2011 IEEE Electrical Power and Energy Conference

On the Modeling of Dynamic Voltage Restorer for Voltage Sag Mitigation in Stand Alone Power System
J. W. Plastino, and W. G. Morsi, Member, IEEE

AbstractStarting large motors at a remote mine or petrochemical sites can have a significant impact on power quality that may be in some cases be translated into hundreds of thousands of dollars per hour. Back-up generators used to supply power when the main grid is unavailable, must react fast enough to restore bus voltage to rated levels. In this paper, a model of Automatic Voltage Regulator equipped with a Dynamic Voltage Restorer (DVR) which is a custom power quality device is developed using real-world data synchronous machine manufacturer data sheets, and then its performance is assessed on an isolated power system experiencing voltage sag. The modeling, simulation and analysis are presented and the results are discussed. Index TermsDynamic voltage restorer, power quality, and voltage sag.

I. INTRODUCTION

OWER quality is a critical issue for remote mine and petrochemical sites. Starting a large load of a few tens of Mega watts compressor motor can cause significant disruption to nearby electrical equipment that could potentially cost up to $900,000 per hour [1]. Voltage sag is a situation in which there is a reduction in the voltage magnitude from its rated value. Voltage sag may last for a few cycles or it may persist for few seconds in which case it is called voltage dip. Automatic voltage regulators are supposed to keep the voltage root mean squares at constant level, however, in isolated systems where the electric power is only provided through isolated generators, AVRs may not be the best way to effectively deal with power quality issues such as sags, swells, and frequency variations. Dynamic voltage restorers (DVRs) have been proposed in the literature as a solution to mitigate sag for voltage-sensitive loads [6], [7], [11] and [12]. The techniques described in these papers will be applied to an isolated power system supplied by three medium-voltage generators. Modeling the voltage sag on this isolated system requires application of synchronous machine phasor diagrams to describe the transient dynamics of
J. W. Plastino is with General Electric (GE) Energy Large Motors, Peterborough, ON K9G 7B5 (e-mail: joseph.plastino@ge.com). W. G. Morsi is with the Faculty of Engineering and Applied Science, University of Ontario Institute of Technology (UOIT), Oshawa, ON L1H 7K4 Canada (e-mail: walidmorsi.ibrahim@uoit.ca).

generator load angle and power factor angle. In this paper the automatic voltage regulator compensates for the transient response of the synchronous generators while a dynamic voltage restorer is used to protect voltage-sensitive loads from the resulting voltage sag. These generators are loaded to 70% of their total capacity when a large compressor motor is started. The voltage-sensitive load cannot withstand voltage sag less than 0.85 pu and it must recover to +/-3% rated voltage within 1.5 seconds [2]. In order to meet this requirement, the model of the AVRDVR custom power quality is developed in MATLAB Simulink environment. The performance of the Automatic Voltage Regulation is evaluated with and without the DVR when the isolated system is experiencing voltage sag due to the starting of compressor motor. All necessary data regarding the test system and the generator are available in [2]. Since DVRs technology are supposed to inject reactive power into the system bus to support the voltage, the developed model can also be used in the analysis of voltage swell, flicker, overvoltage, under voltage that could be sue to large load switching or due to transient faults. II. AUTOMATIC VOLTAGE REGULATOR MODEL A. Simplified Control System Model The classic AVR model shown in Fig. 1 is enhanced by using real-world data. The Amplifier and Exciter blocks are modeled as a Type AC8B Excitation System per IEEE 421.52005 [3]. The Sensor is modeled as a synchronous machine terminal voltage transducer that is also described in IEEE 421.5-2005 [3].

Fig. 1 Classic automatic voltage regulator model.

978-1-4577-0404-8/11/$26.00 2011 IEEE

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B. Exciter Model with Non-linear Effects For both the Exciter and Generator blocks, the saturation effect is a significant source of non-linear performance. An open-circuit curve as provided by the manufacturer [2] resembles the sample shown in Fig. 2 [4]. The air gap line represents a linear relationship where 1 pu field current is equal to 1 pu stator voltage. For low values of field current the air gap line overlaps the saturation curve.

