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Restorer (DVR)
CONTENTS
DECLARATION ii
CERTIFICATE iii
ACKNOWLEDGEMENT iv
CONTENT
LIST OF TABLES v
LIST OF FIGURES vi
LIST OF ABBREVATIONS vii
ABSTRACT viii
1. INTRODUCTION 1
2.POWER QUALITY PROBLEMS 4
2.1 Sources and effects of power quality problems 5
2.1.1 Causes of dips, sags and surges 5
2.1.2 Causes of transients and spikes 6
2.1.3 Ill effects of voltage sag 6
2.2 IEEE Standard associated with voltage sag 6
2.3 Solutions to power quality problems 7
3.DYNAMIC VOLTAGE RESTORER(DVR) 10
3.1 Introduction 11
3.1.2 Features of DVR 11
3.2 Basic configuration 13
3.2.1 Injection/Booster transformer 13
3.2.2 Harmonic filter 14
3.2.3 Voltage source converter 14
3.2.4 DC charging circuit 14
3.2.5 Control and protection 14
3.3 Equations related to DVR 15
3.4 Operating modes 16
3.4.1 Protection mode 16
3.4.2 Standby mode 16
3.4.3 Injection/boost mode 17
3.5 Voltage injection methods 17
3.5.1 Pre-sag compensation method 17
3.5.2 In. phase compensation method 18
3.5.3 In-phase advanced compensation method 19
3.5.4 Voltage tolerance method with minimum energy injection 20
4. REALIZATION OF COMPENSATION TECHNIQUE 21
4.1 Discrete PWM based scheme using PI controller 22
4.2 Test system of DVR 23
5. SIMULATION AND RESULTS 25
6. CONCLUSION 37
REFRENCES 39
LIST OF TABLES
V
LIST OF FIGURES
Fig.no. Title Page no.
2.2.1 RMS representation of voltage sag
7
3.1 .1 Location of DVR
11
3.1.2 Basic structure of DVR
12
3.1.3 Faults on parallel feeder causing voltage sag
12
3.2 Schematic diagram of DVR
13
3.3 Equivalent circuit diagram of DVR
15
3.4 .1 Protection mode of DVR
16
3.4.2 Standby mode of DVR
17
3.5.1 Pre-sag compensation method
18
3.5.2 In-phase compensation method
19
3.5.3 Voltage tolerance method with minimum energy injection
20
4.2.1 Simulink model of DVR controller
23
5.1.1 System without fault and DVR
26
5.1.2 Phase phase, three-phase and p.u. voltage
26
5.2.1 Faults in transmission line
27
5.2.2 Vabc, Iabc for single L-G fault
28
5.2.3 Vabc, Iabc for double L-G fault
28
5.2.4 Vabc, Iabc for three phase-g fault
28
5.3.1 System without DVR and with fault
29
5.3.2 Phase-phase, three-phase and p.u. voltage at load point for a-b-c
fault 30
5.3.3 Phase-phase, three-phase and p.u. voltage at load point for a-b fault
30
5.3.4 Phase-phase, three-phase and p.u. voltage at load point for a-g fault
31
5.4.1 180 degree conduction based three phase inverter
32
5.4.2 Phase-ground sine wave voltages at load point
32
5.5.1 Sine wave inverter with PWM technique
33
5.5.2 Phase-phase voltage across inverter and load
33
5.6.1 System with DVR and fault
34
5.6.2 Phase-phase voltages at load point for a-b-c fault
35
5.6.3 Three phase voltage at load point for a-b-c fault
35
5.6.4 P.U. voltage at load point for a-b-c fault
35
5.6.5 Phase-phase voltages at load point for a-b fault
36
5.6.6 Phase-phase and three phase voltages at load point for a-b fault
36
5.6.7 Phase-phase voltages at load point for a-g fault
36
vi
LIST OF ABBREVIATIONS
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 that results in a failure of end use equipments. One of the major
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. It can provide the most commercial
solution to mitigation voltage sag by injecting voltage as well as power into the system. This
paper presents modeling, analysis and simulation of a Dynamic Voltage Restorer (DVR)
using MATLAB. The efficiency of the DVR depends on the performance of the efficiency
control technique involved in switching the inverters. In this model a PI controller and
CHAPTER 1
1.INTRODUCTION
1
1.INTRODUCTION
Modern electric power systems are complex networks with hundreds of generating
stations and thousands of load centers are interconnected through long power
transmission and distribution networks. Power quality is major concern in industries
today because of enormous losses in energy and money. With the advent of myriad
sophisticated electrical and electronic equipment, such as computers, programmable
logic controllers and variable speed drives which are very sensitive to disturbances
and non-linear loads at distribution systems produces many power quality problems
like voltage sags, swells and harmonics and the purity of sine waveform is lost.
