ABSTRACT

Power quality is one of major concerns in the present era. It has become important, especially, with the introduction of sophisticated devices, whose performance is very sensitive to the quality of power supply. Power quality problem is an occurrence manifested as a nonstandard voltage, current or frequency that results in a failure of end use equipments. One of the major problems dealt here is the power sag. To solve this problem, custom power devices are used. One of those devices is the Dynamic Voltage Restorer (DVR), which is the most efficient and effective modern custom power device used in power distribution networks. Its appeal includes lower cost, smaller size, and its fast dynamic response to the disturbance. Among the power quality problems (sags, swells, harmonics) voltage sags are the most severe disturbances. In order to overcome these problems the concept of custom power devices is introduced recently. One of those devices is the Dynamic Voltage Restorer (DVR), which is the most efficient and effective modern custom power device used in power distribution networks. DVR is a recently proposed series connected solid state device that injects voltage into the system in order to regulate the load side voltage. It is normally installed in a distribution system between the supply and the critical load feeder at the point of common coupling (PCC). Other than voltage sags and swells compensation, DVR can also added other features like: line voltage harmonics compensation, reduction of transients in voltage and fault current limitations.

INTRODUCTION:
The most frequent power quality associated problem in the distribution network is voltage sags and surges and are shown in below figure.

Voltage sag/surge can simply be defined as a sudden increase/decrease in the rms voltage with duration of half a cycle to few cycles. In addition to the magnitude change of the supply voltage, there can be a phase shift during the voltage sag / surge as shown in Figure 2.1. The magnitude of the voltage sag will depend on the fault type and the location and also on the fault impedance. The duration of the fault depends on the performance of the relevant protective device.Further it has been found that the voltage sags with magnitude 70% of the nominal value are more common than the complete outages. Sags and surges can be identified by the voltage magnitude and the time duration it prevails. IEEE 519-1992, IEEE 1159-1995 describes it as in Table.

For a particular disturbance (voltage sag or swell), if the voltage and time duration it remains is within the range given in Table 2.1, the custom power devices are the optimized solution to overcome the problem and compensate for the abnormality during the time period it prevails

Fig. Location of DVR

1. BASIC CONFIGURATION OF DVR: The General configuration of the DVR consists of: I. An Injection/ Booster transformer ii. A Harmonic filter iii. Storage Devices iv. A Voltage Source Converter (VSC) v. DC charging circuit vi. A Control and Protection system

1.1.Injection/ Booster transformer: The Injection / Booster transformer is a specially designed transformer that attempts to limit the coupling of noise and transient energy from the primary side to the secondary side. Its main tasks are: It connects the DVR to the distribution network via the HV-windings and transforms and couples the injected compensating voltages generated by the voltage source converters to the incoming supply voltage.

from the system (VSC and control mechanism).

1.2. Harmonic Filter: The main task of harmonic filter is to keep the harmonic voltage content generated by the VSC to the permissible level.

1.3. Voltage Source Converter: A VSC is a power electronic system consists of a storage device and switching devices, which can generate a sinusoidal voltage at any required frequency, magnitude, and phase angle. In the

DVR application, the VSC is used to temporarily replace the supply voltage or to generate the part of the supply voltage which is missing there are four main types of switching devices: Metal Oxide Semiconductor Field Effect Transistors (MOSFET), Gate Turn-Off thyristors (GTO), Insulated Gate Bipolar Transistors (IGBT), and Integrated Gate Commutated Thyristors (IGCT). Each type has its own benefits and drawbacks. The IGCT is a recent compact device with enhanced performance and reliability that allows building VSC with very large power ratings. Because of the highly sophisticated converter design with IGCTs, the DVR can compensate dips which are beyond the capability of the past DVRs using conventional devices. The purpose of storage devices is to supply the necessary energy to the VSC via a dc link for the generation of injected voltages. The different kinds of energy storage devices are Superconductive magnetic energy storage (SMES), batteries and capacitance. 1.4. DC Charging Circuit: The dc charging circuit has two main tasks. The first task is to charge the energy source after a sag compensation event. The second task is to maintain dc link voltage at the nominal dc link voltage.