D. Generator Phasor Diagram To determine the voltage sag created by the compressor motor start VT must be modeled in real-time as in Fig. 5. The impedance Ztotal has been described above, E represents the voltage behind the transient and Xd represents the transient reactance [6]. VT = IT* Ztotal (1)

With the help of the vector diagram shown in Fig. 6, E can be derived. For salient pole machines ITjXS is broken into its d- and q-axis components IdXd and IqXq. E = VT*cos() + IdXd, E = IT*Ztotal* cos() + IT*Xd*sin(+) IT = E / [Ztotal* cos() + Xd*sin(+) (2) (3) (4)

where, E is the output of the brushless exciter delayed by a first-order lag of time constant do [2]. Fig. 7 shows that the compressor motor start results in 22% sag from rated voltage and the system recovers in one second. III. DYNAMIC VOLTAGE RESTORER MODEL A. Operation Fig. 8 shows the operating principle of the Dynamic Voltage Restorer [5]. A fault occurring on a parallel line can cause voltage sag for a sensitive load. The DVR protects the sensitive load by detecting the sag and injecting reactive power to boost voltage to the rated value. DVR can in fact generate or absorb real and reactive power hence controlling the voltage amplitude, frequency and phase angle [5]. The voltage resulted from the operation of the DVR may consist of fundamental, desired harmonics, switching harmonics and DC voltage components [7]. As outlined in section III of this paper, the start of the compressor motor is analogous to a fault on a parallel line. Thus, the initial load can be protected from voltage sag by placing the DVR between it and the main bus. The main components of DVR are shown in Fig. 9. These components are: Injection Transformer, Harmonic Filter, Inverter and Energy Storage. The transmission line impedance, LS and RS, are neglected. For the system described in Figs. 1, 4 and 5 VS is the terminal voltage of the generators. B. Injection Transformer The injection transformer is in series with the line and provides isolation between the inverter and the line while reducing the voltage requirements of the inverter [7]. Voltage sags are not necessarily symmetrical; therefore DVRs are required to inject both positive and negative sequence voltages [8]. Selecting an injection transformer can be affected by the distribution system step-down transformer. If a Wye-delta system is used then zero-sequence voltages will not be passed through the transformer when a ground fault occurs. In this

Fig. 2 Open circuit saturation curve.

This open-circuit saturation shows that as the field current increases the output voltage of a brushless exciter or generator increases by a diminishing amount. The Se term [3] shown in Fig. 3 was programmed in the MATLAB Exciter model to compensate for this saturation effect. The MATLAB function block named EXC_FEX shown in Fig. 3 compensates for the non-linear effect of the brushless exciter rectifier. C. Load Modeling Loads are represented as impedance derived from the nameplate data shown below. Assuming a 0.15 lagging power factor during the start the motor impedance per generator can be calculated as R = 0.3067 pu and X = 2.02 pu. The initial load assumed to be 70% of the generator capacity is modeled as a constant kVA 0.8 PF load [2]. Fig. 4 shows a simple single-line diagram to represent the system. Motor starting is in some ways analogous to a fault on the system. When the motor breaker is closed suddenly, impedance is added in parallel to the existing impedance. Thus, the load total impedance drops abruptly resulting in voltage sag. AVR is evaluated separately for each generator. Note the initial load is modeled as a 0.8 PF constant kVA load so Zinitial = VT2 / 0.7 [2].

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case, a delta-open injection transformer can b used. If a Wyebe star distribution transformer is used the zero-sequence en voltages must be compensated and a sta ar-open injection transformer must be used [11].

