Unified Power Flow Controller

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A Unified Power Flow Controller (or UPFC) is an electrical device for providing fast-
acting reactive power compensation on high-voltage electricity transmission networks.
The UPFC is a versatile controller which can be used to control active and reactive power
flows in a transmission line. The concept of UPFC makes it possible to handle practically
all power flow control and transmission line compensation problems, using solid state
controllers, which provide functional flexibility, generally not attainable by conventional
thyristor controlled systems. The UPFC is a combination of a static synchronous
compensator (STATCOM) and a static synchronous series compensator (SSSC) coupled
via a common DC voltage link. It is capable of controlling simultaneously or selectively,
all the parameters affecting the power flow in a transmission line. The parameters usually
are voltage, impedance and phase angle.

Unified Power Flow Controller (Phasor

Type) - Implement phasor model of
three-phase unified power flow
controller
Library

Flexible AC Transmission Systems (FACTS)/Power-Electronics Based FACTS

Description

The Unified Power Flow Controller (UPFC) is the most versatile member of the Flexible
AC Transmission Systems (FACTS) family using power electronics to control power
flow on power grids [1]. The UPFC uses a combination of a shunt controller
(STATCOM) and a series controller (SSSC) interconnected through a common DC bus
as shown on the figure below.

Single-line Diagram of a UPFC and Phasor Diagram of Voltages and Currents

This FACTS topology provides much more flexibility than the SSSC for controlling the
line active and reactive power because active power can now be transferred from the
shunt converter to the series converter, through the DC bus. Contrary to the SSSC where
the injected voltage Vs is constrained to stay in quadrature with line current I, the injected
voltage Vs can now have any angle with respect to line current. If the magnitude of
injected voltage Vs is kept constant and if its phase angle ϕ with respect to V1 is varied
from 0 to 360 degrees, the locus described by the end of vector V2 (V2=V1+Vs) is a
circle as shown on the phasor diagram. As ϕ is varying, the phase shift δ between
voltages V2 and V3 at the two line ends also varies. It follows that both the active power
P and the reactive power Q transmitted at one line end can be controlled. The UPFC
controllable region in the P-Q plane is the area enclosed an by an ellipse as shown on the
figure below.

Controllable Region for a 100 MVA UPFC connected on 500 kV, 200 km line

This figure was obtained with a 100 MVA UPFC controlling active and reactive power at
one end of a 500 kV, 200 km transmission line. The following parameters have been
used:

• Line: length = 200km; reactance = 0.35 Ω /km

• System voltage: 500 kV infinite sources V1 and V3; V1=1.0 pu, 0 degree; V3=
1.0 pu,−7.22 degrees
• Series and shunt converter rating: 100 MVA
• Series converter: nominal injected voltage = 10% of nominal line-to-ground
voltage (28.9 kV); impedance (transformer leakage reactance and filters) = 0.15
pu

With V3 lagging V1 by 7.22 degrees, the natural power flow without compensation is
450 MW or 50% of the line surge impedance loading (SIL=900 MW). With an injected
voltage Vs = 0.1 pu any operating point inside the larger ellipse can be obtained and
active power can be varied by approximately +/- 300 MW.
In addition to allow control of the line active and reactive power, the UPFC provides an
additional degree of freedom. Its shunt converter operating as a STATCOM controls
voltage V1 by absorbing or generating reactive power.

Both the series and shunt converters use a Voltage-Sourced Converter (VSC) connected
on the secondary side of a coupling transformer. The VSCs use forced-commutated
power electronic devices (GTOs, IGBTs or IGCTs) to synthesize a voltage from a DC
voltage source. The common capacitor connected on the DC side of the VSCs acts as a
DC voltage source. Two VSC technologies can be used for the VSCs:

• VSC using GTO-based square-wave inverters and special interconnection

transformers. Typically four three-level inverters are used to build a 48-step
voltage waveform. Special interconnection transformers are used to neutralize
harmonics contained in the square waves generated by individual inverters. In this
type of VSC, the fundamental component of voltage is proportional to the voltage
Vdc. Therefore Vdc has to varied for controlling the injected voltage.
• VSC using IGBT-based PWM inverters. This type of inverter uses Pulse-Width
Modulation (PWM) technique to synthesize a sinusoidal waveform from a DC
voltage with a typical chopping frequency of a few kilohertz. Harmonics are
cancelled by connecting filters at the AC side of the VSC. This type of VSC uses
a fixed DC voltage Vdc. Voltage is varied by changing the modulation index of
the PWM modulator.

