IOSR Journal of Engineering (IOSRJEN) e-ISSN: 2250-3021, p-ISSN: 2278-8719 Vol. 3, Issue 9 (September.

2013), ||V1|| PP 51-58

Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using Advanced Direct Power Control Method
1
1 2

Archana Nalluri, 2Y. Rambabu, 3V. K. R. Mohan Rao

PG Scholar, Assistant Professor, 3Associate Professor, 1, 2, 3 Holy Mary Institute of Technology & Science

Abstract: - In the recent years, due to economics and environment problems, build of new power planet and transmission line become more difficult. Hence it is advisable to enhance power transfer capability of the existing transmission lines up to thermal limit instead of constructing new one. For enhancing the power capability, FACTS controller like SSC, TCSC, SVC are developed. But these controllers cannot compensate the real and reactive power separately. For this a controller called, Unified Power Flow Controller (UPFC) is developed which uses both the series and shunt controller with a common DC capacitor link. This paper presents state space vector analysis for Three-Level Neutral Point Clamped Converter operating as unified power flow controllers (UPFCs). It allows direct ac/ac power conversion without dc energy storage links; therefore, It reduces volume, cost, capacitor power losses, together with higher reliability. The line active and reactive power, together with ac supply reactive power, can be directly controlled by selecting an appropriate Three-Level Neutral Point Clamped Converter switching state guaranteeing good steady-state and dynamic responses. This advanced control of Three-Level Neutral Point Clamped Converter guarantee faster responses without overshoot and no steady- state error, presenting no cross-coupling in dynamic and steady-state responses. Simulations are carried out, showing the effectiveness of the proposed method in steady-state and transient conditions. Index Terms: - Direct power control, flexible ac transmission control (FACTS), multilevel converter, sliding mode control, unified power-flow controller (UPFC).

I.

INTRODUCTION

In the last few years Flexible AC Transmission Systems (FACTS) became well known powerelectronics-basedequipmenttocontroltransmissionlinespowerflow. UPFCs are the most versatile and complex FACTS allowing precise and reliable control of both active and reactive power flow over the network .UPFC can prevail over line impedance dependencies, sending and receiving end voltage amplitudes and phase differences. The original UPFC concept, introduced in the nineties by L. Gyugyi[1], consists of two AC-DC converters using Gate- Turn Off thyristors (GTO), back to back connected through their common DC link using large high-voltage DC storage capacitors. Both converters AC sides are connected to the transmission line, through coupling transformers, in shunt and series connection with the line. A one-wire schematic of a transmission-line system equipped with a UPFC is given in Fig. 1. A UPFC is connected to the transmission line by coupling transformers, both with a shunt and with a series connection. The UPFC consists of two ac/dc converters, the ac sides connected to the shunt and series connection with the transmission line, and the dc sides connected back to back. UPFCs are typically built with voltage-sourced converters, having a capacitor as (limited) dc energy storage. This arrangement can be operated as an ideal reversible AC-AC switching power converter, in which the power can flow in either direction between the AC terminals of the two converters. The DC link capacitors provide some energy storage capability to the back to back converters that help the power flow control Replacing the two three-phase inverters by one Three-Level Neutral Point Clamped Converter the DC link(bulk) capacitors are eliminated, reducing, costs, size, maintenance, increasing reliability and lifetime.

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using

Fig. 1. One-wire schematic of the transmission line with UPFC. The Three-Level Neutral Point Clamped Converter, also known as all silicon converters, processes the energy directly without large energy storage needs. This leads to an increase of the Three-Level Neutral Point Clamped Converter control complexity. In [2] an UPFC-connected power transmission network model was proposed with matrix converters and in[3] was used to synthesize both active(P) and reactive(Q) power controllers using a modified Venturini high-frequency PWM modulator. In this paper a Neutral Point Clamped Converter based UPFC-connected power transmission network model is proposed, using a Direct Power Control approach(DPC-MC). This control method is based on sliding mode control techniques [5] and allows real time selection of adequate state-space vectors to control input and output variables. Transmission line active and reactive power flow can be directly controlled using this approach and the dynamic and steady state behavior of the proposed P,Q control method is evaluated and discussed using detailed simulations. Results shows decoupled active and reactive power control, zero error tracking and fast response times.