Fig. 3 Exciter model to replace TABLE I COMPRESSOR MOTOR DATA. Motor rated data Real power output Voltage Current Power factor Efficiency Inrush current Rated valu ues 10500 kW W 13.8 kV V 508.85 A 0.89 97% 3.8 pu

KE TE

term

he Fig. 5 Voltage behind th transient

Fig. 6 Synchronous machine phasor diagram. e

Fig. 4 Single line diagram showing large motor as impedance in parallel with existing load (assumed to be 70% of back-up gene erator capacity)

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If the injected voltage amplitude is close to the maximum voltage rating of the injection transformer then the fluxlinkage in the first few cycles can be as much as double the maximum rating Max and this could result in transformer saturation. This is due to an inherent DC offset that is caused by injecting a voltage when the system voltage is not at a maximum and minimum [8]. Rating the injection transformers for twice the steady-state flux-linkage rating is one way to eliminate saturation although this can be costly. An alternative to a costly transformer is controlling the amount of DC offset in the first half-cycle of a transient event [8]. Introducing an air gap in the core cannot correct the dc flux but can help the transformer sustain at the cost of increasing magnetizing current [7]
Fig. 7. Voltage sag due to motor starting.

C. Harmonic Filter For Pulse Width Modulation (PWM) schemes the inductor and capacitor ratings are selected to filter out switching frequency harmonic components but in switching band controlled DVR these ratings are selected to track the reference voltage [9]. Filters can be located on the inverter side or the line side of the injection transformer. The advantage of an inverter-side filter is that it is lower voltage and close to the harmonic source. The disadvantage is the filter inductor may cause voltage drop and phase-angle shift. A line-side filtering scheme will avoid these problems but high-order harmonics will penetrate the injection transformer requiring a more costly higher rating [10] D. Inverter PWM is used to vary the amplitude and phase angle of the injected voltage. The most common inverter connections use either a conventional Graetz bridge or a three-level inverter [12]. Switching frequencies are typically in the region of several kHz for medium power levels [12].

Fig. 8 Dynamic Voltage Restorer operating principle

Fig.10 Three-level inverter.

Fig. 9 Dynamic voltage restorer components.

E. Energy Storage Energy storage devices can be batteries, flywheels, superconducting magnetic energy storage or super capacitors. These devices are required to provide real power to the load when large voltage sags occur. The rating for the energy store is a function of: size of load, sag depth, sag duration and sag repetition rate [11]. Lead-acid batteries provide rapid response for either charge or discharge but the available energy depends on the discharge rate. When the DVR is idle active power can

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be absorbed [11] F. Dynamic Voltage Restorer Model An open-loop DVR system with unlimited energy storage capacity battery and passive inverter-side filter will be modeled. It is assumed that voltage sag is symmetric across three phases and consists only of positive sequence voltages. Fig. 11 is the control block diagram for the electrical hardware described in Fig. 8. IV. CONCLUSION DVR technology can be highly effective in reducing the impact of power system transient events for sensitive loads. As custom power quality device, voltage sag and other power quality issues could be compensated for and hence avoiding many economic consequences especially for areas that are not tied to the grid. Such isolated system may experience more power quality issues and more frequently than a grid connected system. Also in such system accurate modeling of the automatic voltage regular equipped with dynamic voltage regulator is needed in order to ensure proper operation and effective compensation of power quality issues. In this paper, a complete model of an AVR equipped with DVR is developed and is added to the generator model supplying power to an isolated power system. The model performance is assessed through the implementation of a voltage sag resulted from the starting of large compressor motor. The results indicated that in the presence of DVR, the existing load experienced a5% sag that recovered in approximately 0.24 seconds when compared to the results

obtained without the DVR, the voltage enhancement has been realized while meeting the recovery requirement. The developed model can also be used in analyzing other power quality disturbances such as voltage swell, flicker, and frequency variations. The developed model can be easily implemented in many commercially available power system simulation software, such as Electromagnetic Transient Program (EMTP), and Power System Simulation for Engineers (PSSE) for research or teaching power quality courses.

Fig. 12 Voltage sag mitigation with DVR.

Fig. 11 Dynamic Voltage Restorer open-loop model.

