I

Damping of synchronous generator by static

reactive power compensator with digital controller
C.-J. WU, PhD
Y.-S. Lee, ME
Indexing terms: Generators, Control equipment and applications
Abstract: A static reactive power (VAr) com-
pensator (SVC), constructed by fixed capacitors
(FC) snd thyristor controlled reactors (TCRs), is
designed and implemented to improve the
damping of the synchronous generator. A digital
propotional-integral (PI) controller is synthesised
by the Motorola M68HCll single chip micro-
processor board to modify the reactive power
compensation of the SVC fromadjusting the con-
duction angle of the thyristors. The SVC is placed
at the generator bus terminal with the speed devi-
ation (Am) as the feedback signal for the PI con-
troller. The pole assignment method is used to
determine the gains of the PI controller. Results
from digital simulation and the implementation
test show that the SVC with the PI controller can
greatly enhance the damping of the systemoscil-
lation caused by disturbances. Although the PI
controller is designed at a special operation point,
it can also provide a good damping effect at other
operation conditions. The voltage profile of the
generator is also improved by the SVC.
Li st of symbols
=rotor speed
=torque angle
=conduction angle
=d- and q-axis terminal voltage
=generator terminal voltage and current
=reference voltage for generator
=d- and q-axis component of voltage behind
=real power and reactive power
=resistance and reactance
=reactance of static reactive power com-
=inductive susceptance of static reactive power
=capacitive susceptance of static reactive
=electrical torque
=mechanical torque
=per unit output voltage of the exciter
=gains of the PI controller
=constant matrices
transient reactance
pensator
compensator
power compensator
Paper 8148C (Pl, PlO), first received 18th September 1990 and in
revised form 2nd April 1991
The authon are with the Department of Electrical Engineering,
National Taiwan Institute of Technology, 43 Keelung Road, Section 4,
Taipei, Taiwan 10772, Republic of China
IEE PROCEEDINGS-C, Vol. 138, No. 5, SEPTEMBER 1991
M, D
Tw
T, =sampling time
K,, ' &
TLo, Tb0 =d- and q-axis armature-winding transient
K,, K , =thyristor gain and time constant
Subscripts
d, q =d-axis, q-axis
1 Introduction
Static reactive power (VAr) compensators (SVCs), which
are constructed by thyristor controlled reactors (TCRs)
and fixed capacitors (FCs), are finding a wide employ-
ment in the power industry [I-23. Many applications of
the SVC have been suggested in the literature, such as
reactive power compensation for the arc furnace [3],
reduction of transmission line loss [4], expansion of the
transfer capacity of transmission line [MI, stabilising
the load bus voltage [7-91, and balancing the load bus
current [lO-Il]. The SVC has also received great atten-
tion in the damping of a power system[12-171. It can
provide a supplementary damping torque for the syn-
chronous generator and increase the damping of system
oscillation. However, in the literature there are few
papers with an implementation test report about the
damping effect of an SVC [15-17]. The dynamic per-
formance of a radial distribution line is improved by
three SVCs in Reference 17. Only the study in Reference
16 considers the damping effect on the generator, but the
frequency response approach design method used in the
case studied is too rough.
Owing to the remarkable advances in electronic tech-
niques, the microcomputers/microprocessors are also
used in the power industry, such as digital relay [18], the
digital power systemstabiliser [19], and the automatic
meter reading system[20]. If a digital controller is syn-
thesised by a software program on the microprocessor
board, some advantages can beobtained. The controller
can be any type and the parameters of the controller can
be set at any value. Also the parameters of the controller
will not drift due to the temperature effect. A micro-
processor board will be used in this paper to construct a
digital controller for the SVC.
In this paper, a 5 kVA SVC test unit is installed in the
laboratory. The SVC is placed at the generator bus ter-
minal. A digital proportional-integral (PI) controller is
synthesised by the software program on a Motorola
M68HC11 single chip microprocessor board [22-231.
With the speed deviation (Ao) as the feedback signal, the
PI controller can modify the reactive power output of the
427
=moment constant and damping coefficient
=washout time constant of the PI controller
=exciter gain and time constant
open-circuit time constant
SVC and supply a damping torque to the synchronous
generator. The gains of the PI controller are determined
using the pole assignment method by placing the electro-
mechanical mode at the prespecified position. Results
fromthe digital simulation and implementation test show
that the SVC with the PI controller can greatly improve
the damping of the synchronous generator. Although the
gains of the PI controller are designed at a special 0pe.r-
ation point, it can also provide a good damping effect at
other operation points. In the dynamic period, the
voltage profile at the generator bus terminal is also
improved because the SVC can provide a reactive power
modulation to the system.