II.

MODELING OF THE UPFC POWER SYSTEM

During model construction and controller design, power Sources VS, VR is assumed to be infinite bus. We assume series transformer inductance and resistance negligible compared to transmission-line impedance. Connection transformers of series and shunt converters of the UPFC as in Fig. 1 are not explicitly included in the mathematical model used for controller design. Under these assumptions, we can simplify the grid as experienced by the UPFC to Fig. 2. Sending and receiving end power sources VS, VR are connected by transmission line r, L. The total current drawn from the sending end consists of the current flowing through the line iS and the current exchanged with the shunt converter iP Shunt transformer inductance and resistance are represented by LP and rP The series inductance and resistance are commonly accepted as a model for overhead transmission lines of lengths up to 80 km [6], [7]. The UPFC shunt converter model is similar and is not described in this paper; its functions and control are well described in literature [8], [9], [10] and the performance of the shunt converter is only of secondary influence on the control system described in this paper, as demonstrated in previous work [11]. Effects of dc bus dynamics are negligible in the control bandwidth of the power flow. For all simulations and experiments in this paper, the shunt converter is only used to satisfy active power flow requirements of the dc bus. Using the model of Fig. 2, differential equations that describe the current i S in three phases can be formulated. Voltages Vabc = Vsabc + Vcabc - VRabc are used for notation simplicity. The differential equations for the UPFC model are given as

Applying the Clarke and Park transformation results in differential equations in dq space. Voltages Vd = Vsd + Vcd - VRd and Vq = Vsq + Vcq - VRq are introduced for notation simplicity. It is assumed that the pulsation of the grid is known and varies without discontinuities. Applying the Laplace transformation and with substitution between the two dq space transfer functions, (2) is obtained, where currents iSd(S), iSq(S) are given in function of voltages Vd(S), Vq(S)

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using
The active and reactive power of the power line are determined only by the current over the line and the sending end voltage. Without losing generality of the solution, we synchronize the Park transformation on VSa resulting in VSq = 0. Assuming relative voltage stability, VSd(S) = VSd, VRdq(s) = VRdq Active and reactive power at the sending end are calculated as

Substituting (2) into (3), we receive the transfer functions, linking PS(S), QS(S) to VS, VR and Vc(S) Both active and reactive power consist of an uncontrollable constant part, which is determined by power source voltages VS, VR and line L, r impedance , and a controllable dynamic part, determined by converter voltage Vc(S)as made explicit in

Splitting in a constant uncontrollable and a dynamic controllable part results in (5) and (6). For notation simplicity Vcd(S), Vcq(s) are replaced by Vcd, and Vcq.

Fig.2 Schematic of the equivalent circuit of the UPFC system.

It is interesting to take a further look at the components of the dynamic part of the active and reactive power PS(S), QS(S) especially at the response to steps in series converter injected voltage Vcd/s, Vcq/s Using the initial value theorem on (6), we receive

III.

THREE-LEVEL NEUTRAL POINT CLAMPED CONVERTER

A schematic of a three-level neutral point clamped converter is given in Fig. 3. This topology and its mathematical model have been diligently described in [32]. Each leg k of the converter consists of four switching components Sk1, Sk2, Sk3, Sk4, and two diodes Dk1 and Dk2 The diodes Dk1 and Dk2 clamp the voltages of the connections between Sk1, Sk2 and Sk3, Sk4 respectively, to the neutral point, between capacitors c1, c2. There

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using
are three possible switching combinations for each leg k, thus three voltages umk The three levels for voltages umk produce five different converter phase-output voltages Uk The upper and lower leg currents Ik and Ik or their respective sum i, i1 can be described in function of the output line currents ik. the system state variables are the line currents i1, i2, i3 and the capacitor voltages Uc1, Uc2 This system has the dc-bus current i0 and the equivalent load source voltages Ueqk as inputs. Under the assumption that the converter output voltages Uk are connected to an req and Leq system with a sinusoidal voltage source ueq with isolated neutral, as in Fig. 3, we can write the equations for the three-phase currents i1, i2, i3 as in

