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Power Electronics,
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Control and
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Energy Systems
Systems (ICPEICES-2016)
(ICPEICES-2016)
Abstract—The Static Synchronous Compensator (STATCOM) also improve transmission power capability and efficiency of
is one of the most widely used Flexible AC Transmission System transmission by providing inductive or capacitive power to
(FACTS) device which is based on a voltage source converter the grid. One such FACTS controller is Static Synchronous
with a dc link capacitor. This paper presents the mathematical
modelling of STATCOM in dq domain, with the Q-Vdc controller compensator (STATCOM) which is a shunt connected, second
to control the reactive power flow in the system and to maintain generation FACTS device. It is capable of generating and/or
the dc voltage at a constant value. The control of the voltage absorbing reactive power whose output can be varied so as
source converter(VSC) is achieved by controlling the duty cycle of to control specific parameters of the power system. Many
the inverter devices in Park’s domain (dd and dq ).Design, analysis researchers [2]–[5] have presented different control strategies
and comparison of Proportional-Integral (PI) and Proportional-
Integral-Derivative (PID) controllers for this scheme is presented. that involve keeping the Modulation Index(MI) constant and
alpha(α ) or the other way round. This paper presents the
Keywords—Voltage source converter(VSC),Transmission Line, control of STATCOM by changing the duty ratios of the
STATCOM, Mathematical Modelling, Controllers (PI and PID). VSC with reactive power control(Q-Vdc control). Different
controllers like PI, PID etc. can be used for implementing
the control strategy. In this paper the design, analysis and
N OMENCLATURE comparison PI and continuous PID controllers are presented.
PCC Point of common coupling
Vs Three phase source voltage II. S YSTEM DESCRIPTION
VM PCC bus voltage The model of STATCOM consists of a three phase IGBT’s,
Vdc dc link voltage voltage source converter(VSC) and a dc capacitor. The
ish Shunt current generating source is three phase which has a supply voltage
d Duty cycle of the converter of Vs . The transmission line is represented as an equivalent
Cdc dc link capacitor impedance (Rs + jLs ). Load is connected at the point of
Rs + jLs Transmission line impedance common coupling. At the PCC bus, VSC is also connected
Rsh +jLsh Coupling transformer impedance through a coupling transformer and filter with impedance
RL + jLL Load impedance (Rsh + jLsh ) as shown in Fig.1. The bus voltage is regulated
Ts Settling time in seconds by the STATCOM which dynamically absorbs or generates
Tr Rise time in seconds reactive power, the coupling transformer aids this reactive
ess Steady state error power transfer from the inverter to the network. The secondary
voltage of the transformer is in phase with the network voltage.
I. I NTRODUCTION The operation of the STATCOM can be understood from
An important aspect of power systems is reactive power Fig.2 and Fig.3. When Vinv < VM (Fig.2), the direction of the
compensation. Reactive power reduces the power transmission shunt current is from the inverter to the PCC bus, thus, the
capability of the transmission lines, increases the transmission STATCOM acts like an inductance absorbing reactive power
system losses and can cause large amplitude variations in the from the bus. When Vinv > VM (Fig.3), the direction of the
receiving-end voltage. As presented by Garcia [1], the flow of shunt current is from the PCC bus to the inverter, thus, the
reactive power in the transmission line is to be controlled by STATCOM acts like a capacitor generating reactive power to
Flexible AC Transmission System(FACTS) devices which are the bus.
based on high speed power electronics. FACTS increase the Operation of STATCOM can be analyzed with the help of its
reliability of ac grids and reduce power delivery costs. They mathematical model.
c
978-1-4673-8587-9/16/$31.00 ⃝2016 IEEE
ish (ishd,ishq)
a axis
Voltage source axis
converter Lsh
Fig. 4: abc and dq transformation
Cdc
Vinv(Vinvd, Vinvq)
dc link ∙ ‘d’ axis leads α axis by angle θ , and at t=0, is in phase
capacitor with α axis.‘q’ axis leads ‘d’ axis by 90∘
∙ ‘d’ and ‘q’ axis are rotating in anticlockwise direction at
Fig. 1: Single Line Diagram Of a STATCOM.
a constant velocity of ω rad/sec where ω =2π f
X Using this transformation three phase quantities are converted
ish Vinv VM
into dq domain and further equations for different sections of
Q ish
the system are written.
