Design of SSSC Damping Controller to Improve Power System Oscillation

Stability

H.F.Wang
University of Bath, UK

Abstract: This paper investigates the damping
control function of a Static Synchronous Series
Compensator (SSSC) installed in power systems.
The linearized model of the SSSC integrated into
power systems is established and methods to design
the SSSC damping controller are proposed. In the
paper, both cases of single-machine infinite-bus
and multi-machine power systems are studied and
example power systems are presented.
infinite-bus power systems and an objective function
based searching algorithm is suggested for multi-
machine power systems. Example power systems are
presented which c o n f m the effectiveness of the SSSC
in damping power system oscillations and methods for
its design proposed in the paper.
2. Single-machine infinite-bus Dower systems

1: Introduction

In the development of Flexible AC Transmission

Systems (FACTS), one of the initiative work is the
proposal of the Static Synchronous Series
Compensator (SSSC) or “series STATCOM by
Gyugyi, L., Schauder, C.D. and Sen, K.K. [1][2].
SSSC is a solid-state voltage source inverter, which
generates a controllable AC voltage source, and
connected in series to power transmission lines in a
power system. The injected voltage is in quadrature
with the line current and emulates an inductive or a
capacitive reactance so as to influence the power flow
in the transmission lines [ 1][2].
vsce
‘DC +

DC

Fig.1 A single-machine infinite-bus power system with

a SSSC

With the capability to change its reactance
characteristic ftom capacitive to inductive, the SSSR is
very effective in controlling power flow in power
systems. An auxiliary stabilizing signal can also be
superimposed on the power flow control function of
the SSSR so as to improve power system oscillation
stability [ 11-[3]. In [ 11-[3], the operation principle,
configuration and power flow control function of the
SSSC have been introduced, investigated and tested
with valuable and constructive results presented. The
objective in this paper is to follow the work in [l] and
[2] to explore the damping function of the SSSR
installed in power systems.
The investigation in the paper is based on the
linearized Phillips-Heffron model [4] of a power
system installed with a SSSC, which was effectively
used for Power System Stabilizer (PSS) [5][6] and
other types of FACTS devices [7]. The study begins
with simple single-machine infinite-bus power systems
to provide some basic insight and comprehension and
then extended to complex multi-machine power
systems. For the design of a SSSC damping controller,
phase compensation method is used for single-machine
Fig. 1 shows a single-machine infinite-bus power
system installed with a SSSC, which consists of a
series coupling transformer (SCT) with a leakage
reactance XSCT , a three-phase GTO based voltage
source converter (VSC) and a DC capacitor. The
exchange of reactive power between the SSSC and the
power system is achieved by controlling the magnitude
and phase of the inserted voltage which is kept in
quadrature with the line ciurent (if inverter losses are
ignored). Phasor diagrams in Fig.2 show the basic
principle of SSSC operation, from which we can see
that the compensation level can be controlled
dynamically by changing the magnitude of Vmv.
Hence SSSC is expected to be effective in damping
power system oscillations if it is equipped with a
damping controller. For example, if Pulse Width
Modulation (PWM) waveform synthesis is used,
PWM magnitude modulation ratio, m, can be the
damping control signal to provide the dynamic
variation of SSSC compensation. In this application,
the SSSC can be described as [3]

0-7803-5546-6/99/$10.00 0 1999 E E E 495

 SSSC damping controller converter dynamics 'INVmax
.