Voltage sags are considered to be one of the most severe disturbances to the industrial
equipments.
Power quality problems are associated with an extensive number of
electromagnetic phenomena in power systems with broad ranges of time frames such
as long duration variations, short duration variations and other disturbances. Short
duration variations are mainly caused by either fault conditions or energization of
large loads that require high starting currents. Depending on the electrical distance
related to impedance type of grounding and connection o f transformers between the
faulted/load location and the node, there can be a temporary loss of voltage or
temporary voltage reduction (sag) or voltage rise (swell) at different nodes of the
system.
Power distribution systems, ideally, should provide their customer with an
uninterrupted power flow at smooth sinusoidal voltage at the contracted magnitude
level and frequency .A momentary disturbance for sensitive electronic devices causes
voltage reduction at load end leading to frequency deviations which results in
interrupted power flow, scrambled data, unexpected plant shutdowns and equipment
failure. Voltage lift up at a load can be achieved by reactive power injection at the
load point of common coupling (PCC). The common method for this is to install
mechanically switched shunt capacitors in the primary terminal of the distribution
transformer. The mechanical switching may be on a schedule, via signals from a
supervisory control and data acquisition (SCADA) system, with some timing
schedule, or with no switching at all. The disadvantage is that, high speed transients
2
cannot be compensated. Some sag is not corrected within the limited time frame of
mechanical switching devices. Transformer taps may be used, but tap changing under
load is costly.
Another power electronic solution to the voltage regulation is the use of a
dynamic voltage restorer (DVR). DVRs are a class of custom power devices for
providing reliable distribution power quality. They employ a series of voltage boost
technology using solid state switches for compensating voltage sags/swells. The DVR
applications are mainly for sensitive loads that may be drastically affected by
fluctuations in system voltage.
3
Chapter 2
POWER QUALITY PROBLEMS
1. Lightening
2. Arc welding
3. Switching on heavy or reactive equipments such as motors, transformers, motor
drives
4. Electric grade switching.
Standards associated with voltage sags are intended to be used as reference documents
describing single components and systems in a power system. Both the manufacturers
and the buyers use these standards to meet better power quality requirements.
Manufactures develop products meeting the requirements of a standard, and buyers
demand from the manufactures that the product comply with the standard. The most
common standards dealing with power quality are the ones issued by IEEE, IEC,
CBEMA, and SEMI.
The Technical Committees of the IEEE societies and the Standards
Coordinating Committees of IEEE Standards Board develop IEEE standards.
6
The IEEE standards associated with voltage sags are given below. IEEE defines
voltage sag as- A decrease to between 0.1 and 0.9 p.u. in rms voltage or current at the
power frequency for durations of 0.5 cycle to 1 min. The amplitude of voltage sag is
the value of the remaining voltage during the sag.
An rms representation of voltage sag, the sag starts when the voltage decreases to
lower than the threshold voltage Vthr (0.9 p.u.) at time T1. The sag continues till T2
at which voltage recovers to a value over the threshold value. The duration of the
voltage sag is (T2-T1) and the magnitude of the voltage sag is a sag to Vsag.
