Keywords AC transmission, FACTS, power flow controller, power converter, inverter, thyristor, GTO, etc. I. INTRODUCTION Flexible Alternating Current Transmission Systems (FACTS) devices, namely STATic synchronous COMpensator (STATCOM), Static Synchronous Series Compensator (SSSC) and Un$ed Power Flow Controller (UPFC), are used to control the power flow through an electrical transmission line connecting various generators and loads at its sending and receiving ends. FACTS devices consist of a solid-state voltage source inverter with several Gate Turn off (GTO) thyristor switch-based valves and a DC link capacitor, a magnetic circuit, and a controller [11. The number of valves and the various configurations of the magnetic circuit depend on the desired quality of AC waveforms generated by the FACTS devices. The inverter configuration described in this paper is one of many different possible configurations that can be used to build a voltage source inverter. In this paper, a STATCOM which is connected to a simple transmission line, shown in Fig. 1, has been modeled using an Electromagnetic Transients Program (EMTP) simulation package.

The STATCOM is connected a t BUS 1 of the transmission line at which has an inductive reactance, X,, ,and a voltage source, Fs, the sending end and an inductive reactance, X,, and a voltage , . , at the receiving end, respectively. The STATCOM source, 7 model in EMTP consists of a harmonjic neutralized voltage source inverter, VSZI,a magnetic circuit, MCZ, a coupling transfonner, TI, a mechanical switch, MSI, current ,and voltage sensors, and a controller. The primary control of the inverter is such that the reactive current flow through the STATCOM is regulated. I I . DESCRIPTION OF THE INVERTER Inverter Pole A+I ON I OFF

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-0.5vO&Fig. 2 An Inverter "Pole" and its Output Voltage

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VAO

A.

OFF

O N 1

Fig. 2 shows a single phase inverter circuit, referred to as a "pole," which consists of a positive valve, A+, and a negative valve, A-. When a pole is connected across a series of capacitors which me charged with a total DC voltage of v x and the valves are closed and opened altemately, the polle output voltage, v A 6 at the midpoint of the pole A with respect to the midpoint, 0, of the DC link capacitor is a square wave containiig a positive sequence fundamental component and all the odd harmonic components, such as the zero sequence third, the negative sequence fifth, and the positive sequence seventh, etc. The amplitude of the fundamental component is (2/n)vx and the ampllitude of any odd harmonic component (n) normalized to the fundamental component is ( l / n ) where 11 = 2k + 1 for k = 1,2,3, etc.

BUS 1

Fig. 1 A Static Synchronous Compensator Model in EMTF'

STATCOM

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Fig. 3 A 6-Pulse Inverter and its Output Voltaga Fig. 3 shows three poles A, B, and C which are connected across the same DC link capacitor and the pole outputs are connected to a 3-phase load whorie neutral point, N, is not connected to the midpoint of the capacitor. The poles A, B, and C which form a 6-pulse inverter are operated in such a way that the pole voltages, vA6 vm and vco, are time shifted fiom one another by one third of the time period of the pole voltage. Therefore, the

0-7803-4403-0/98/$10.000 1998 IEEE

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fundamental phasors, , and are 120 apart. Since, the zero sequence components of each pole current have no return path to the midpoint of the DC link capacitor, the zero sequence components of each pole voltage, VNO = (VAO + VBO + VCO)/~, appear between the neutral point and the midpoint of the DC link capacitor. Therefore, each phase of the load voltages, VAN = VAO v N ~ vBM = V B ~ VNO, and VCN = vco VNO, consists of only a fundamental component and any odd harmonic component (n)with a normalized amplitude of (lln) where n = 6k f 1 for k = 1, 2, 3, etc.

vB,l vc,l

component (n) with a normalized amplitude of (lln) where n = 12R f 1 for R = 1,2,3, etc.
INVERTER POLE AVOLTAGE

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Inverter DEF, -30'

INV POLE D VOLTAGE (TIME SHlFEDBY T/12)

Inverter ABC, 0"