Fig3 Simplified SSSC damping control model

1tS Its
SSSC in inductive mode SSSC in capacitive mode

Fig.2 The phasor diagram of SSSC operation

where
Ape = KIA&+ K,AE',+K,DcAVDC + K,,Am
(1)
where k is the fmed ratio between inverter AC and DC AEq'=K4A6 + K,AE', +K,DcAVDc + K , , h
voltage. From the circuit equation of the power system
AVt = KSA6 + K,jAF, +K,DCAVDc + K , h
ofFig.l,

Fig.3 shows the arrangement and transfer h c t i o n of

SSSC damping controller, from which and Eq.(4)-(8),
we can obtain the linearized model of the power
system equipped with the SSSC which can be written
we can obtain as 181

The non-linear dynamic model of the power system of

Fig.1 is [7]

6=0bw Eq.(9) can be expressed by Fig.4 [8], where

b = ( P m - P, - Do)/M
S S
E,'=( -E, )/Tdo' (3) K(s) = k+-d+A23T(sI-A33)-1(A31
Ob +-A,,)
Ob

Efd = _ - 1 Efd +-(vto

KA
-vt
TA TA

where all symbols and notations are given in Appendix

K,(s) = A23T(sI- A33)-1B3 + B,
I and K,(s)=CsT(sI-A3,)-'B,

H(s) and y are the transfer h c t i o n and feedback

signal of the SSSC damping controller respectively.
From Fig.4 we can obtain the electric torque provided
vt = J(EqI-Xd'ltSd )2 (XqltSq *
by the SSSC damping controller to the
electromechanical oscillation loop of the generator to
be
By linearizing Eq.( 1)-(3) we can obtain

496 0 1999 IEEE

0-7803-55466/99/$10.00
 electromechanical oscillation loop

7
...............................................
...- ..__ ....................... .. . ...............

p- v

Aus

Fig.4 The closed-loop system installed with the S S S C

damping controller

where A, is the angular frequency of system

oscillation. An ideal SSSC damping controller should Fig.5 A SSSC installed in an n-machine power system
contribute a pure positive damping torque to the
electromechanical oscillation loop with
ATE, = DEsAa ,that is

where
- - -
which results in I, =[Ig1Ig2 ... I.@]'vg=[Vgl vg2 ... v.@]
From Fig.5 we have

According to Eq.( 12), the phase compensation method

[6][9][10] can be used to set the parameters of the (15)
-
SSSC damping controller H(s). That is to set Substituting Eq.(15) into Eq.(14) to delete [q V2],
we can obtain

where H(h,) = HL8, F(h,) = FLq .

3. Multi-machine Dower systems

Without loss of generality, we assume that in an n-

machine power system, a SSSC is to be installed on
the transmission line between node 1 and 2 as shown
by Fig.5 and there is no other active device installed in
1
the power system under consideration. We can also
- Yl, +- -~
assume that with exclusion of branch from node 1 to 2, where YVl2 = JX'
the network admittance matrix is yt as shown by
Fig.5. That is
machine power system, the terminal voltage of the
generators can also be expressed in the common
coordinates as [9]

0-7803-55464/99/$10.00 0 1999 IEEE 497

 A~=O,AW, A O ~ = M - ' ( - A T- ~D A ~ ) ,
' - ~+ AE, I,
AE,'= T ~ ~[-AE,
AE, = (-AE, -K ~ A v ~ ) T ~ - '
(23)

By choosing a pair of variables, A6,, Aaj, fiom

Eq.(2 1)-Eq.(23), we can obtain the linearized model of
the n-machine power system installed with the SSSC
to be arranged into the following form [SI

Y = [cjl cj2 cj3]

(24)
Thus the electric torque contribution fiom the SSSC
damping controller to the electromechanical
oscillation loop of the jth generator is

where hi is the ith oscillation mode of interest in the

power system and

0 0
K.JO (s)
=(bCjl
S + C j 2 ) + C j 3 T ( ~ I - A j 3 3S) - ' ( ~ A+Aj32)
j31

Substituting Eq.(21) into Eq.(l) and the following
equations of the n-machine power system [111
Kjc(s)= Aj23T(sI-Aj33)-1Bj3+Bj2
KJU
. (s) = Cj3T(sI- Aj33)-1Bj3
(26)
If the target position of the ith oscillation mode to be
assigned by the SSSC damping controller is hi *, a
simple objective function of setting parameters of H(s)
can be