8
without significant effect on the terminal voltage There are many types of Custom
Power devices. Some of these devices include: Active Power Filters (APF), Battery
Energy Storage Systems (BESS), Distribution Static synchronous COMPENSATORS
(DSTATCOM), Distribution Series Capacitors (DSC), and Dynamic
Voltage Restorer (DVR), Surge Arresters (SA), Super conducting Magnetic Energy
Systems (SMES), Static Electronic Tap Changers (SETC), Solid-State Transfer
Switches (SSTS), Solid State Fault Current Limiter (SSFCL), Static Var Compensator
(SVC), Thyristor Switched Capacitors (TSC), and Uninterruptible Power Supplies
(UPS).
9
CHAPTER 3
DYNAMIC VOLTAGE RESTORER
3.1 Introduction
3.2 Basic configuration of DVR
3.3 Equations related to DVR
3.4 Operating modes of DVR
3.5 Voltage injection methods
10
DYNAMIC VOLTAGE RESTORER
3.1 INTRODUCTION:
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 and is normally installed in a distribution system between
the supply and the critical load feeder at the point of common coupling (PCC). It
employs a series of voltage boost technology using solid (static) state switches of 3-
PHASE VSC that injects voltage into the system; to restore the load side voltage for
compensating voltage sags/swells. 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.
i. Lower cost, smaller size, and its fast dynamic response to the disturbance.
ii. Ability to control active power flow.
iii. Higher energy capacity and lower costs compared to the SMES device.
iv. Less maintenance required. UPS is costly, it also requires a high level of
maintenance because batteries leak and have to be replaced as often as every five
years.
Fig 3.1.1 Location of DVR
11
When a fault occurs on the line feeding Load 1, its voltage collapses to zero. Load 2
experiences sag equals to the voltage at the PCC and the voltage of sensitive load
protected by the DVR is restored to its pre-fault value.
Using the voltage divider model, where the voltage magnitude at the PCC is given by:
Usag= E [Zf /(Zs +Zf ) ]
Zs = the source impedance including the transformer impedance
Zf = the impedance between the PCC and the fault including fault and line
impedances
Fig 3.1.3 Faults on parallel feeder causing voltage sag
12
14
3.2.5 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.
3.3 EQUATIONS RELATED TO DVR:
The system impedance Zth depends on the fault level of the load bus. When the system
voltage (Vth) drops, the DVR injects a series voltage VDVR through the injection
transformer so that the desired load voltage magnitude VL can be maintained. The
series injected voltage of the DVR can be written as
VDVR=VL+ZthIL-Vth
VL: The desired load voltage magnitude
Zth: The load impedance.
IL: The load current
Vth: The system voltage during fault condition.
The load current IL is given by
Il = (Pl +jQl)/Vl
When VL is considered as a reference equation
= tan-1 (l / Pl )
The complex power injection of the DVR can be written as,
Sdvr = Vdvr IL *
15
It requires the injection of only reactive power and the DVR itself is capable of
generating the reactive power.
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.
3.4.1 PROTECTION MODE:
Fig 3.4.1 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).
In the Injection/Boost mode the DVR is injecting a compensating voltage through the
The pre-sag method tracks the supply voltage continuously and if it detects any
disturbances in
17
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.
dvr = tan-1 [ Vl sin l / (Vl cosl Vs coss )]
Fig 3.5.1 Pre-sag 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. One of the advantages of this method is that the amplitude of DVR injection
voltage is minimum for certain voltage sag in comparison with other strategies.
18
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, it is only
suitable for a limited range of sags.
19
3.5.4 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.
20
CHAPTER 4
REALIZATION OF COMPENSATION TECHNIQUE
21
REALIZATION OF COMPENSATION TECHNIQUE
22
Va = sin (wt+ )
Vb = sin (wt+ -2/3)
VC = sin (wt+ +2/3)
4.2. TEST SYSTEM OF DVR
The test system for DVR is composed by a 13 kV, 50 Hz Generation system, feeding
transmission line through a 2- winding transformer connected in Y/ ,13/115KV.