Fig. 4 A 12-Pulse Harmonic Neutralized Inverier Configuration Fig. 4 shows two &pulse inverters (ABC and DEF) which are operated from the same DC link capacitor. On the AC side, they are connected to a 3-phase load (XYZ) through a magnetic circuit. The poles D, E, and F are operated in such a way that the pole voltage fundamental phasors, , FE,,,and are 120" apart and the fundamental voltage phasor set of the DEF inverter lags the fundamental voltage phasor set of the ABC inverter by 30". The displacement angle between two consecutive &pulse inverters in a multipulse inverter configuration is 2d6m, where m is the total number of &pulse inverters used. The 12-pulse inverter configuration, shown in Fig. 4, presents a 3-phase voltage which contains a fundamental component and odd harmonic components (n) where n = 12R f 1 for k = 1, 2, 3, etc. Fig. 5 shows the cancellation technique of the fifth and the seventh harmonic components &om each phase of the load voltages vx, vy, and vz, respectively. Consider the positive sequence fundamental component, V A , ~ , the negative sequence fifth harmonic component, vA.5, and the positive sequence seventh harmonic component, v",~, (Fig. Sa) of the phaseA voltage, VA, of the ABC inverter. They are all in phase. Then, consider the positive sequence fundamental component, vD, I, the negative sequence fifth harmonic component, vD,5, and the positive sequence seventh harmonic component, vD,7, (Fig. 5b) of the phase-D voltage, vD, of the DEF inverter. Since the phaseD positive sequence fundamental voltage, v ~ , lags ~ , the phaseA positive sequence fundamental voltage, v",~,by 30, the negative sequence fifth harmonic component, vD,5, and the positive sequence seventh harmonic component, vD.7, are in phase with each other, but in opposite phase with the positive sequence fundamental component, VD,,. Furthermore, if all the voltage components in the DFT inverter can be advanced by 30' in the positive direction irrespective o f . their sequence (Fig. 5c), the fundamental component, vD,,,of the modified phase-D voltage, v ; , will be in phase with the fundamental component, v ~ , ~ of , the phase-A voltage, vA. But, the fifth harmonic component, vD,;, and the seventh harmonic component, v D , ~ . , of the modified phase-D voltage, v;, will be in opposite phase with the f i f t h harmonic component, v",~,and the seventh harmonic component, VA.7, of the phase. voltage, vA. Finally, if the modified phase) voltage, v ; , can be added to the phase-A voltage, vA, the fifth and the seventh harmonic components will cancel out and will not appear at the output phase-X 12-pulse voltage (Fig. 5d). The phaseX voltage will exhibit only a fundamental component and any odd harmonic

INV POLE D VOLTAGE (PHASE SHIFTED BYfX 16)

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Fig 5 Cancellation Technique of the Fifth and the SeventhHarmonic Components

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Fig. 6 shows a possible configuration of the magnetic circuit which can be used to generate a 12-pulse harmonic neutralized

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voltage. The ABC &pulse inverter voltage is fed to a Y-Y transformer and the DEF &pulse inverter voltage is fed to a A-Y transformer. A s described before, 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)(: voltage will exhibit only a fundamental component and 12-pulse harmonic components. Note that the inverter side A winding has 43 times the turns as the inverter side Y winding has. This is needed in order to keep the same volts per tum in both windings. The line side inverter windings can have any t u m s ratio other than 0.5 to increase or decrease the output voltage. H I . THEORY AND CONTROL OF STATCOM The controller of a STATCOM is used to operate the inverter in such a way that the phase angle between the inverter voltage and the line voltage is dynamically adjusted so that the STATCOM generates or absorbs desired VAR at the point of connection [2]. Fig. 7 shows a simplified diagram of the STATCOM with an connected , to inverter voltage source, & ,and a tie reactance, X ~ E a system with a voltage source, F w , and a Thevenin reactance, X,. When the inverter voltage is higher than the system voltage, the STATCOM sees an inductive reactance connected at its terminal. Hence, the system sees the STATCOM as a capacitive reactance and the STATCOM is considered to be operating in a capacitive mode. Similarly, when the system voltage is higher than the inverter voltage, the system sees an inductive reactance connected at its terminal. Hence, the STATCOM sees the system as a capacitive reactance and the STATCOM is considered to be operating in an inductive mode.
I .