J(H) = (hi- hi*)2 (27)

we can obtain The minimum solution of the objective function H=H*

to move hi to hi * can be found by the steepest
AVx = K,A6 + K,AE,'+K,AV,: + K,Am descent searching algorithm
AT, = KIA6 + K,AE,'+K,DcAVm +K , , h
AE, = K4A6 + K,AE,'+K,DCAVDC + K , , h
AV1 = KSA6 + K,AE,'+K,DcAVDc + K,,Ac where st is the single-dimension optimum searching
(22) length and
Then from Eq.(22a) and the following equations [ 111

498 0-7803-5546-6/99/$10.00 0 1999 IEEE

If we define the sensitivity of the ith oscillation mode
hi to the damping coefficient DjEs to be
I .4 In KsQ.0

s.. =- a% , fiom Eq.(25) we can have

'J
aD jES

IO 20 30 40 50 60

Fig.7 Searching trajectory of J(Hk) and parameters of

SSSC damping controller
Hence

Ahi ---
ah. =
I dhi 2 Kjc(hi)Kjo(hi) 80
without SSSC damping controller

with SSSC damping controller

\

aHk AHk j-1 aDjES /l-Kj~(hi)Hk-l(hi)]~ 70

60
(31)
which completes the formulae to set the transfer 50
function of the SSSC damping controller to assign the 40
oscillation mode to its target position. 30
20 t(second)
1
4. Examtdes 2.0 4.0 6.0 8.0 10.0

The example is a three-machine power system shown Fig.8 Non-linear simulation

by Fig.6 in Appendix, parameters of which are given
in Appendix. The typical operating condition of the
power system is
- -
VI, = 1.0,v2, = 1.0,v,, = 1.0100 ,P43 = o.sp.u.,
, at
P53 = 0.6p.u.,L3 = 1.07 + j1.0
which two oscillation modes of the power system are
hl = -2.9429 k j4.6019, h2 = 0.0459f j4.526 . An
SSSC is installed on line 4-3 for power flow control,
which is to be equipped with a damping controller to
enhance the damping of the second oscillation mode.
The active power delivered along the line is to be used
as the feedback signal of the damping controller.
The target position of the second oscillation mode is
chosen to be h2* = -1.2000 k j4.6000 for the design
of the SSSC damping controller by using the algorithm
of Eq.(27)-(29) and (31), in which the pre-set
parameters of the damping controller are
T, = 10.Os.,Tl = 0.9s.,T3 = 0.7s.. Fig.7 shows the
trajectory of the searching algorithm and the objective
function. The results are
Ks = 1.9s.,T, = 0.1 ls.,T3 = 025s. which moves the
oscillation modes to
h, = -1.8724 k j4.7010, h, = -1.1 03 1f j4.732 1 . The
second oscillation mode is effectively damped.
However, it is noticed that the damping of the first
oscillation mode is reduced . This indicates a negative
interaction between the SSSC damping controller and
the PSS installed on m2 which was installed to damp
the first oscillation mode. Since in this case no harm is
caused, no co-ordination between the SSSC damping
controller and PSS is taken further.
This design above is based on the linearized model of
Eq.(24). Fig.8 presents the non-linear simulation of the
power system which is implemented by MATLAB
according to the non-linear dynamic model of the
power system with the SSSC, i.e., the non-linear
differential equations of Eq.( l), (14), (1 5), (20) and
the non-linear model of generators similar to Eq.(3)
but in the form for multi-machine power systems [ 111.
The oscillation is triggered by a three-phase short
circuit occurring on the transmission line between
node 3 and 5 in the example power system at 1.0
second of the simulation and is cleared after 100ms.
The effectiveness of SSSC damping controller is
confirmed.
5. Conclusions
Based on the establishment of linearized model of
power systems installed with a Static Synchronous
Series Compensator (SSSC), this paper investigates
the SSSC damping control function. Both cases of
single-machine infinite-bus and multi-machine power
systems are studied. To design the SSSC damping
controller, phase compensation method is used for
simple single-machine infinite-bus power systems and
a objective function based searching algorithm is
suggested for multi-machine power systems. The
effectiveness of the SSSC damping controller to