Such transmission line feed distribution network through step down transformer
connected in /Y, 115/11 kV. To verify the working of DVR for voltage
compensation a fault is applied at point X at resistance 0.66 U for time duration of
200 ms. The DVR is simulated to be in operation only for the duration of the fault.
23
CHAPTER 5
24
The first simulation was done with no DVR and results are obtained as shown in
figure 5.1.1
25
Fig. 5.1.1 System without DVR and fault
Fig 5.1.2 Phase phase, three-phase and p.u. voltages at load point
26
After the MATLAB Simulation of faults in transmission line, it was observed that the
voltage and current waveforms are transient. During the initial part of the short
circuit, the short-circuit current was limited by sub- transient reactance of
synchronous machine & impedance of the transmission line between the machine and
the point of fault. After that it was limited by transient reactance of synchronous
machine and impedance of line.
Finally, the short-circuit current settled down to steady state limited by
synchronous reactance of the machine and line impedance. The negative and zeo
sequence components were present initially only and disappeared after the circuit
breaker cleared the fault.
28
Next simulation was done with no fault and a three phase fault, double line fault and
single L-G fault is applied to the system at point with fault resistance of 0.66 U for
time duration of 200 ms with voltage sag magnitude of 0.1, 0.5 and 0.9 p.u.
respectively.
Fig 5.3.2 Phase phase, three-phase and p.u. voltages at load point for a-b-c fault
Fig 5.3.3 Phase phase, three-phase and p.u. voltages at load point for a-b fault
30
Fig 5.3.4 Phase phase, three-phase and p.u. voltages at load point for a-g fault
Each mosfet conducts for 180 degree. Three mosfets remain on at any instant of time.
There are six modes of operation in a cycle and the duration of each mode is 60
degree. The gating signals are shifted from each other by 60 degree to obtain three-
phase balanced (fundamental) voltages.Fig 5.4.1 is simulated in MATLAB and
sinusoidal phase-ground voltages are obtained.
31
32
Fig 5.5.1 Sine wave inverter
Next simulation is carried out at the same scenario as above but a DVR is now
introduced at the load side to compensate the voltage sag occurred due to the three
phase fault applied.
When the DVR is in operation the voltage interruption is compensated almost
completely and the rms voltage at the sensitive load point is maintained at normal
condition.
33
Fig 5.6.1 System with DVR and fault
34
Fig.5.6.2 Phase phase voltages at load point for a-b-c fault
Fig.5.6.3Phase phase and three-phase voltages at load point for a-b-c fault
35
Fig 5.6.5 Phasephase voltages at load point for a-b fault
Fig5.6.6 Phasephase and three-phase voltages at load point for a-b fault
Fig. 5.6.7 Phase phase voltages at load point for a-g fault
36
CHAPTER 6
Conclusion
37
CONCLUSION:
In order to show the performance of DVR in mitigation of voltage sags, s simple
distribution network is simulated using MATLAB. A DVR is connected to a system
through a series transformer with a capability to insert a maximum voltage of 50% of
phase to ground system voltage. In-phase compensation method is used. DVR handles
both balanced and unbalanced situations without any difficulties and injects the
appropriate voltage component to correct rapidly any deviation in the supply voltage
to keep the load voltage constant at the nominal value. The main advantages of the
proposed DVR are simple control, fast response and low cost. The proposed PWM
control scheme using PI controller is efficient in providing the voltage sag
compensation. As opposed to fundamental frequency switching schemes already
available in the MATLAB/SIMULINK, this PWM control scheme only requires
voltage measurements. This characteristic makes it ideally suitable for low-voltage
custom power applications. DVR works independently of the type of fault as tested
for the system as based on the analysis of test system DVR mitigates voltage sags due
to three phase, single L-G and double line faults. The main shortcoming of the DVR,
being a series device, is its inability to mitigate complete interruptions.
38
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39
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