1.5. Control and Protection: The control mechanism of the general configuration typically consists of hardware with programmable logic. All protective functions of the DVR should be implemented in the software. Differential current protection of the transformer, or short circuit current on the customer load side are only two examples of many protection functions possibility.

2. OPERATING MODES OF DVR: The basic function of the DVR is to inject a dynamically controlled voltage VDVR generated by a forced commutated converter in series to the bus voltage by means of a booster transformer. The momentary amplitudes of the three injected phase voltages are controlled such as to eliminate any detrimental effects of a bus fault to the load voltage VL. This means that any differential voltages caused by transient disturbances in the ac feeder will be compensated by an equivalent voltage generated by the converter and injected on the medium voltage level through the booster transformer. The DVR has three modes of operation which are: PROTECTION MODE STANDBY MODE INJECTION/BOOST MODE

2.1 PROTECTION MODE: If the over current on the load side exceeds a permissible limit due to short circuit on the load or large inrush current, the DVR will be isolated from the systems by using the bypass switches (S2 and S3 will open) and supplying another path for current (S1 will be closed).

Fig: Protection Mode (creating another path for current)

2.2 STANDBY MODE (VDVR= 0) : In the standby mode the booster transformers low voltage winding is shorted through the converter. No switching of semiconductors occurs in this mode of operation and the full load current will pass through the primary.

Fig: Standby Mode

2.3 INJECTION / BOOST MODE (VDVR>0) : In the Injection/Boost mode the DVR is injecting a compensating voltage through the booster transformer due to the detection of a disturbance in the supply voltage.

3. VOLTAGE INJECTION METHODS OF DVR: Voltage injection or compensation methods by means of a DVR depend upon the limiting factors such as; DVR power ratings, various conditions of load, and different types of voltage sags. Some loads are sensitive towards phase angel jump and some are sensitive towards change in magnitude and others are tolerant to these. Therefore the control strategies depend upon the type of load characteristics. There are four different methods of DVR voltage injection which are i. Pre-sag compensation method ii. In-phase compensation method iii. In-phase advanced compensation method iv. Voltage tolerance method with minimum energy injection

3.1 Pre-sag/dip Compensation Method: The pre-sag method tracks the supply voltage continuously and if it detects any disturbances in supply voltage it will inject the difference voltage between the sag or voltage at PCC and pre-fault condition, so that the load voltage can be restored back to the pre-fault condition. Compensation of voltage sags in the both phase angle and amplitude sensitive loads would be achieved by pre-sag compensation method. In this method the injected active power cannot be controlled and it is determined by external conditions such as the type of faults and load conditions. VDVR = Vprefault - Vsag

Fig.Pre-sag compensation method

3.2 In-phase Compensation Method: This is the most straight forward method. In this method the injected voltage is in phase with the supply side voltage irrespective of the load current and pre-fault voltage. The phase angles of the pre-sag and load voltage are different but the most important criteria for power quality that is the constant magnitude of load voltage are satisfied.

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Fig.In-phase compensation method

VL|=|Vprefault| One of the advantages of this method is that the amplitude of DVR injection voltage is minimum for a certain voltage sag in comparison with other strategies. Practical application of this method is in nonsensitive loads to phase angle jump.

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3.3 In-phase Advanced Compensation Method: In this method the real power spent by the DVR is decreased by minimizing the power angle between the sag voltage and load current. In case of pre-sag and in-phase compensation method the active power is injected into the system during disturbances. The active power supply is limited stored energy in the DC links and this part is one of the most expensive parts of DVR. The minimization of injected energy is achieved by making the active power component zero by having the injection voltage phasor perpendicular to the load current phasor. In this method the values of load current and voltage are fixed in the system so we can change only the phase of the sag voltage. IPAC method uses only reactive power and unfortunately, not al1 the sags can be mitigated without real power, as a consequence, this method is only suitable for a limited range of sags. 3.4 Voltage Tolerance Method with Minimum Energy Injection: A small drop in voltage and small jump in phase angle can be tolerated by the load itself. If the voltage magnitude lies between 90%-110% of nominal voltage and 5%-10% of nominal state that will not disturb the operation characteristics of loads. Both magnitude and phase are the control parameter for this method which can be achieved by small energy injection.