Vinv VM
[3]
1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
Vdc
420
RMS voltage(L-L) Vs 220 V
Rs 0.27 Ω 410
Transmission line
Ls 8.2mH 400
450
The values that are not controlled are assumed to be constant. 440
1 ( )
K1 = VMd −Vinvd + ω Lsh ishq 430
Lsh
Vdc
420
diishq 1 ( ) 400
= VMq −Vinvq − Rsh ishq + ω Lsh ishd
dt Lsh 390
Vdc act
Vdc ref
1 380
K2 = (VMq −Vinvq − ω Lsh ishd ) 0 2 4
time(sec)
6 8 10
Lsh
Representing this in state space form: Fig. 6: Vdc for PID
⎡ ⎤ ⎡ ⎤
dishd Rsh [ ] [ ] 4000
− 0 1 K1
Q act
⎢ dt ⎥ ⎢ Lsh ⎥ ishd Q ref
⎣ dishq ⎦ = ⎣ Rsh ⎦ ishq + 3000
0 − Lsh K2
dt Lsh 2000
(26) 1000
Q
−1000
Transfer Function = C(sI − A)−1 B + D (27)
1 −2000
= (28)
Rsh + sLsh −3000
0 2 4 6 8 10
time(sec)
The transfer function of the system is represented as (28).
The transfer function of PI controller is given by: Fig. 7: Q for PI
1
Transfer Function = K[1 + ]
s τI follow reference values. Transient response of PID is better
K Lsh than PI. Overshoot is less in PID as seen in Fig.9, Fig.10,
∴ KP = K, KI = and τI = (29)
τI Rsh Fig.11, Fig.12, Fig.13, Fig.14, Fig.15 and Fig.16. These
From the closed loop transfer function obtained, it is seen conditions are for analysis only, and can be modified as per
that the values of KP and KI are decided by circuit parameters the requirement.
Rsh and Lsh . The tuning of the controllers for optimal system
A. Analysis at different intervals
responses is carried out using methods as explained by Ogata
[10]. 1) 0sec < t < 3sec: The capacitor voltage rises from its pre-
charged value to 400V and then remains constant due
V. S IMULATION RESULTS to the dc voltage controller(Fig. 5 and 9). No reactive
This mathematical model is implemented on Simulink. The power compensation is provided. Hence, shunt current
parameters of the model for STATCOM are given in table I. is not injected into the system. dd and dq are 0.4 and
The results of simulations are shown below. Flow of reactive -0.05(Fig.13 and 15) respectively for both PI and PID
power at time t=3sec and 7sec changes with variations in controller.
demand as shown in Fig.7. Dc reference voltage is changed 2) 3sec < t < 5sec: At t=3sec, with the increase in demand,
from 400V to 450V at t=5 and reduced to 400V at t=9sec reactive power compensation is provided. ishq re f changes
(Fig.5 and Fig.6). As the controllers are tuned, actual values as shown in Fig.11 and 12. Also, slight variation in
[4]
1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
4000 8
Q act ishq act
Q ref 7 ishq ref
3000
6
2000 5
4
1000
ishq
3
Q
0
2
−1000 1
0
−2000
−1
−3000 −2
0 2 4 6 8 10 0 2 4 6 8 10
time(sec) time(sec)
15 0.8
ishd act dd
ishd ref
0.6
10
0.4
5
0.2
ishd
dd
0
−0.2
−5
−0.4
−10
−0.6
−15 −0.8
0 2 4 6 8 10 0 2 4 6 8 10
time(sec) time(sec)
15 0.8
ishd act dd
ishd ref
0.6
10
0.4
5
0.2
ishd
0 0
dd
−0.2
−5
−0.4
−10
−0.6
−15 −0.8
0 2 4 6 8 10 0 2 4 6 8 10
time(sec) time(sec)
8 0.5
ishq act dq
7 ishq ref 0.4
6 0.3
5 0.2
4 0.1
ishq
3
dq
2 −0.1
1 −0.2
0 −0.3
−1 −0.4
−2 −0.5
0 2 4 6 8 10 0 2 4 6 8 10
time(sec) time(sec)
Vdc is observed which in turn changes ishd re f (Fig.5 point of coupling close to reference value. Duty cycles
and 12). ishd act and ishq act follows ishd re f and ishq re f dd and dq change accordingly(Fig.13 and 15). It can be
respectively. Hence, shunt current is injected to meet seen that for the model incorporating PID there is less
the reactive power demand and maintain the voltage at overshoot and better transient response than PI.