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V. REFERENCES
[1] K. Nicholson, R. Doughty, L. Mane, G. Miranda and F. Pulaski, Cost Effective Strategies for Industrial Electric Power Management Systems, in Proc. Of the IEEE 45th Industry Application Society Annual Petroleum and Chemical Industry Conf., 1999, pp. 223-233. Internal GE Report. IEEE 421.5-2005, IEEE Recommended Practice for Excitation System Models for Power System Stability Studies, 2005. IEEE 1110-2002, IEEE Guide for Synchronous Generator Modeling Practices and Applications in Power System Stability Analyses, 2002. N. H. Woodley, L. Morgan, and A. Sundaram, Experience with an Inverter-based Dynamic Voltage Restorer, IEEE Transactions on Power Delivery, Vol. 14, No. 3, July 1999. M. Vilathgamuwa, A. Perera and S. Choi, Performance Improvement of the Dynamic Voltage Restorer with Closed-Loop Load Voltage and Current-Mode Control, IEEE Transactions on Power Electronics, Vol. 17, No. 5 Sep 2002. S. Mahesh., M. Mishra, K. Kumar and V. Jayashankar, Rating and Design Issues of DVR Injection Transformer, in Proc. Of the 23rd IEEE Annual Applied Power Electronics Conf. and Expo., Austin, TX, 2008, pp. 449-445. C. Fitzer, A. Arulampalam, M. Barnes and R. Zurowski, Mitigation of Saturation in Dynamic Voltage Restorer Connection Transformers, IEEE Transactions on Power Electronics, Vol. 17 No. 6, Nov 2002 S. Sasitharan and M. Mishra, Design of Passive Filter Components for Switching Band Controlled DVR, in Proc. Of the 2008 IEEE TENCON, 2008, pp. 1-6. S. Choi, H. B. Li and D. Vilathgamuwa, A Comparative Study of Inverter- and Line-Side Filtering Schemes in the Dynamic Voltage Restorer, in Proc. Of the IEEE Power Engineering Society Winter Meeting, vol. 4, 2000, pp. 2967-2972. V. Ramachandaramurthy, C. Fitzer, A. Arulampalam, C. Zhan, M. Barnes and N. Jenkins, Control of a battery supported dynamic voltage restorer, IEE Proc.-Gener. Transm. Distrib., Vol. 149, No. 5, Sep 2002. C. Zhan, M. Barnes, V. Ramachandaramurthy and N. Jenkins, Dynamic Voltage Restorer With Battery Energy Storage For Voltage Dip Mitigation in Proc. Of the IEEE 8th International Con. On Power Electronics and Variable Speed Drives, 2000, pp. 360-365. H. Saadat, Power Systems Analysis, PSA Publishing, U.S., Third Edition, 2010. C. I. Hubert, Electric Machines: Theory, Operation, Applications, Adjustment and Control, Prentice Hall, Second Edition, 2001.

[2] [3] [4] [5] [6]

Walid G. Morsi (S07 -- M09) was born in Ismailia, Egypt in 1975. He received the B.Sc. (Eng.) and M.Sc. degrees from Suez Canal University, Port-Said, Egypt, in 1998 and 2002, respectively. In 2009, he received the Ph.D. degree from Dalhousie University, Halifax, NS, Canada, where he was a Killam memorial predoctoral scholar then he worked as Assistant Professor in the Department of Electrical and Computer Engineering at University of New Brunswick, Fredericton, NB, Canada. Currently he is working as Assistant Professor in the Faculty of Engineering and Applied Science at the University of Ontario Institute of Technology (UOIT), Oshawa, Greater Toronto Area (GTA), ON, Canada. His research interests include power quality, renewable energy sources, smart grid, smart meters, demand side management (DSM), vehicle to grid (V2G), signal processing and artificial intelligence applications in power systems. Dr. Morsi is a registered professional engineer of Association of Professional Engineers of Ontario (PEO) and Engineers Nova Scotia (ENS).

[7]

[8] [9] [10]

[11] [12]

[13] [14]

VI. BIOGRAPHIES
Joseph W. Plastino was born in Sault Ste. Marie, Ontario in 1979. He received a B.Eng. in Electrical Engineering from McMaster University, Hamilton, Ontario, Canada in 2003. His industrial experience includes process control in metal refining and mineral extraction industries. Currently he is working for GE Energy Large Motors. He would like to thank Dale Derr at GE for his mentorship in synchronous machine modeling. His research interests include synchronous machine modeling, automatic voltage regulation and power quality.

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