VI

*
,

F Transformer

I I

STATCOM

Fig. 7 A Static Synchronous Compensator Operated i n Capacitiveand Inductive M o d e s

Inner Loop Current Controller Inverter Vdtages

Rotating Frame $c Transformer

I I

I
- 1

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Fig. 8 Current Control Block Diagram of a Static Synchronous

L-------------------------------------J

Compensator Fig. 8 shows the reactive current control block diagram of the STATCOM. An instantaneous 3-phase set of line voltages, vl, at BUS 1 is used to calculate the reference angle, 0, which is phaselocked to the phase a of the line voltage, v,.. An instantaneous 3phase set of measured inverter currents, i l , is demmposed into its real or direct component, I,,+, and reactive or q u a d component, I ] , respectively. The quadrature component is compared with the desired reference value, I]:, and the error is passed through an error amplifier which produces a relative angle, a,of the inverter voltage of the inverter with resped to the line voltage. Ibe phase angle, OB, voltage is calculated by adding the relative angle, a , of the inverter

Fig 10 EMTP Modeling Structure Fig. 10 shows the block diagraui of the EMTP simulation program layout. The EMTP program f i e is given in the appendix. First, some general umstants are defined. N e x t , the mtrol or the Transient Analysis of Control Systems (TACS) Section receives its input signals h m the sensors or measuring switches. This Section generatesthe gating signalsfor the pole valves on the fly. Ibe ideal o produce a 3-phase pole voltages are mathematically combined t harmonic neutralizRd inverter voltage set, el, which is fed t o the source section. In an actual simulationL case, the gating signals are

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used to operate the pole valves of an inverter structure such as one shown in Fig. 4. Each valve, located in the switch section, can be modeled with a number of GTO thyristom connected in series each having an antiparallel diode and appropriate snubber circuits. The pole output voltages are fed to a magnetic circuit, located in the

branch section, which produces a 3-phase voltage set. In this way, the effects of a nonideal magnetic circuit, which includes leakage reactance, magnetic Saturation, etc. can be studied. However, due to space limitation in this paper, the valves and the magnetic circuit are assumed to be ideal. The voltage, vx, across the DC link capacitor is maintained by the power balance equation at both AC and DC sides of the inverter. This modeling technique gives a sufficient insight to the operation of the power circuit which produces a 3-phase voltage set The source section has some independent voltage sources which e x t ,the contmlled establish the power flow in a transmission line. N and the independent sources are fed to the bmch section which contains the transmission l i e and the coupling transformer. The line voltage set, v,, at BUS 1 and the inverter current set, il, are measured by the measuring switches. Fially, the output section is defined. In reality, the magnetic circuit can also serve as the coupling transformer. Therefore, there is no need for an additional coupling transformer. The modeling may be done at various levels. For example, to study the functionality of a STATCOM on an elaborated power system network, a STATCOM with a simplified model consisting of sinusoidal voltage sources and detailed control and proteaion schemes may be adequate. For magnetic circuit and valve designers, the primary fwus should be on the modeling of the detailed power circuit The modeling techniques described in this paper are useful tools to the STATCOM designers. V. RESULTS

el, is greater than the line voltage set, v l . At 175 ms, the reference quadrature current, Ilq*,of the inverter is set to 1 pu inductive, which s e the system as a capacitive means the STATCOM should reactauce and the inverter current in phase a, ilo, leads the line voltage at phase a, via, by almost 90. The inverter voltage set, el, is less than the l i e voltage set, vl. A t 250 ms, the reference quadrahrre current, Ilq*,of the inverter is set to 1 pu capacitive and the transition takes place in a subcycle time. N o t e that the inverter voltage and the line voltage are in phase. In reality, the STATCOM would encounter power losses in the valves and in the magnetic circuit Therefore, there will always be a small part of real current component, Ild, flowing into the inverter and the inverter voltage will lag the line voltage by a small angle under steady-state condition. The phase angle, a, between the inverter voltage and the line voltage is dynamically adjusted so that the inverter maintajns proper DC link capacitor voltage. Fig. 12 shows the expanded view of two sections of Fig. 11. The inverter voltage and current show the presence of 12pulse hannonic components. V, A ela la (PU) J iia