2 Problem formulation
The systemconsidered in this paper can be described by
the diagram as shown in Fig. 1, where a synchronous
generator is connected to the infinite bus through the
transmission line with a load placed at that bus. The syn-
generator transmission i nf i ni t e
m
Fig. 1
ator bus renniMl
Single machine infinite bus system with SVC placed at gener-
chronous generator is a salient pole type with damper
winding on the rotor shaft and driven by a large DC
motor. An SVC is placed at the generator bus terminal to
increase the systemdamping. The field current of the syn-
chronous generator is supplied by a static exciter with the
block diagram as shown in Fig. 2. Electric power is
delivered from the generator to the load through a trans-
mission line. All the systemdata are given in Appendix 8.
"ref I - Ve I K O I Ef d
-
v
I 1 t sT,
Fig. 2 Static exciter
The dynamic behaviour of the generator can be
described by the two axis model [21]. All the nonlinear
differential equations are
(1)
( 2)
(3)
(4)
( 5)
15=(T, - DO - TJ/M
s =Ob(W - 1)
E f d =[ - E f d +Ko(%f - vI/K
& =[ - E: , - ( X, - Xb ) I J / T~.
pq =[E/d - Eq +( x d - X&)Id]/T;,
where
=EdId +E; I , - ( Xh - Xd)IdIg
t: =( Vi +V y
v, =E:, - R, Id - XbI,
V, = E: - R, I, +XLId
428
The SVC is designed and implemented to support the
reactive power compensation. The SVC is constructed by
12-pulse thyristor controlled reactors (TCRs) and fixed
capacitors (FCs) as shown in Fig. 3. The TCR is con-
compensated bus
I v I
'i i" inductor 4 capacitor
control system
Fig. 3
TCR FC
One line diagram of SVC with TCRs and FCs
nected to the compensated bus through a triple windings
transformer. The conducting of the reactors is controlled
by the thyristor with continuous symmetric firing signals,
such that the TCR with the FC can provide a continuous
amount of reactive power compensation to the power
system. The equivalent susceptance of the reactor can be
obtained fromthe fundamental component of the current
passing through the reactor in each phase [ I ] . The rela-
tion between the equivalent susceptance BL of the reactor
and the conduction angle a of the thyristor is
a - sin a
BL(a) =___
nXL
where X , is the physical reactance of the reactor.
3 Design of PI controller using pole assignment
method
A PI controller is used to control the compensation value
of the TCR as shown in Fig. 4. The nonlinearity in eqn. 6
is removed by a linearised circuit [I], and the TCR can
be represented by a simple transfer function. To deter-
mine the gains of the PI controller, all the nonlinear dif-
ferential equations are linearised at the initial operation
point. The linear systemstate equations are
X( t ) =AX( t ) +BU(t) (7)
Y( t ) =CX( t ) (8)
Fig. 4 Transferfunction representation of SVC
where X =[Am, A& AEf d , A&, AE;, ABL]' is the state
vector, U =AKm is the control signal, Y =Am is the
output signal, and A, B, C are constant matrices. Because
the sampling period of the microprocessor is only 1 ms,
which is very small compared to the low frequency oscil-
lation period [21], we can directly design the digital PI
controller on the s-plane.
Taking the Laplace transform of eqns. 7 and 8, weget
sX(s) =AX( s) +BU(s)
Y(s) =CX( s)
(9)
C(SI - A)-'BU(s) (10)
I EE PROCEEDINGS-C, Vol. 138, No. 5, SEPTEMBER 1991
. -
1
Also the control signal fromthe PI controller can be rep
resented by
a set of three phase transmission line, load boxes, a speed
encoder, AID and D/A convertors, and a digital PI con-
troller which is synthesised by the M68HCll micro-
processor board.
U(s) =H(s)Y(s)
1 +sT,
It is easy to see that the characteristic equation of the
closed loop systemis [24]
1 - C(sl - A)-' BH(s) =0
(12)
If 1 is the systemeigenvalue to beassigned, wehave
(13)
Assume that the value of T, is given, weneed to assign a
pair of eigenvalues to obtain the values of K, and K,.