0-7803-5546-6/99/$1.00 0 1.999 IEEE 499

suppress power system oscillation stability and its
design by the methods proposed in the paper is
demonstrated by example power systems.
6. Reference
[l] Gyugyi, L., Schauder, C.D. and Sen, K.K., 'Static
Synchronous Series Compensator: a solid state
approach to the series compensation of transmission
lines', IEEE Trans. on Power Delivery, No. 1, 1997
[2] Sen, K.K. 'SSSC - Static Synchronous Series
Compensator: theory, modelling and applications',
IEEE Trans. on Power Delivery, No.1, 1998, pp241-
246
[3] 'Modelling of power electronics equipment
(FACTS) in load flow and stability programs', CIGRE
TF 38-01-08
[4] Hefion, W.G. and Phillips, R.A.: 'Effect of a
modem amplidyne voltage regulator on under excited
operation of large turbine generator', AIEE T-Vol.7 1,
1952
[5] F.P.de Mello and C.Concordia, "Concept of
Synchronous Machine Stability as Affected by
Excitation Control", IEEE T-PAS, Vo1.88, April, 1969
[6] E.V.Larsen and D.A.Swann, 'Applying Power
System Stabilizer, Part I-111', IEEE T-PAS, Vol-
PAS100,1981
[7] H.F.Wang and F.J.Swift, 'An unified model for the
analysis of FACTS devices in damping power system
oscillations Part I: single-machine infinite-bus power
systems', IEEE Trans. on Power Delivery, V01.12,
N0.2, ~ ~ 9 4 1 - 9 21997
6,
[SI LARSEN, E.V., SANCHEZ-GASCA, J.J. and
CHOW, J.H.: 'Concept for design of FACTS
I J
A power now controtter
Fl
kit4
'
D
C
Fig.6 An example three-machine power system
500 0-7803-5546-6/99/%10.000 1999 IEEE
controllers to damp power swings', IEEE Trans. on
PWRS, 1995,2, (lo), pp.948-956
[9] Yu, Y.N.: Electric Power System Qvnamics,
Academic Press, 1983
[ 101 Wang, H.F.: 'The phase compensation method to
design FACTS-based stabilizer Part I: single-machine
infinite-bus power systems', AMSE C: Advances in
modelling and Analysis, No.1, Vo1.52, 1998
[ l l ] H.F.Wang, F.J.Swift and M.Li, 'An unified
model for the analysis of FACTS devices in damping
power system oscillations Part 11: multi-machine
power systems', IEEE Trans. on Power Delivery,
V01.13, NO.4, ~ ~ 1 3 5 5 - 1 3 61998
2,
7. Avvendix: Parameters of example vower systems
Parameters of example three-machine power system
(in p.u. except indicated)
Generator: HI = 20.09s.,H2 = 20.09s.,H3 = 11.8s.,
D, = 10.0,D2 = 0.0,D3 = 60.0,
Tdol' = 75S.,T&' = 7.5S.,Tdo3' = 4.7S.,
x d l = O.19,Xd2 = 0.19,Xd3 = 0.41,
X,, = O.163,Xq2 = O.163,Xq3 = 033,
Xdl' = O.O765,Xd,' = O.O765,Xd3' = 0.173
Exciter: KAl = KA3= K, = 100,
TA1 = TA3 = T, = 0.01s.
Network
-
z,, = jO.1, ZL3= j02,Z3, = j03 ,ZTl=ZT2 = j0.03
nJ
damping controller
V
r
l
I ls3
I I '