v, A

250

Fig. 12 Waveforms ofa Static synchronous Compensator w i t h a 12-puise

Harmonic Neutralized Inverter Operating in a Reactive Current Control Mode

V, A

I
Mode Fig. 11 shows the digital simulation results from the reactive current control operation of a STATCOM. Between 0 and 50 ms, the mechanical switch, MI, stays open, disconnecting the STATCOM fromthe transmission line. The DC link capacitor is precharged. The inverter output 12-pulse voltage of phase a, e,, and the line voltage f closes and the reference of phase a, vlo,are in pbase. At 50 ms, M qlaadrature I,, , of the inverter is set to zero. Since the inverter current is zero, the inverter voltage of phase a, el, and the line voltage of phase a, v,, have equal amplitudes. At 125 ms, the reference quadrature current, I , ~ * ,of the inverter is set to 1 pu capacitive, which means the STATCOM should see the system as an inductive reactance and the inverter current of phase a, i,, lags the 90. The inverter voltage set, l i e voltage of phase a, v l m by almos~
Fig. 1 1 Performance of a Static SynchronousCompensator WI& a 12-Pulse Harmonic Neutralized Inverter Operating in a Reactive Current Control

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Fig. 13 shows the digital simulation results mm the voltage control operation of a STATCOM. A t the lyeginning of the simulation, when the mechanical switch, M I , is open, the nominal line voltage a t BUS 1 is. 0.99 p u At 50 ms, Us1 closes and the reference l i e voitage, VI ,a t BUS 1 is set to 1.015 pu which results in a capacitive mode of operation of the STATCOM. A t 125 ms, the reference line voltage, Vl ,is set to 1.10 pu. The controller operates the inverter in such a way that the current through the STATCOM is regulated at a capacitive current limit of 1 pu which results in a l i e voltage of 1.036 p u Similarly, if the line voltage, VI+ at BUS 1 b m e s lower than the controllers set reference voltage, v,*, the controller operates the inverter in a capacitive mode to deliver upto a maxiof 1 pu current, ifnecessaty. A t 175 ms, the reference line voltage, V;, is set to 0.90 pu. The controller operates the inverter in such a way that the current through the STATCOM is regulated a t an inductive current limit of 1 pu which results in a line voltage of 0.94 pu. Similarly, ifthe line voltage, Vl+ at BUS 1 becomes higher than the controllers set reference voltage, v : , the conmuer operates the inverter in an inductive mode to deliver upto a maximum of 1 pu current,$necessary. At 250 ms, the reference line voltage, V;, is s e t to 0.96 ?U which results in an inductive mode of operation of the STATCOM. Also,note t h a t when a outer voltage control loop is used to produce the reference current, I ] ~ * for , the inner current control loop, the STATCOM takes somewhat longer time to respond than it would take if only the inner current control loop is used with user specsed reference current, zlq*. VI. USE OF A 24-PULSE INVERTER The presence of 12-pulse harmonic components in the inverter output voltage may not be acceptable in many applications. Therefore, an inverter with a higher pulse output voltage should be considered [3, 41. Fig. 14 shows a 24-pulse harmonic neutralized inverter configuration. The pole voltages fkom four &pulse inverters (AlBlCl, A2B2C2, DlElFl, and D2E2F2) are combined by a magnetic circuit whose output is connected to a 3phase load. The displacement angle between two consecutive 6pulse inverters in a multipulse inverter configuration is 2d6m (= 15) where m (= 4) is the total number of &pulse inverters used. The configuration of the magnetic circuit in Fig. 14 is such that if an inverter pole voltage is time shifted by an angle of -0, the fundamental and all the harmonic components of the pole voltage are phase shifted by an angle of +8 in the positive direction, irrespective of their phase sequence.