The UPFC (Phasor Type) block models an IGBT-based UPFC. However, as details of the
inverter and harmonics are not represented, it can be also used to model a GTO-based
UPFC in transient stability studies.

Control System

The shunt converter operates as a STATCOM. For a description of its control system,
refer to the Static Synchronous Compensator (Phasor Type). In summary, the shunt
converter controls the AC voltage at its terminals and the voltage of the DC bus. It uses a
dual voltage regulation loop: an inner current control loop and an outer loop regulating
AC and DC voltages.

Control of the series branch is different from the SSSC. In a SSSC the two degrees of
freedom of the series converter are used to control the DC voltage and the reactive power.
In case of a UPFC the two degrees of freedom are used to control the active power and
the reactive power. A simplified block diagram of the series converter is shown below.

Simplified Block Diagram of the Series Converter Control System

The series converter can operate either in power flow control (automatic mode) or in
manual voltage injection mode. In power control mode, the measured active power and
reactive power are compared with reference values to produce P and Q errors. The P error
and the Q error are used by two PI regulators to compute respectively the Vq and Vd
components of voltage to be synthesized by the VSC. (Vq in quadrature with V1controls
active power and Vd in phase with V1 controls reactive power). In manual voltage
injection mode, regulators are not used. The reference values of injected voltage Vdref
and Vqref are used to synthesize the converter voltage.

The UPFC block is a phasor model which does not include detailed representation of the
power electronics. You must use it with the phasor simulation method, activated with the
Powergui block. It can be used in three-phase power systems together with synchronous
generators, motors, dynamic loads and other FACTS and DR systems to perform
transient stability studies and observe impact of the UPFC on electromechanical
oscillations and transmission capacity at fundamental frequency.

Dialog Box and Parameters

The UPFC parameters are grouped in three categories: Power data, Control
parameters (shunt converter), and Control parameters (series converter).
Use the Display listbox to select which group of parameters you want to visualize.
Power Data Parameters

System nominal voltage and frequency [Vrms f]

The nominal line-to-line voltage in Vrms and the nominal system frequency in
hertz.

Shunt converter ratings

The nominal rating of the shunt converter in VA.

Shunt converter impedance [R L]

 The positive-sequence resistance R and inductance L of the shunt converter, in pu
based on the nominal converter rating and nominal voltage. R and L represent the
resistance and leakage inductance of the shunt transformer plus the resistance and
inductance of the series filtering inductors connected at the VSC output.

Shunt converter initial current [Mag Phase]

The initial value of the positive-sequence current phasor (Magnitude in pu and

Phase in degrees). If you know the initial value of the shunt current corresponding
to the UPFC operating point you may specify it in order to start simulation in
steady state. If you don't know this value, you can leave [0 0]. The system will
reach steady-state after a short transient.

Series converter ratings [Snom, Max. Injected voltage]

The ratings of the series converter in VA and the maximum value of the injected
voltage V_conv on the VSC side of the transformer (see single line diagram), in
pu of nominal phase-to-ground voltage.

Series converter impedance [R L]

The positive-sequence resistance and inductance of the converter, in pu, based on

the converter rated power and voltage. R and L represent the resistance and
leakage inductance of the series transformer plus the resistance and inductance of
the series filtering inductors connected at the VSC output.

Series converter initial current [Mag Phase]

The initial value of the positive-sequence current phasor (Magnitude in pu and

Phase in degrees). If you know the initial value of the series current corresponding
to the UPFC operating point you may specify it in order to start simulation in
steady state. If you don't know this value, you can leave [0 0]. The system will
reach steady-state after a short transient.

DC link nominal voltage

The nominal voltage of the DC link in volts.