Fig.3 Schematic of the three-level neutral point clamped converter

The capacitor voltages Uc1, Uc2 are influenced by the sum of the upper and lower leg currents i, i1 and the input current i0, i10 as in

From the restrictions on the states of the switching devices in each leg of the converter, we can define the ternary variable k(t), representing the switching state of the entire leg, as

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using
Table I Output Voltage Vectors

IV.

DIRECT POWER CONTROL

The performance of the UPFC injection model is tested on the two area four generator power system shown in Figure 5. The 230 km interconnecting tie line carries 400MW from area 1 (generators 1 and 2) to area 2 (generators 3 and 4) during normal operating conditions. The injection model of the UPFC is placed at the beginning of the lower line between buses 8 and 12 in order to see the influence on the power flow through that line as well as on the bus voltages. According to the algorithm for rating of the UPFC, r max,

Figure 5: Two area system with the UPFC installed In the selection Power to desired change in of Fig. 6, the implementation of 19 exists. To select a physical voltage vector, this decision process is transformed to the domain, remaining with requested changes of the UPFC series output voltage in to the output voltage vector. To limit the switching frequency, the decision is suppressed until the system state crosses a parallel surface at a certain distance from the direct power control surfaces S. Note that this requested change is not expressed in a numeric value of the requested change, but as the direction of change (in this case, a ternary variable, indicating increase +1 no change 0, decrease -1. Depending on the currently used output vector and the requested change in an appropriate next vector can be selected. This concludes the converter topology independent part of the controller. In Fig. 6, in the selection Desired change in to output Voltage, for a three-level NPC converter, the voltage vector selection is displayed. DPC demands increasing or decreasing the output voltage vector in the and direction. Based on the currently applied vector and this demand, the next vector is selected. This is simplified to selection of the voltage vector levels , In the cases that vectors coincide, an extra criterium is needed to unambiguously select a set of switching state variables 1, 2, 3 Even though the voltage vectors may realize the same phase voltages U1, U2, U3 precise switching state 1, 2, 3 also determines wether energy is drawn or injected from or into capacitors Uc1 and Uc2.

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using

Fig. 6. Overview of the control algorithm.

V.

MATLAB/SIMULINK RESULTS

The discussed controller is demonstrated in simulink and the results are shown here. The simulation is based on a full three-phase model of the UPFC and the power lines constructed with Matlab Simulink. It is performed on a balanced model of the experimental setup. It contains a model of the converter based on the dynamic equations and control laws as described here

Fig.7 Simulink diagram of proposed control strategy UPFC shunt converter and dc capacitor dynamics are included in the system model. The shunt converter is set to control the total dc voltage level of the converter dc bus. No reactive power transfer between the shunt converter and the sending end bus is set; the sending and receiving end are simulated as infinite bus. The transformers are modeled as saturable transformers.

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using

Fig.8 Control scheme of series converter as UPFC using space vector selection table

Fig.9 Simulation under balanced conditions, simultaneous step in active power references

Fig.10 Simulation under balanced conditions, simultaneous step in reactive power references