harmonic neutralized waveform whose: harmonic components (n = 12k f 1 for k = 1, 2, 3, etc.) have the same magnitudes as the corresponding harmonic components of the f i r s t 12-pulse harmonic neutralized waveform. However, the harmonic components (n = 12k f 1 for k = 1, 3, 5, etc.) are in opposite phases while the harmonic components (n = 12k f 1 for k = 2, 4, 6, etc.) are in phases with the corresponding harmonic components of the f i r s t 12-pulse harmonic neutralized waveform. Therefore, if all the outputs &om each 6-pulse inverter are combined by connecting the corresponding phases in series, a 24-pulse harmonic neutralized waveform is obtained. The resulting output voltage exhibits a fundamental component of amplitude (2/n)vDc and any odd hannonic component (n) whose no~nnalized amplitude to the fundamental component is (lln) where n = 24k f 1 for k = 1,2,3, etc. n timeshift ph,w final time shift s m phase pole AI angle poleD1 angle -5(-n/24) M24 W 4 4 8 -3d4 5 -5(hd8) M24 4 4 +7(-d24) 7 +7(hd8) -d8 +3d4 M24 M2 -ll(-d24) -d8 M2 11 -ll(hd8) +13(-d24) M 2 4 -id2 -dZ 13 +13(hd8) 4 8 -17(-d24) M 2 4 +3d4 -d8 -d4 17 -17(W8) +19(-d24) W 4 -3d4 4 8 hd4 19 +19(+d8) -23(-d24) M 24 x II 23 -23(+d8) -d8 +25(-dZ4) M 2 4 x 25 +25(+d8) -d8 z Table 1 Phase Angles of First 12-Mse InverterPhasors time shil? time shift n Phase final PhW final shift shift P k Ph= pole D2 pole A2 angle mgle +3d4 5 -5(-d8) W 8 -d24 -d4 -5(M4) hd8 -3d4 7 +7(-d8) 424 w 4 +7(M24) -Id2 W8 11 - 1 1( W 4 ) -Il(-d8) -nn -d24 +%I8 M2 13 +13(+i~/24) 4 2 4 +13(-d8) +nn -3d4 - 17(-d8) W 8 hd4 17 17(M24) -a4 -d4 W8 +19(-d8) 19 +1 YM24) - e 4 +3d4 x hd8 -23(-d8) 23 -23(W4) 4 2 4 I I X hd8 +25(-d8) 25 +25(+N124) -d24 x Table 2 Phase Angles of Second 12-pulse Inverter Phasors The previous test case for reactive current control and voltage control were rerun for a STATCOM with a 24-pulse harmonic neutralized inverter. The inverter generates much lower harmonic components and the results are shown in Figs. 15, 16, and 17, respectively.

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Fig. 14 A 24-Pulse Harmonic Neutralized Inverter Configuration Tables 1 and 2 show the time shifted AI, D1, A2 and D2 pole voltages first twenty five hannonic components final phase angles after appropriate phase shift. If the pole voltages fiom the inverters AlBlCl and DlElFl are magnetically combined, the output voltage exhibits a 12-pulse harmonic neutralized waveform with harmonic components n = 12k f 1 for k = 1,2,3, dc. Similarly, if the pole voltages fiom the inverters A2B2C2 and D2E2F2 are magnetically combined, the output voltage exhibits a 12-pulse

Fig. 15 Performance of a Static SynchronousCompensator w i t h a 24-pulse Harmonic Neutralized Inverter m a t i n g i a Reactive Current Control
Mode