Because the behaviour of the generator is dominantly
represented by the electromechanical mode, we must
assign this mode at the prespecified position. Let 1' and
1, be the pair of eigenvalues of electromechanical mode
to be assigned, we can get two linear algebra equations
fromeqn. 13 with two unknowns K, and K, . By solving
this pair of algebra equations, wecan obtain the desired
gains of the PI controller.
At the initial operation point P =0.8 and Q =0.6P.u.,
we arbitrarily assign the eigenvalues of the electro-
mechanical mode at
I,, 1, =-4.1 +j26
The gains of the PI controller are calculated.
K, =5.5
K , =64.5
Table 1 shows the eigenvalues of the systemwith and
without SVC. It is observed that the electromechanical
mode of the systemwith SVC is exactly at the prespeci-
fied position. The damping of the synchronous generator
is greatly improved by the SVC. To examine the damping
effect of the SVC when the load condition is changed, the
electromechanical mode at different operation points is
shown in Table 2. I t is known that the SVC can also
improve the systemdamping at other operation points.
Tabl e 1 : Svstem eigenvalues
Items Without SVC With SVC
~ ~
A,, - 1 9.87 +/70.41 -1 9.88 +/70.89
A, -1.67*j 26.19* -4.1 +j 26.0*
A,, - 1 1.7 -11.6
AS" , -97.89 +j 25.9
* Electromechanical mode
Tabl e 2: El ect romechani cal mode at di f f er ent oper at i on
ooi nt s
~
Operation point Without SVC With SVC
P=1 . 2 , 0 =0 . 8 -1.549t j 26.841 -2. 78t j 26. 0
P =OB, 0 =0 . 6 -1. 673t j 26. 193 -4.1 +j 26.0
P =0.5. 0 ~ 0 . 2 -2.896+; 25.631 -5.3+i 25.61
4 5 kVA test unit
The generator systemdiagram is shown in Fig. 5 and
consists of a 5 kVA synchronous generator, a set of SVCs
which are constructed by TCRs and FCs, a static exciter,
IEE PROCEEDINGS-C, Vol. 138, No. 5, SEPTEMBER 1991
prime
mac hi ne
encoder
+.
I I I I > > I !
I
qM68HC 11 E
l oad\
svc
Fig. 5 5 kVA test unit
4.1 Microprocessor board
The Motorola M68HCll is an HCMOS single chip
microprocessor board and is suitable for the application
of real time control. With the diagram shown in Fig. 6,
the organisation data of the microprocessor board are as
follows.
1 M68CH11 '
!
Fi g. 6 Block diagram of M68HCl I microprocessor board
hardware :
(a) 12k bytes ROM
(b) 512 bytes EPROM
(c) 512 bytes RAM
(d) 8 bits impulse arithmetic unit
(e) 8 bits A/D convertor and data channel
(f) real time interrupt request
(g) enhanced 16 bits time
(a) enhanced M6800/M6811 instruction set
(b) 16 x 16 integer and fraction division
(c) with bit operation
(d) with wait mode
(e) with stop mode
4.2 Digital PI controller
The digital PI controller is synthesised by the software
program on the microprocessor board, with the speed
deviation as the input signal.
The speed error signal is
software:
e( t ) =O(t ) - a, (14)
where w, is the rating synchronous speed and o( t ) is the
feedback rotor speed. The input signal to the micro-
429
I I
0 002 0 002-
2
a
3
a
. 0001 =- 0 001-
0 9
s o 5 0 -
e
0
0
v v
u
(1 VI
U
E -0001 - 0 001-
VI
- 0 002 - 0 002,
processor is the sampled error signal time series e(kT),
k =0, 1, 2, .. ., where k is the sampling instant and T is
the sample period. Let the output control signal of the
microprocessor beu(kT).