DC link total equivalent capacitance

The total capacitance of the DC link in farads. This capacitance value is related to
the UPFC converter ratings and to the DC link nominal voltage. The energy
stored in the capacitance (in joules) divided by the converter rated power (in VA)
is a time duration which is usually a fraction of a cycle at nominal frequency. For
example, for the default parameters, (C=750 µF, Vdc=40 000 V, Snom=100
MVA) this ratio is 6.0 ms, which represents 0.36 cycle for a 60
 Hz frequency. If you change the default values of the nominal power rating and
DC voltage, you should change the capacitance value accordingly.

Control Parameters (shunt converter)

Mode of operation

Specifies the shunt converter mode of operation. Select either Voltage

regulation or Var Control.

External control of reference voltage Vref

If this parameter is checked, a Simulink input named Vref appears on the block,
allowing to control the reference voltage from an external signal (in pu).
Otherwise a fixed reference voltage is used, as specified by the parameter below.

Reference voltage Vref

 This parameter is not visible when the Mode of operation parameter is set to Var
Control or when the External control of reference voltage Vref parameter is
checked.

Reference voltage, in pu, used by the voltage regulator.

Maximum rate of change of reference voltage Vref

This parameter is not visible when the Mode of operation parameter is set to Var
Control.

Maximum rate of change of the reference voltage, in pu/s, when an external

reference voltage is used.

Droop

This parameter is not visible when the Mode of operation parameter is set to Var
Control.

Droop reactance, in pu/shunt converter rating Snom, defining the slope of the V-I
characteristic.

Vac Regulator Gains: [Kp Ki]

This parameter is not visible when the Mode of operation parameter is set to Var
Control.

Gains of the AC voltage PI regulator. Specify proportional gain Kp in (pu of I)/

(pu of V), and integral gain Ki, in (pu of I)/(pu of V)/s, where V is the AC voltage
error and I is the output of the voltage regulator.

Reactive power setpoint Qref

This parameter is not visible when the Mode of operation parameter is set to
Voltage Control.

Reference reactive power, in pu, when the shunt converter is in Var Control.

Maximum rate of change of reactive power setpoint Qref

This parameter is not visible when the Mode of operation parameter is set to
Voltage Control.

Maximum rate of change of the reference reactive power, in pu/s.

Vdc Regulator Gains: [Kp Ki]

 Gains of the DC voltage PI regulator which controls the voltage across the DC
bus capacitor. Specify proportional gain Kp in (pu of I)/Vdc, and integral gain Ki,
in (pu of I)/Vdc/s, where Vdc is the DC voltage error and I is the output of the
voltage regulator.

Current Regulators Gains: [Kp Ki]

Gains of the inner current regulation loop.

Specify proportional gain Kp in (pu of V)/(pu of I), integral gain Ki, in (pu of V)/
(pu of I)/s, where V is the output of the d or q current regulator and I is the Id or
Iq current error.

The current regulator is assisted by a feed forward regulator. The feed forward
gain in (pu of V)/(pu of I) is the shunt converter reactance (in pu) given by
parameter L in the Shunt converter impedance [R L] parameters.

Control Parameters (series converter)

Bypass Breaker

Specifies the status of the bypass breaker connected inside the block across
terminals A1, B1, C1 and A2, B2, C2. Select either External Control, Open or
Closed. If the bypass breaker is in external control, a Simulink input named
 Bypass appears on the block, allowing to control the status of the bypass breaker
from an external signal (0 or 1).

Mode of operation

Specifies the series converter mode of operation. Select either Power flow
control or Manual voltage injection.

External control of power references

This parameter is not visible when the Mode of operation parameter is set to
Manual voltage injection.

If this parameter is checked, a Simulink input named PQref appears on the block,
allowing to control the active and reactive powers from an external signal (in pu).
Otherwise, fixed reference power are used, as specified by the parameter below.

Reference active and reactive powers [Pref Qref]

This parameter is not visible when the Mode of operation parameter is set to
Manual voltage injection.

Specify references values, in pu.

Maximum rate of change for references Pref _Qref

This parameter is not visible when the Mode of operation parameter is set to
Manual voltage injection.