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Via

Fig. 16 Waveforms of a Static SynchronousCompensator with a 24-Pulse

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. The STATCOM model has been operated by regulating the reactive current flow through it and the transition from one mode of operation to the other mode takes place in a subcycle time. If the controller's reference input voltage is higher than the nominal line voltage, the STATCOM operates in a capacitive mode and provides upto a maximum of 1 pu current, ifnecessary. If the controller's reference input voltage is lower than the nominal line voltage, the STATCOM operates in an inductive mode and provides upto a maxi"of 1 pu current,ifnecessary. The operation of the model is verified with the model connected to a simple transmission line which can easily be replaced by the utility's existing more complex power system network. M. ACKNOWLEDGMENT The author acknowledges EPRI, TVA, AEP and NYF'A for their ongoing support and pioneering spirit for developing FACTS technology. X. APPENDIX
BEGIN NEW DATA CASE C FILE HAMIS = 12PSSC.DAT (12-Pulse hannonic neutralized C SSC). This STATCOM Power Flow Controller was implemented C by K. K. Sen at Westinghouse, STC, Pittsburgh, PA 15235. 16.666-6300.00-3 20 10 1 TACS HYBRID = 180 / PI 99cRD 99CDR = 1 / CRD 99TWOPI = 2.0 PI 99KpshI = .45 99KishI = 40 99KpshV = 0.0 99KishV = 2500.0 99Kdroop = 0.0 99KPLLp = 100000.0 250000.0 99KPLLi = T I M M .GE. 0.05 99MS1 = 42.03-6 99cap C Inverter base 112676.528 39Vbasei 99Ibasei = 946.662704 C Inputs from the measuring switches 9OBUSOl.A 90BIJS01B 9OBUSOlC 91INVOlA 91INVOlB 91INVOlC C BUS1 voltage computation = BUSOlA 99vla 99vlb = BUSOlB = BUSOlC 99vlc 99vlapu = vla / Vbasei 99vlbpu = vlb / Vbasei 99vlcpu vlc / Vbasei 99vlds = vlapu = -(vlapu + 2.0 * vlcpu) / SQRT(3) 99vlqs 99vld vlds COSPLL + vlqs SINPLL 99vlq = -vlds * SINPLL + vlqs COSPLL = SQRT(v1d * vld + vlq vlq) 99vldq lvldqf +vldq 1.0 1.0 0.0040 C Phase-Lock-Loop (locked to phase a voltage of BUS1) 99PLLerr = vlqs COS(PLLi) vlds SIN(PLLi) 99PLLint = PLLini + PLLerr DELTAT KPLLi PLLint + KPLLp * PLLerr 99PLLdot PLLini +PLLint 99PLL = PLLi t PLLdot * DELTAT PLLi tPLL 99theta = PLL TWOPI * TRUNC(PLL/TWOPI) 99COsPLL = COS (theta) 99SINPLL SIN(theta) C Shunt inverter current computation INVOlA 99ila 9911b = INVOlB INVOlC 99ilc 99ilapu = ila / Ibasei 99ilbpu = ilb / Ibasei ilc / Ibasei 99ilcpu ilapu 9911ds 9911qs = -(ilapu + 2 . 0 ilcpu) / SQRT(3) 99ild ilds COSPLL + ilqs SINPLL SINPLL + ilqS COSPLL 99ilq -ilds 99ilqlmt = 1 . 0 c Setting the STATCOM reference voltage

Harmonic Neutralized Inverter Operating in a Reactive Current Control

Mode

V, A
(PU)
VDC

Fig 17 Performance of a Static SynchronousCompensator with a 24-Pulse Harmonic Neutralized Inverter Operating in a Voltage Control Mode

W. USEFULNESS OF THE MODEL The EMTP STATCOM model and accompanying descriptions are powerful tools that provide the fundamentals of how a voltage source inverter is used in a FACTS application, such as a shunt compensator. The model is self-contained and includes all the necessary components a voltage source inverter with a DC link capacitor, a magnetic circuit, and a realizable controller. The control system in the model has been implemented using a per unit system. Therefore, it is easy to integrate the model in a power system network of any voltage and current level. The model can be quite beneficial for utility system planners to use in an integrated fashion with their existing EMTP network model. W. CONCLUSION A STATCOM has been modeled using an EMTP simulation package. The STATCOM which is a voltage source inverter injects an almost sinusoidal current to the transmission line at the point of