Consider that the microprocessor wants to perform
the digital computation of the PI controller. The control
signal at the continuous time domain is
u(t) =K,e(t) +K, dt (15)
The integration termin the last equation is written as
Z( t ) = [d~) - WJ dr +Z( t J (16)
1:
Wecan use the trapezoidal integration rule here. At the
time interval [(k - 1)T, k q , the definite integration in
eqn. 16 is approximated by
rT [ d t ) - o J dt
( k - I ) T
E T/2[o(kT) +o[ ( k - 1)77] - w,T (17)
Then the discrete time domain representation of eqn. 16
is
ZC(k +1)77 =T/2Co(kT) +oC(k - 11771
+Z( kT) - w,T (18)
The discrete version of u(t) is written as
u[(k +1)T] =K, [ dkT) - WJ +K, Z[ ( k +1)T]
(19)
4.3 12-Pul se TCR
To reduce the harmonic current caused by the TCR, the
connection type of the TCR must bewell arranged. The
conduction angle of the thyristor in each phase is
symmetric to cancel all the even harmonic currents. The
I
L
I
, , , , . , ,
reactors are divided into two separate groups, each group
of reactor is a TCR. The A connection type of the reac-
tors in each group can let all the triplen harmonics be
absent fromthe line current. The TCRs are connected to
the compensated bus through a triple windings
Y - Y /Y - A connection transformer. There is a 30"
phase shift between the voltages and currents of the two
TCRs, and the 5th and 7th haronic currents are elimi-
nated from the primary-side line current.
0 002 0 002
3
Q
C
3
. oool 4 0001~
; o c (r'
P
c
2 9
L
e
0 TI
0 U
: - 0 001
g - 0 001-
0
VI
-0 002 - 0 002
5 Digital simulation and implementation test
results
To demonstrate the damping effect of the SVC, digital
simulation and implementation test results of the system
with and without SVC are compared at three different
operation points. The simulations are taken on an IBM
PC/AT using a fourth-order Runge-Kutta routine [26].
The step size is 1 ms. In the experiment procedures, the
generator is first brought up to the synchronous speed by
a DC motor, and the terminal voltage is raised to the
rated voltage by an appropriate exciter output voltage.
Step load change is made by changing the equivalent
admittance of the load box.
The dynamic behaviour of the synchronous generator
is examined by a 0.2p.u. load change at three different
operation points. Figs. 7, 8 and 9 show the rotor speed
dynamic responses of the digital simulation at the oper-
ation point (P =1.2, Q =OX), (P =0.8, Q =0.6) and
(P =0.5, Q =0.2), respectively. The settling time x,
defined by 1A d t ) 1 <O.ooOo5 p.u. for t >T, , of the system
oscillations with and without SVC is compared in Table
3. It is observed that the SVC can greatly improve the
damping of the synchronous generator. Figs. 10, 11, and
12 show the speed dynamic responses of the implementa-
tion test at three operation points. The systemsettling
'I A+-
\
ti me, s
a
Fi g. 7
(I Without SVC b WithSVC
Dynamic response of simulation results at P =1.2 and Q =0.8
ti me, s
b
ti me, s
a
Fig. 8
II Without SVC
Dynmnic response of simulation result at P =0.8 and Q =0.6
b With SVC
ti me, s
b
430
IEE PROCEEDINGS-C, Vol. 138, No. 5, SEPTEMBER 1991
0 1 2 3 L
ti me, s
a
Fig. 9
LI Without SVC
Dynamic response ofsimulation result at P =03 and Q =03
b With SVC
7
3
a
0 1 2 3 L
0001.
C
0
:
-
0 U
p -0001-
2
-0002,
time, s
b
I c' 0001-
g 0-
0. - L
: -0oG-l-
0
I
U
U
a
VI
-0 002
, ' . . . , . .
0 002 0 002
3
3
a
c 0 001-
2
9
4
1
a
0
. 0 001.
...
-
2 0 ? > 0-
U
U
U
g -0001- ; -0 001-
VI
1 1
0 2
0 2
3
-0 002
time. s time. s
-0002+ . . . . , ' '
a
b
Fig. 10
a Without SVC
Dynamic response of Implementation test result at P =1 2 and Q =0 8
b Wllh SVC
0 002 I I 00021-
0 1 2 3 L
a
ti me, s
Fig. 12
a Without SVC
IEE PROCEEDINGS-C, Vol. 138, No. 5, SEPTEMBER 1991
Dynamic response ofimplementation test result at P
b With SVC
0 001
0-
- 0 001-
t
-0002* . , , ' ' ' '
0 1 2 3
time. s
b
=03 and Q =0.2
43 1
Tabl e3: Set t l i ng t i me of t he r ot or speed devi at i on
(si mul at i on)
Operation Settling time (s)
point
Without SVC With SVC
1 08- 1 08-
3 -
a 1 OL- ; 106:
.,I 00-- $ 1 00-
: 0 84-
- 5 096- =0 96-
> 0 92- 1 0 92-
F 0 88-
E -
; 0 84-
0807 . . . . . . . 080i
0 -
-
0 .