[5]
1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
0.5
0.4
dq and PID controllers is done for performance parameters and
0.3
closed loop responses. From the simulation results it is verified
0.2 that the response of PID controller during transient conditions
0.1 is better than that of the PI controller.
0
dq
−0.1
ACKNOWLEDGMENT
−0.2 The assistance from the department of Electrical
−0.3
Engineering at College of Engineering, Pune and our
−0.4
guide Prof. Meera Murali is acknowledged.
−0.5
0 2 4 6 8 10
time(sec)
R EFERENCES
Fig. 16: dq for PI [1] P. Garcia-Gonzalez et al., “Control system for a pwm-based statcom,” in
Power Engineering Society Summer Meeting, 1999. IEEE, vol. 2. IEEE,
1999, pp. 1140–1145.
TABLE II: Closed loop responses [2] S. Xavier, P. Venkatesh, and M. Saravanan, “Development of intelligent
Closed controllers for statcom,” in Power System Technology and IEEE
Loop Tr OS(%) Ts ess Stability Power India Conference, 2008. POWERCON 2008. Joint International
Response Conference on. IEEE, 2008, pp. 1–7.
Increase Small [3] B. Singh, A. Adya, A. Mittal, and J. Gupta, “Modeling, design
Decrease Increase Decrease Degrade
KP Increase
Increase Small Large
and analysis of different controllers for dstatcom,” in Power System
Increase Increase Degrade Technology and IEEE Power India Conference, 2008. POWERCON
KI Decrease Decrease
Increase Small Minor 2008. Joint International Conference on. IEEE, 2008, pp. 1–8.
Decrease Decrease Improve
KD Decrease Change [4] L. Dong, M. Crow, Z. Yang, C. Shen, L. Zhang, and S. Atcitty, “A
reconfigurable facts system for university laboratories,” Power Systems,
IEEE Transactions on, vol. 19, no. 1, pp. 120–128, 2004.
TABLE III: Closed loop responses at t=5sec [5] C. Schauder and H. Mehta, “Vector analysis and control of
PI PID advanced static var compensators,” in IEE Proceedings C (Generation,
Parameter Transmission and Distribution), vol. 140, no. 4. IET, 1993, pp. 299–
Ts Peak Ts Peak
Vdc (V ) 0.12 454.5 0.1 452 306.
[6] V. Vorpérian, “Simplified analysis of pwm converters using model
Q(var) 0.35 3300 0.3 3150
of pwm switch. ii. discontinuous conduction mode,” Aerospace and
ishd (A) 0.12 13.3 0.05 10.1
Electronic Systems, IEEE Transactions on, vol. 26, no. 3, pp. 497–505,
ishq (A) 0.08 7.35 0.12 6.6
1990.
dd 0.07 0.55 0.04 0.55 [7] N. Mohan, Power electronics: a first course. Wiley, 2012.
dq 0.1 0.25 0.06 0.25 [8] R. Park, “Definition of an ideal synchronous machine and formula for
the armature flux linkages,” General Electric Review, vol. 31, no. 6, pp.
332–334, 1928.
[9] B. Singh and V. S. Kadagala, “Simulation of three-level 24-pulse voltage
3) 5sec < t < 7sec: At t=5sec, capacitor voltage changes source converters-based static synchronous compensator for reactive
from 400V to 450V. ishd increases suddenly to higher power control,” IET Power Electronics, vol. 7, no. 5, pp. 1148–1161,
value but it again settles at back to its initial value 1A 2014.
[10] K. Ogata, Modern control engineering. Prentice Hall PTR, 2001.
(Fig.10 and 9). In case of PID it increases to 10A which
is comparatively lesser then PI (13A). Similar change
can be seen in ishq .
4) 7sec < t < 10sec: At t=7sec the load is removed.
Reactive power flowing to the system decreases and
so does the shunt current to zero value. At t=9sec Vdc
comes down to 400V. Slight dip can be observed. dd
and dq settles back to 0.4 and -0.05 respectively for
both the controllers (Fig.14 and 16).
VI. C ONCLUSION
By varying the duty ratios dd and dq of the VSC switches,
the Q-Vdc control strategy is implemented. Comparison of PI
[6]