Specify maximum rate of change of Pref and Qref, in pu/s.

Power regulator gains: [Kp Ki]

This parameter is not visible when the Mode of operation parameter is set to
Manual voltage injection.

Gains of the PI regulators which control the line active power and reactive power.
Specify proportional gain Kp in (pu of Vdq)/(pu of PQ), and integral gain Ki, in
(pu of Vdq)/(pu of PQ)/s, where Vdq is the Vd or Vq injected voltage and PQ is
the P or Q voltage error.

External control of injected voltage [Vdref Vqref]

This parameter is not visible when the Mode of operation parameter is set to
Power flow control.
 If this parameter is checked, a Simulink input named Vdqref appears on the block,
allowing to control the injected voltage from an external signal (in pu). Otherwise
a fixed reference voltage is used, as specified by the parameter below.

Manual voltage injection reference [Vdref Vqref]

This parameter is not visible when the External control of injected voltage
[Vdref Vqref] parameter is checked or when the Mode of operation parameter is
set to Power flow control.

Specify the direct-axis and quadrature-axis components of the voltage injected on

the VSC side of the series transformer, in pu.

Maximum rate of change for references Vdref _Vqref

This parameter is not visible when the Mode of operation parameter is set to
Power flow control.

Specify maximum rate of change of the Vdref and Vqref voltages, in pu/s.

Inputs and Outputs

A1 B1 C1

The three input terminals of the UPFC.

A2 B2 C2

The three output terminals of the UPFC.

Trip

Apply a simulink logical signal (0 or 1) to this input. When this input is high the
shunt converter is disconnected and the series converter is bypassed. In addition,
when the trip signal is high the shunt and series control systems are disabled. Use
this input to implement a simplified version of the protection system.

Bypass

This input is visible only when the Bypass Breaker parameter is set to External
Control.

Apply a simulink logical signal (0 or 1) to this input. When this input is high the
bypass breaker is closed.

Vdqref
 This input is visible only when the External control of injected voltage Vdref
_Vqref parameter is checked.

Apply a simulink vectorized signal specifying the reference voltages Vdref and
Vqref, in pu.

PQref

This input is visible only when the External control of power references Pref
_Qref parameter is checked.

Apply a simulink vectorized signal specifying the reference powers Pref and Qref,
in pu.

Simulink output vector containing 34 UPFC internal signals. These signals are
either voltage and current phasors (complex signals) or control signals. They can
be individually accessed by using the Bus Selector block. They are, in order:

Signal Signal Signal Definition

Group Names
1-3 Power Va1 (pu) Phasor voltages (phase to ground) Va, Vb, Vc at
Vabc1 Vb1 (pu) the UPFC input terminals A1, B1, C1 (pu)
(cmplx) Vc1 (pu)
4-6 Power Ia_SH Phasor currents Ia, Ib, Ic flowing into the shunt
Iabc_SH (pu) converter (pu)
(cmplx) Ib_SH
(pu)
Ic_SH
(pu)
7 Power Vdc (V) DC voltage (V)
8-10 Power Va2 (pu) Phasor voltages (phase to ground) Va, Vb, Vc at
Vabc2 Vb2 (pu) the UPFC output terminals A2, B2, C2 (pu)
(cmplx) Vc2 (pu)
11-13 Power Va_Inj Phasors of injected voltages
Vabc_Inj (pu) Vs=V2-V1 (pu)
(cmplx) Vb_Inj
(pu)
Vc_Inj
(pu)
14_16 Power Ia_SE (pu) Phasor currents Ia, Ib, Ic flowing in the series
Signal Signal Signal Definition
Group Names
Iabc_SE transformer from ABC1 to ABC2 (pu)
(cmplx) Ib_SE
(pu)
Ic_SE (pu)
17 Control Vm (pu) Positive-sequence value of the measured voltage
(Shunt) (pu)
18 Control Vref (pu) Reference voltage (pu)
(Shunt)
19 Control Qm (pu) Shunt converter reactive power. A positive value
(Shunt) indicates inductive operation.
20 Control Qref (pu) Reference reactive power (pu)
(Shunt)
21 Control Id (pu) Direct-axis component of current (active current)
(Shunt) flowing into the shunt converter (pu). A positive
value indicates active power flowing into shunt
converter.
22 Control Iq (pu) Quadrature-axis component of current (reactive
(Shunt) current) flowing into the shunt converter (pu). A
positive value indicates capacitive operation.
23 Control Idref (pu) Reference value of direct-axis component of
(Shunt) current flowing into shunt converter (pu)
24 Control Iqref (pu) Reference value of quadrature-axis component of
(Shunt) current flowing into shunt converter (pu)
25 Control modindex The modulation index m of the shunt converter
(Shunt) PWM modulator. A positive number 0<m<1.
m=1 corresponds to the maximum voltage which
can be generated by the VSC without
overmodulation.
26 Control P (pu) Measured active power flowing out of terminals
(Series) A2, B2, C2 (pu)
27 Control Q (pu) Measured reactive power flowing out of
(Series) terminals A2, B2, C2 (pu)
28 Control Pref (pu) Reference active power (pu)
(Series)
29 Control Qref (pu) Reference reactive power (pu)
 Signal Signal Signal Definition
Group Names
(Series)
30 Control Vd_conv Direct-axis injected voltage on VSC side of
(Series) (pu) series transformer (pu)
31 Control Vq_conv Quadrature-axis injected voltage on VSC side of
(Series) (pu) series transformer (pu)
32 Control Vdref (pu) Reference value of direct-axis
(Series) injected voltage (pu)
33 Control Vqref (pu) Reference value of quadrature-axis
(Series) injected voltage (pu)
34 Control modindex The modulation index m of the series converter
(Series) PWM modulator. A positive number 0<m<1.
m=1 corresponds to the maximum voltage
V_conv which can be generated by the series
converter without overmodulation.

Introduction

Today's power systems are highly complex and require careful design of new devices
taking into consideration the already existing equipment, especially for transmission
systems in new deregulated electricity markets. This is not an easy task considering that
power engineers are severely limited by economic and environmental issues. Thus, this
requires a review of traditional methods and the creation of new concepts that emphasize
a more efficient use of already existing power system resources with out reduction in
system stability and security. In the late 1980s, the Electric Power Research Institute
(EPRI) introduced a new approach to solve the problem of designing and operating
power systems; the proposed concept is known as Flexible AC Transmission Systems
(FACTS) [1]. The two main objectives of FACTS are to increase the transmission
capacity and control power flow over designated transmission routes.

The improvements in the field of power electronics have had major impact on the
development of the concept itself. A new generation of FACTS controllers has emerged
with the improvement of Gate Turn-Off (GTO) thyristor ratings (4500 V to 6000V,
1000A to 6000A). These controllers are based on voltage source converters and include
devices such as Static Var Compensators (SVCs), Static Synchronous Compensators
(STATCOMs), Thyristor Controlled Series Compensators (TCSCs), the Static
Synchronous Series Compensators (SSSCs), and the Unified Power Flow Controllers
(UPFCs).
The UPFC is the most versatile and complex of the FACTS devices, combining the
features of the STATCOM and the SSSC. The UPFC can provide simultaneous control of
all basic power system parameters, viz., transmission voltage, impedance and phase
angle. It is recognized as the most sophisticated power flow controller currently, and
probably the most expensive one.

In this paper, a UPFC control system that includes both the shunt converter and the series
converter has been simulated in PSCAD environment. The performance of the UPFC in
real and reactive power flow through the transmission line has been evaluated. The
performance of UPFC when a fault occurs in one transmission line is also studied.

Operating Principle of UPFC

The basic components of the UPFC are two voltage source inverters (VSIs) sharing a
common dc storage capacitor, and connected to the power system through coupling
transformers. One VSI is connected in shunt to the transmission system via a shunt
transformer, while the other one is connected in series through a series transformer. A
basic UPFC functional scheme is shown in fig. 1.

The series inverter is controlled to inject a symmetrical three phase voltage system (Vse),
of controllable magnitude and phase angle in series with the line to control active and
reactive power flows on the transmission line. So, this inverter will exchange active …