Fig. Voltage tolerance method with minimum energy injection

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4.CONTROL TECHNIQUES USED IN COMMERCIALLY AVAILABLE

DVRs :
Most of the commercially available DVRs use either the in-phase compensation technique or energy optimization technique, owing to minimal requirement of real power injection: hence it reduces the capacity of the energy storage needed. Control technique describes the method used to quantify the DVR occurrence of voltage sag. Some common control techniques used by DVR manufacturers are described control voltage injected during the compensation. In simple terms it basically detects the in this section. Irrespective of the compensation techniques used, there should be a scheme to track the phase angle and the magnitude of the supply voltage during normal operation (more specifically positive sequence component of the supply voltage) and to detect the occurrence of voltage sag. In other words there should be a voltage sag detection technique (it detects the occurrence of the sag, start and end points, sag depth and phase shift). Followings are some of the common voltage sag detection techniques.

Voltage sag detection techniques (i) Fourier transform (ii) Phase Locked Loop (PLL) (iii) Vector control (Software Phase Locked Loop SPLL) (iv) Peak value detection (v) Applying the wavelet transform to each phase

Out of the techniques mentioned above only the Fourier transform, Vector control and wavelet transform methods provide both the voltage magnitude and phase shift information. PLL method can provide only the phase shift information while peak value detection technique enables to get the magnitude change (voltage sag) information. Hence it is possible to combine one or more techniques mentioned above to obtain accurate voltage sag compensation.

4.1 Fourier Transform By applying Fourier transform to each supply phase, it is possible to obtain the magnitude and phase of each of the frequency components of the supply waveform in addition to the

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fundamental such as magnitude and phase information of the 5th and 7th harmonic components. This is the advantage of this method compared with other sag detection techniques. For practical digital implementation windowed fast Fourier transform-WFFT is used which has same features as the Fourier transform [4]. Further this method can easily be implemented in real time control system. The only drawback of this method is after voltage sag has commenced it can take up to one cycle to return the accurate information about the sag depth and its phase. The reason is the calculation method used by WFFT is an averaging technique.

4.2 Phase Locked Loop :

Generally the DVRs use Phase Locked Loop (PLL) to keep a track of the frequency and the phase angle of the healthy supply voltage, and thereby any change from the normal operating condition can easily be detected . Phase locked loop is a closed loop feedback control system, that generates a signal with the same frequency and the phase angle of the input signal. It consists of an oscillator which provides the output signal. The PLL internal function can be categorized as phase detector, variable oscillator and a feedback path. PLL responds to frequency changes and phase angle changes of the input signal by increasing or decreasing the frequency of the oscillator until it is matched with those of the reference input signal. Simplified PLL is shown in Figure 2.13. The phase angle of the input signal is compared with the feedback output of the oscillator and produces an error signal. The error signal is generated in the form of voltage signal, proportional to the phase angle difference between the input and output. The output of the phase detector consists of harmonic components, thus it has to pass through a low pass filter. But this filtering can introduce transient delays in detecting the voltage sags, which is undesirable. The controlled voltage output2 of the loop filter is then feed in to the Voltage controlled oscillator and provides a phase output. This output signal (in the form of a phase angle) is negatively feedback into the phase detector. The output of the oscillator is compared with the input and if the two frequencies are different, the frequency of the oscillator is adjusted to match with the input frequency.

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However reference says that this method to track the phase angle is not accurate and not suitable for fast synchronization. Further with this method it cannot return the sag depth information and difficult to implement in real-time . Hence a more accurate method to detect the phase angle is introduced and referred to as Software Phase Locked Loop (SPLL).