p o 88:
I -
P =1.2. Q =0.8 3.75 1.45
P =0.8, Q =0.6 2.05 1 .o
P =0.5, 0 =0.2 1.25 0.75
9 I . . I . .
Tabl e 4: Set t l i ng t i me of r ot or speed devi at i on (i mpl e-
ment at i on t est )
Operation Settling time (s)
108-
a 104-
3 -
g 100:-
0 -
5 0 9 6
- 092-
0 88-
> -
0 .
5 0 EL-
0807
point
Without SVC With SVC
. . . . . . . ?
P =1.2. a =0.8 3.25 1.75
P =0.8, 0 =0.6 1.75 1.1
P =0.5, Q =0.2 1.3 0.8
1 08.
a1 04.
3 .
g1 00:
% 096.
- 0 92-
> -
5 0 88-
5 0 84.
080-
time is also compared in Table 4. Figs. 13, 14 and 15
show the terminal voltage responses of the implementa-
tion test at three operation points.
. . . . . . .
Several observations are obtained.
(a) Both in the digital simulation and in the implemen-
tation test, the SVC can provide a supplementary
damping torque for synchronous generator and improve
the systemdynamic behaviour.
(b) From Figs. 13-15, the voltage profile of the gener-
ation is improved by the SVC.
( c ) Although the PI controller is designed at a special
operation point, it can also provide good damping effect
at other operation points.
0 92-
- 0 88-
c
E,
3 0 8 4 -
6 Conclusion
An SVC is designed and implemented in this paper to
improve the damping of a synchronous generator. The
pole assignment method is used to determine the gains of
the PI controller by placing the electromechanical mode
at the prespecified position. The PI controller is simple in
structure and easy to synthesise by the software program
on a Motorola M68HCll single chip microprocessor
board. Digital simulation and implementation test results
shown that the SVC with the PI controller can greatly
Fi g. 14
o Without SVC
Voltage profile ofimplementation test result at P =0.8 and Q =0.6
b With SVC
5 0 8 4
;;:LL 0 8 0 time. s
b
Fi g. 15
(1 Without SVC
432
Voltage profile ofimplementation test result at P =0.5 and Q =0.2
b With SVC
IEE PROCEEDINGS-C, Vol. 138, No. 5, SEPTEMBER 1991
enhance the systemdamping. Although the PI controller
is designed at a special operation point, it can also
provide a good damping effect at other operation condi-
tions.
The studied systemin this paper is a single machine
power system. By the modal control theory [24], The PI
controller can provide two degrees of freedom. The elec-
tromechanical mode can beassigned at an arbitrary posi-
tion by the PI controller. If more modes are to be
controlled, another PI controllers with different feedback
signals such as current and electric power are needed. In
a multimachine power system, many SVCs may be
needed. Co-ordination tuning of the controllers of SVCs
must be done such that all the synchronous machines in
the systemhave good damping.
7 References
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Wiley & Sons, 1982)
2 IEEE Var management working group report.: Bibliography on
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8 Appendix: system data
The followung data of the synchornous generator are
given
rated kVA =5 kVA
rated voltage =220 V, Y connection
excitation voltage =45 V
stator current =13.5 A
field current =3 A
power factor =0.9 lagging
rated speed =1800 RPM
pole number =4
The parameters of the synchronous generator can be
estimated by the IEEE 115 A standard test procedures
[25]. All the systemdata are as follows:
Generator (P.u.)
X, =2.3 P.U.
Td, =0.26 s
x, =2.1p.u.
Tio =0.21 s
Xd =0.421 P.U. Xq =0.421 P.U.
M =1.48 s D =0.12 P.U.
R, =0.04727 p.u. ob =371 radJ sec
Exciter (PA)
K , =175 T. =0.04 s
Transmission line (P.u.
Re =0.02 P.U. X , =0.4 P.U.
Initial operation point (PA)
P =0.8 Q =0.6 & =1
svc
T, = 1 ms T,= 1 ms K,=25
433