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99vlrcml = 0.025 (TIMEX .GE. 0.05) (TIMEX .GE. 0.125) 99vlrcm2 = 0.085 99vlrcm3 = 0.2 * (TIMEX .GE. 0.175) (TIMEX .GE. 0.25) 99vlrm4 = 0.06 99vlref = 0.99 + vlrcml + vlrcm2 - vlrcm3 + v l r m 4 C Set vctrl=l for voltage control / vctrl=O for current control 99vctr1 = 1 C Outer voltage control loop starts 99vlderr = (vlref - vldqf + ilqdly Kdroop) * MS1 99vldfnc = vldini + vlderr DELTAT 99vldiup = vldfnc .GE. (ilqlmt / KishV) 99vldilo = vldfnc .LE. (-ilqlmt / KishV) 99vldimd = .NOT. (vldiup .OR. vldilo) 99vldint = vldfnc*vldimd + (ilqlmt*vldiup-ilqlmt,*vldilo)/KishV vldini +vldint 99vldpi = -(KpshV * vlderr + KishV vldint) 99ilqup = vldpi .GE. ilqlmt 99ilql0 vldpi .LE. -ilqlmt = .NOT. (ilqup .OR. ilqlo) 99ilqmd 99ilqrfV = vldpi ilqnd + ilqlmt ilqup ilqlmt ilqlo ilqdly +ilqrfV C Outer voltage control loop ends C Setting the STATCOM reactive reference current 99ilqcml = TIMEX .GE. 0.125 (TIMEX .GE. 0.175) 99ilqCmZ = 2 99ilqm3 = 2 * (TIMEX .GE. 0.25) 99ilqmd = -ilqcml + i l q d ilqcm3 lilqrfI +ilqcmd 1.0 1.0 0.0040 C Inner current control loop starts 99ilqref = i l q r N vctrl + ilqrfI * (.NOT. vctrl) MS1 99ilqerr = (ilqref ilq) 99ilqint = ilqini + ilqerr DELTAT ilqini +ilqint = KpshI ilqerr + KishI * ilqint 99alpha C Inner current control loop ends 99thal = theta + PI / 2 + alpha C This addition of PI/2 is because the gating signals are sine C reference and the Phase-Lock-Loop signals are cosine C reference. 99thetal = thal + TWOPI'(thal.LT.O.0) TWOPI*(thal.GE.TWOPI) C Inverter Pole Voltaaes C Note: The signals vA, vB, vC, vD, vE and VF in Fig. 4 are C renamed as vlAl, vlB1, vlC1, vlD1, vlEl and vlE'1, C respectively. 99anlAl = thetal 99anglAl anlAl+mOPI* (anlAl.LT.O.0)-TWOPI'(anlAl.GE.TWOP1) 99poslA1 = (anglAl .GE. 0 ) .AND. ((anglAl PI) .LT. 0) 99neglAl ((anglAl-PI).GE.O) .AND. ((anglAl-TWOPI).LT.O) = vDC / 2 poslAl vDC / 2 neglAl 99vlA1 = thetal 120.0 * CDR 99anlBl 99anglB1 = anlB1+TWOPI*(anlB1.LT.O.O)-TWOPI*(anlBl.GE.TWOPI) 99poslB1 = tang181 .GE. 0) .AND. ((anglB1 PI) .IT. 0) 99neglB1 = ((anglBl-PI).GE.O) .AND. ((anglBl-TWOPI).LT.O) 99vlB1 = vDC / 2 PoslBl vDC / 2 nealBl 99anlC1 = thetal 2i0.0 CDR 99anglC1 = anlC1+TWOPI*(anlC1.LT.O.O)-TWOPI*(anlC1.GE.TWOPI) 99poslC1 = (anglC1 .GE. 0) .AND. ((anglC1 - PI) .LT. 0) 99neglC1 = ((anglC1-PI).GE.O) .AND. ( (anglC1-TWOPI).LT.O) 99vlC1 = vDC / 2 poslCl vDC / 2 neglCl 99anlD1 thetal 30.0 CDR 99anglDl = anlDl+TWOPI* ~anlD1.LT.O.O)-TWOPI*(anlD1.GE.TWOPI) 99poslD1 = (anglD1 .GE. 0) .AND. ((anglD1 PI) .LT. 0) 99neglDl = ((anglD1-PI).GE.O) .AND. ((anglD1-TWOPI).LT.O) 99vlD1 = vDC / 2 poslDl vDC / 2 neglDl 99anlE1 thetal - 150.0 CDR 99anglE1 = anlE1+TWOPI*(anlE1.LT.O.O)-TWOPI*(anlEl.GE.TWOPI) 99poslE1 = (anglEl .GE. 0 ) .AND. ((anglEl PI) .LT. 0) 99neglE1 = ((anqlEl-PI).GE.O) .AND. ( (analEl-TWOPI).LT.O) 99vlE1 = VDC 2 * poslEl vDC / 2 ieglEl 99anlF1 = thetal 270.0 CDR 99anglF1 anlFl+TWOPI* (anlF1.LT. 0.0) -TWOPI* (anlF1.GE.TWOPI) 99pOSlF1 = (anglF1 .GE. 0) .AND. ((anglF1 PI) .LT. 0) 99neglF1 = ((anglF1-PI).GE.O) .AND. ((anglF1-TWOPI).LT.O) = vDC / 2 poslFl vDC / 2 neglFl 99vlF1 C Magnetic Circuit Note: The signals vX, VY and VZ in Fig. 4 C are renamed as ela, elb and elc, respectively. = (vlAl + vlBl + vlC1) / 3 99vlN 99vlAN = vlAl vlN 99vlBN = v1B1 vlN 99vlCN = vlCl vlN 99vlDE = vlDl - vlE1 99vlEF = vlEl vlFl 99vlFD = vlFl vlDl C VSIl output voltage 99ela (VlAN + v1DE / SQRT(3)) / 2 = (vlBN + vlEF / SQRT(3)) / 2 99elb = (v1CN + vlFD / SQRT(3)) / 2 99elc ela / Vbasei 99elapu 99elbpu elb / Vbasei 99elcpu = elc / Vbasei c E link cauacitor voltaae calculation ;la ila + eib * ilb + elc ilc 99Pinl = (-Pin1 / vDC) MS1 99iDC1 9 9 " = iDCl / Cap +hDC 1VDC 1.0

