Improvement of Dynamic stability of a power system using Static Synchronous series compensator

Jose.P.Therattil, Laxmidhar Shau, and P.C.Panda, Senior Member, IEEE

AbstractA mathematical model of a Static Synchronous Series Compensator (SSSC) in single machine infinite bus system is proposed. The model consists of a simple voltage source whose magnitude and angle depend on the SSSC control parameters. A linearized power system model is developed for the eigen value analysis. To select the superior stabilizing signal, that has the major controllability of the poorly damped electromechanical mode, the singular value decomposition based approach is used. The voltage source model of SSSC can easily be incorporated into the generator output power equation and that simplifies the dynamic analysis of the system. The proposed model is then used to determine and compare the dynamic behavior of a simple system equipped with and without SSSC.

I. INTRODUCTION ac system in real time is involved The control of anflowpowerfunction of the transmission line because power is a impedance, the magnitude of the sending and receiving end voltages, and the phase angle between these voltages. Years ago, electric power systems were relatively simple and were designed to be seIf-sufficient; power exportation and importation were rare. Furthermore, it was generally understood that ac transmission systems could not be controlled fast enough to handle dynamic system conditions. Transmission systems were designed with fixed or mechanically switched series and shunt reactive compensations, together with voltage-regulating and phaseshifting transformer tap-changers, to optimize line impedance, minimize voltage variation, and control power flow under steady-state or slowly changing load conditions. The dynamic system problems were usually handled by overdesign; transmission systems were designed with generous stability margins to recover from anticipated operating contingencies caused by faults, line and generator outages, and equipment failures. All these resulted in the under utilization of transmission systems.

In recent years, energy, environment, right-of-way, and cost problems have delayed the construction of both generation facilities and new transmission lines, while the demand for electric power has continued to grow. This situation has necessitated a review of the traditional power system concepts and practices in order to achieve greater operating flexibility and better utilization of existing power systems [1], [2]. During the last two decades major advances have been made in high power semiconductor device and control technologies. These technologies have been instrumental in the broad application of HVDC transmission and power system intertie schemes, and they have already made a significant impact on ac transmission via the increasing use of thyristor-controlled static var compensators (SVCs). Static var compensators control only one of the three important parameters (voltage, impedance, phase angle) determining the power flow in ac power systems: the amplitude of the voltage at selected terminals of the transmission line. Hingorani [3] proposed the concept of flexible ac transmission systems or FACTS, which includes the use of high power electronics, advanced control centers, and communication links, to increase the usable power transmission capacity to its thermal limit. Static Synchronous Series Compensator (SSSC) is a member of FACTS family and is connected in series with a transmission line. It consists of a voltage source converter (VSC) that converts a dc voltage into a three-phase ac voltage at fundamental frequency. The output ac voltage of the SSSC is always kept in quadrature with the prevailing line current so that there is no active power exchange between the SSSC and transmission line. When the SSSC voltage lags the line current by 90, it emulates a series capacitor. It can also emulate a series inductor when the voltage leads the current by 900. Thus a SSSC can be considered as a series reactive compensation where the degree of compensation can be varied by controlling the voltage of the SSSC [4]. For given sending- and receivingend voltages, the power flow through the line can be controlled by adjusting the voltage of the SSSC [4]. Such a power flow control is very essential to improve both steady state and dynamic performance of a system. II. MATHEMATICAL MODEL A. System Investigated Consider a single machine infinite bus system with a SSSC as shown in Fig.1 (a). The equivalent circuit of the

Jose.P.Therattil is a PhD. Scholar with Electrical Engineering Department, National Institute of Technology, Rourkela, Orissa, India (email: josetherattil@yahoo.co.in). Laxmidhar Sahu is a M-tech Student with Electrical Engineering Department, National Institute of Technology, Rourkela, Orissa, India (email: laxmi.sahu21@gmail.com). Dr.P.C.Panda, is a professor with the Department of Electrical Engineering, National Institute of Technology, Rourkela, Orissa, India (email: pcpanda@nitrkl.ac.in).

system is shown in Fig. l (b) where the SSSC is represented by a variable synchronous voltage source VBt, [3] and the generator is described by a third order nonlinear mathematical model. Reactance X1 represents the transformer leakage reactance, and X2 represents the sum of equivalent reactance of the parallel lines and the leakage reactance of the series booster transformer. The phasor diagram of the system is shown in Fig. 2 for various operating conditions of the SSSC. Note that, for given Vt; and V, the SSSC voltage VSE, changes only the magnitude of the current but not its angle [5] and which can clearly be seen in Fig. 2.