4.3 Software Phase Locked Loop (SPLL) / Vector Control : This is an improved method of PLL principal combining a voltage sag magnitude detection technique using the principal synchronous frame voltage quantities. Software implementation of this technique is more accurate, faster detection of voltage sag and can easily be implemented using Digital Signal Processing (DSP). This method is also referred to as vector control technique or simply as the synchronous reference frame model. It is known that unbalance voltage sags create negative sequence voltages which will rotate in opposite direction to that of positive sequence voltages. When considering the concept of synchronous reference frame, the negative sequence component is assumed to have a frequency of twice the frequency of the fundamental. When all the sequence components (positive, negative and zero) are present in a voltage waveform it is difficult to track the positive sequence component and also the result can be erroneous. Hence the major point of the SPLL technique is it can be used to track only the positive sequence component from the supply waveform and the block diagram is shown in Figure 2.14.

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The basic principal behind the operation of SPLL is regulating the Vsqn to zero and to track the phase angle () of the positive sequence voltage of the supply wave form. Initial phase angle information of the supply waveform is given by this . Then the voltage output of the SPLL will be equal to Vsd. By comparing Vsd with a set reference point any occurrence of voltage sag magnitude can be detected. The same way by comparing Vsq with a set reference zero the phase angle jump can be detected. This is further explained in Figure 2.15. It is clear from the figure, when Vsqn tends to zero Vsdn is in phase with Vsn (normalized supply voltage), hence any voltage sag can easily be detected by the system.

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Step 4 The next step is to control the angle such that the normalized Vsqn=0. This is achieved using a PI controller. The response time can be varied by changing Kp and KI values of the PI controller. Then the output of the PI controller is added to s,angular frequency at rated operating condition. Then pass it through a resettable integrator to obtain the desired SPLL output . In conclusion SPLL principle can be summarized as follows. The synchronous reference frame is locked to the positive sequence of the voltage Vs by the principle of PLL and it produces a voltage vector magnitudes Vd and Vq. The phase angle (theta) used in the synchronous reference frame calculations is used to generate the reference voltage vector . When the system is in locked condition with the normal operating condition Vd becomes same as the voltage vector magnitude and Vq becomes zero. Therefore any disturbance can be identified as they make deviation on the Vd and Vq from their normally operated values. This is how the fast detection normally implemented.

4.4 Peak value detection of the supply wave form : The peak value of any waveform is the point at which its gradient tends to zero. This simple phenomenon is used in this technique. The point at which voltage gradient is zero is identified as the peak value of the supply voltage. It is compared with a preset reference voltage. If the voltage difference between the supply and the reference voltage exceeds a specified value (eg. 10%) then the DVR starts operating (DVR inject the difference voltage). The voltage gradient can be calculated as follows

As in reference, the drawbacks of this method are the time delay (up to 0.5 sec.) in getting the sag depth information and the noise that would affect the measurements severely. Further to get the phase shift information a reference waveform is needed which has to be generated separately.

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5. SIMULATION : In order to show the performance of the DVR in voltage sags and swells mitigation, a simple distribution network was simulated using MATLAB. A DVR was connected to the system through a series transformer with a capability to insert a maximum voltage of 50% of the phase to ground system nominal voltage. In this simulation the In-Phase Compensation (IPC) method was used. The load considered in the study is a 5.5 MVA capacity with 0.92 p.f, lagging.

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5.1 Voltage sags:

A case of Three-phase voltage sag was simulated and the results are shown in Fig. 4. Figure 4a

shows a 50% voltage sag initiated at 100 ms and it is kept until 300 ms, with total voltage sag duration of 200 ms. Figure 4b and c show the voltage injected by the DVR and the compensated load voltage, respectively.As a result of DVR, the load voltage is kept at 1 p.u. throughout the simulation, including the voltage sag period. Observe that during normal operation, the DVR is doing nothing. It quickly injects necessary voltage components to smooth the load voltage upon detecting voltage sag. In order to understand the performance of the DVR under unbalanced conditions, Single-phase voltage sag was simulated and the results are shown in Fig. 5. The supply voltage with one phase voltage dropped down to 50% is shown in Fig. 5a. The DVR injected voltage and the load voltage are shown in Fig. 5b and c,respectively. As can be seen from the results, the DVR was able to produce the required voltage component rapidly and helped to maintain a balanced and constant load voltage at 1.00 p .u