Fig.11 Three phase source voltages for active and reactive powers

Fig.12 Three phase source currents for active and reactive powers

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Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers Using VI. CONCLUSION
This paper derived advanced nonlinear direct power controllers, Three-Level Neutral Point Clamped Converter Based Unified Power-Flow Controllers connected to power transmission lines as UPFCs. Presented simulation & experimental results show that active and reactive flow will be advantageously controlled by using the proposed DPC. Results show no steady-state errors, no cross coupling, insensitivity to non-modeled dynamics and fast response times, thus confirming the expected performance of the presented nonlinear DPC methodology. Despite showing a suitable dynamic response, the PI performance is inferior when compared to DPC. Furthermore, the PI controllers and modulator take longer times to compute. Obtained results show that DPC is a strong nonlinear control candidate for line active and reactive power flow. N. Hingorani and L. Gyugyi, Understanding FACTSConcepts and Technology of Flexible AC Transmission Systems. Piscataway, NJ:IEEE Press/Wiley, 2000. L. Gyugyi, Unified power flow control concept for flexible AC transmission systems, Proc. Inst. Elect. Eng. C, vol. 139, no. 4, Jul. 1992. L. Gyugyi, C. Schauder, S. Williams, T. Rietman, D. Torgerson, and A. Edris, The unified power flow controller: A new approach to power transmission control, IEEE Trans. Power Del., vol. 10, no. 2, pp. 10851097, Apr. 1995. C. Schauder, L. Gyugyi, M. Lund, D. Hamai, T. Rietman, D. Torgerson, and A. Edris, Operation of the unified power flow controller (UPFC) under practical constraints, IEEE Trans. Power Del., vol. 13, no. 2, pp. 630639, Apr. 1998. T. Ma, P-Q decoupled control schemes using fuzzy neural networks for the unified power flow controller, in Electr. Power Energy Syst.. New York: Elsevier, Dec. 2007, vol. 29, pp. 748748. P. Kundur, Power System Stability and Control, N. J. Balu andM. G. Lauby, Eds. New York: McGrawHill, 1994. J. J. Grainger and D.W. Stevenson , Power System Analysis, A.B. Akay and E. Castellano, Eds. New York: McGraw-Hill, 1994. L. Gyugyi, Unified power -flow control concept for flexible ac transmission systems, Proc. Inst. Elect. Eng., Gen., Transm. Distrib., vol. 139, no. 4, pp. 323331, Jul. 1992. L. Gyugyi, C. Schauder, S.Williams, T. Rietman, D. Torgerson, and A. Edris, The unified power flow controller: A new approach to power transmission control, IEEE Trans. Power Del., vol. 10, no. 2, pp. 10851097, Apr. 1995. X. Jiang, J. Chow, A.-A. Edris, B. Fardanesh, and E. Uzunovic, Transfer path stability enhancement by voltage-sourced converter- based facts controllers, IEEE Trans. Power Del., vol. 25, no.2, pp. 1019 1025, Apr. 2010. S. Jiang, A. Gole, U. Annakkage, and D. Jacobson, Damping performance analysis of ipfc and upfc controllers using validated small-signal models, IEEE Trans. Power Del., vol. 26, no. 1, pp. 446454, Jan. 2011. M. K. P. Antoniewicz, Predictive direct power control of three phase boost rectifier, Bull. Polisch Acad. Sci., vol. 54, no. 3, 2006. S. Venkateschwarlu, B. P. Muni, A. D. Rajkumar, and J. Praveen, Direct power control strategies for multilevel inverter based custom power devices, Int. J. Elect. Syst. Sci. Eng., vol. 1, no. 2, pp. 94102, 2008. V. I. Utkin, Variable structure systems with sliding modes, IEEE Trans. Autom. Control, vol. AC -22, no. 2, pp. 212222, Apr. 1977. V. I. Utkin, J. Guldner, and J. Shi, Sliding Mode Control in Electromechanical Systems. Boca Raton, FL: CRC, 1999. J. Hung, W. Gao, and J. Hung, Variable structure control: A survey, IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 222, Feb. 1993. J. Monteiro, J. Silva, S. Pinto, and J. Palma, Matrix converter -based unified power-flow controllers: Advanced direct power control method, IEEE Trans. Power Del., vol. 26, no. 1, pp. 420430, Jan. 2011. J. Verveckken, F. A. Silva, D. Barros, and J. Driesen, Direct power control for universal power flow controller series converter, in Proc. IEEE ECCE Conf., 2010, pp. 40624067. P. Kundur, Power System Stability and Control, N. J. Balu andM. G. Lauby, Eds. New York: McGrawHill, 1994. J. J. Grainger and D.W. Stevenson, Power System Analysis, A.B. Akay and E. Castellano, Eds. New York: McGraw-Hill, 1994.

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