0.0 1.0 99vDcpu = vDC / Vbasei 77vDC 189000.0 77vldqf 0.990000 C TACS Output 33ilqrefilq vDCpu elapu vlapu ilapu alpha vldq BLANK RECORD ENDING TACS VSA BWSOlA 1.0053 19.73, VSB BWSOlBVSA BWSOlA VSC BWSOlCYSA BWSOlA BWS03AVP.A 3.0159 59.191 BUS03BVRB BWS03AVP.A BWSO3CVRC BWS03AVRA ells BWSOlA 1.00+8 ellb BWSOlB 1.00+8 ellc BWSOlC 1.00+8 TRANSFORMER TlA 9999 1INVOlA 0.892723.679 1.0 Zella 0.892723.679 1.0 TRANSFORMER T1B 9999 lINVOlB 0.892723.679 1.0 1.0 Zellb 0.892723.679 TRANSFORMER T1C 9999 lINV0lC 0.892723.679 1.0 2ellc 0.892723.679 1.0 BLANK RECORD ENDING BRANCHES BWSOlABUS03A BWSOlBBWSO3B BUSOlCBUS03C ela INVOlA elb INVOlB elc INVOlC 13ella BWSOlA MS1 13ellb BWSOlB MS1 13ellc BWSOlC
M S 1

vlref

MEASURING MEASWRING MEASWRING MEASURING MEASWNG MEASURING

BLANK 60ela 60elb 60elc 14VSA l4VSB l4VSC 14VP.A l4VRB l4VRC BLANK BLANK BLANK BEGIN BLANK

RECORD ENDING SWITCHES

112676.528 60.00 0.00 112676.528 60.00 -120.00 112676.528 60.00 120.00 112676.528 60.00 -20.00 112676.528 60.00 -140.00 112676.528 60.00 100.00 RECORD ENDING SOURCES RECORD ENDING NODE VOLTAGE OUTPUT RECORD ENDING PLOT NEW DATA CASE RECORD ENDING ALL DATA CASES

-1. -1. -1.

-1.

-1. -1.

XI. REFERENCES [l] L. Gpgyi, N. G. Hingoraui, P. R. Nannery and N. Tai, Advanced Static VAR Compensator Using Gate Turn-m 7hyristors for Utiliv Applications, CIGRE paper No. 23-203,
1990. [2] C. D. Schauder and H. Mehta, Vector Analysis and Control of Advanced Static VAR Compensators, IElE PROCEEDINGSC, Vol. 140, No. 4, July 1993. [3] K. K. Sen, SSSC Static Synchronous Series Compensator: Theory, Modeling, and Applications, IEEE Transactions on Power Delivery, Vol. 13, No. 1, January 1998. [4] K. K. Sen and E. J. Stacey, UPFC - Uni$ed Power Flow Controller: Theov, Modeling, and Applications, IEEE Transactions on Power Delivery, Vol. 13, No. 4, October 1998. Knlyan K. Sen ( S ' 1983, M ' 1988) received a B.E.E(1982), a M.S.E.E (1983), and a Ph.D (1987) degrees. all i nE l e c t r i c a l Engineering, from Jadmlpur University, Calcutta, India, Twkegee University, Tuskegee, USA, and Worcester Polytechnic Institute, Worcester, USA. resDeaivelv. He held a tenure track assistant professdr level position at ~ r a i r i e Viewnexas A M University for 3 years before joining Westinghouse Electric Corporation's Science & Technology Center i n Pittsburgh,USA i n 1990. He is a member

--

of the FACTS conhd design team.

His

interests are i n Paver Converter Topologies, Electrical Machines. Numerical Computations, and Microprocessor-based hardware implementations.

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