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5.2 Voltage Swells: The performance of DVR for a voltage swell condition was investigated. Here, the supply voltage swell was generated as shown in Fig. 6a. The supply three-phase voltage amplitudes were increased about 125% of nominal voltage. The injected threesphase voltage that was produced by DVR in order to correct the load voltage and the load voltage are shown in Fig. 6b and c, respectively. As can be seen from the

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results, the load voltage was kept at the nominal value with the help of the DVR. Similar to the case of voltage sag, the DVR reacted quickly to inject the appropriate voltage component (negative voltage magnitude) to correct the supply voltage.

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The performance of the DVR with an unbalanced voltage swell is shown in Fig. 7. In this case, two of the three phases are higher by 25% than the third phase as shown in Fig. 7a. The injected voltage that was produced by DVR in order to correct the load voltage and the load voltage are shown in Fig. 7b and c,respectively. Notice the constant and balanced voltage at the load throughout the simulation, including during the unbalanced voltage swell event.

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6. CONCLUSION
The simulation results showed clearly the performance of the DVR in mitigating voltage sags and swells. The DVR handled both balanced and unbalanced situations without any difficulties and injected the appropriate voltage component to correct rapidly any anomaly in the supply voltage to keep the load voltage balanced and constant at the nominal value. The efficiency and the effectiveness in voltage sags/swells compensation showed by the DVR makes him an interesting power quality device compared to other custom power devices.

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7. REFERENCES
1. Ravi Kumar, S.V. and S. Siva Nagaraju, 2007.Power quality improvement using d-statcom and DVR. Int. J. Elect. Power Eng., 1: 368-376. 2. Nielsen, J.G., 2002. Design and control of a dynamic voltage restorer. Ph. D. Thesis, Aalborg University, Institute of Energy Technology.ISBN: 87-89179-42-0. 3. John Newman, M., D. Grahame Holmes,J. Godsk Nielsen and F. Blaabjerg, 2003. A Dynamic Voltage Restorer (DVR) with selective harmonic compensation at medium voltage level.IEEE. 4. Moreno-Mun_oz, A., D. Oterino, M. Gonzlez and F.A. Olivencia, 2006. Study of Sag Compensation with DVR: Benalmdena (Mlaga), Spain. IEEE MELECON May, pp: 16-19. 5. Stump, M.D., G.J. Kaene and F.K.S. Leong, 1998.Role of custom power products in enhancing power quality at industrial facilities. In: Conf. Rec.IEEE/EMPD, pp: 507-517. 6. Li, B.H., S.S. Choi and D.M. Vilathgamuwa, 2001.Design considerations on the line-side filter used in the dynamic voltage restorer: IEE Proc. Generat.Transmission Distribut., 148: 1-7. 7. Chan, K., 1998. Technical and performance aspects of a dynamic voltage restorer. In IEE Half Day Colloquium on Dynamic Voltage Restorers Replacing Those Missing Cycles, pp: 5/1-525. 8. Buxton, R., 1998. Protection from voltage dips with the dynamic voltage restorer. In IEE Half Day Colloquium on Dynamic Voltage Restorers Replacing Those Missing Cycles, pp: 3/1-3/6. 9. Sng, E.K.K., S.S. Choi and D.M. Vilathga-Muwa,2004. Analysis of series compensation and DC-link voltage controls of a transformerless self-charging dynamic voltage restorer. IEEE Trans. Power Delivery, 19: 1511-1518. 10. E-Otadui, U. Viscarret, S. Bacha, M. Caballero and R. Reyero, 2002. Evaluation of different strategies for series voltage sag cornpensation. Proc. IEEE PESC, 4: 1797-1802.

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