VBtd VBtq

Vbd

M bVdc cos 2 M bVdc sin 2 Vb sin

Vbq X3 X4
Id

Vb cos Xq
' Xd
' ( Eq

Xt Xt

XL XL
B

M bVdc sin 2 X4

Vb cos )

(a)

M bVdc cos B Vb sin ) 2 Iq X3 The non-linear dynamic model of the system using SSSC is given below. The static excitation system, model type IEEE-ST1A, has been considered [1]. The SSSC is assumed to be based on pulse width modulation (PWM) converters. The nominal loading condition and system parameters are given in Appendix. (
0

(b)
Figure 1: Single machine infinite bus system with a SSSC (a) Single line diagram; (b) Equivalent circuit.

( Pm

' Eq

Pe D ) M ( E fd Eq )
' Tdo

E fd Vdc

E fd TA

K A (VREF Vt ) TA
B

3M b I d cos 4Cdc

3M b I q sin 4Cdc

Figure 2: Phasor diagram; (a) when VSE=0.0; (b) when VSE lags I by 900; (c) when VSE leads I by 900

The algebraic equations are derived by neglecting the resistances of all the components of the system (generator, transformer, transmission lines, and series convertor transformer) and transients of the transmission lines. The algebraic equations are.

B. Linear Dynamic Model A linear dynamic model is obtained by linearising the non-linear model around an operating condition [6], [7]. The linearised model is given below.
0

' Eq

(
(

Pe M Eq

)
E fd )

P e
Vtq

Vtd I d Vtq I q
' Eq ' X d Id

' Tdo

E 'fd
where

E fd TA
K1 K3 K5 K7

Vtd

X q Iq

K A Vt TA
K p1 Vdc K E1 Vdc KV 1 Vdc K9 Vdc K p2 M B KE 2 M B KV 2 M B KVd 2 M B K p3 KE3 KV 3 KVd 3
B B B B

' ' Eq Eq ( X d X d ) I d Vt jX t It VEt VEt VBt jX L It Vb

P e Eq
' X d Id )

' K2 Eq ' K4 Eq ' K6 Eq ' K8 Eq

Vtd

jVtq

X q Iq

' j ( Eq

Vt

jX t ( I d

jI q ) VBtd

jVBtq Vbd

jVbq

Vdc

The dynamic model of the system in state-space form is given below. Eigen values are calculated using A matrix.
' Eq E 'fd Vdc 0 K1 M K3
' Tdo 0

D M 0 0 0

0 K2 M K4
' Tdo

0 0 1
' Tdo

0 K P1 M K E1
' Tdo

extremely important to identify the eigen value associated with the electromechanical mode. In this study, the participation factors method proposed in [8] is used. E. Controllability Measurement To measure the controllability of the electromechanical mode by a given input, the singular value decomposition (SVD) is employed in this study [9]. Mathematically, if G is a (m x n) complex matrix then there exist unitary matrices W and V with dimensions of (m x m) and (n x n) respectively such that G can be written as

' Eq

K A K5 TA K7

K A K6 TA K8

1 TA 0

K A KV 1 TA K9

E fd Vdc

0 KP2 M KE2
' Tdo

0 K P3 M KE3
' Tdo

MB
B

K A KV 2 TA KVd 2

K A KV 3 TA KVd 3

G W VH Where 1 0 , 1 diag ( 1...... r ) where 1 .... 0 0 where r = min {m, n} and 1 , ..., r are the singular values of G.

C. SSSC Damping Control Fig. 3 shows a schematic diagram of a SSSC damping control system. The damping controller is provided to improve the damping of power system oscillations. Speeddeviation signal is used as the input to the damping controller [10] [12]. The gain setting of the damping controller is chosen so as to achieve the desired damping ratio of the mechanical mode. The damping controller is designed so as to produce an electrical torque in phase with the speed deviation. The SSSCs controllable parameters (MB and B) can be modulated in order produce a damping torque. In order to select the SSSC control parameter most suitable for modulation, by the damping controller, the concept of controllability index is used.

The minimum singular value r , represents the distance of the matrix G from the all matrices with a rank of r-1. This property can be utilized to quantify modal controllability. In this study, the matrix H can be written as H = [h1, h2] where hi, is the column of matrix H corresponding to the ith input. The minimum singular value, the matrix min of

[ I A : hi ] indicates the capability of the ith input to control the mode associated with the eigen value . As a matter of fact, higher the min ,the higher the controllability of this mode by the input considered. Having been identified, the controllability of the electromechanical mode can be examined with all inputs in order to identify the most effective one to control that mode. With each input signals of SSSC-based stabilizer ( M B ,
B

) in the linearized model, the minimum singular value

Figure 3: SSSC based damping controller

has been estimated to measure the controllability of the electromechanical mode from that input. The minimum singular value has been estimated for each SSSC signal over a wide range of operating conditions. Specifically, for a range of twelve loading conditions specified by P=(0.1 1.2)pu with a step of 0.1 min has been estimated. At each loading condition in the specified range, the system model is linearized, the electromechanical mode is identified, and the SVD-based controllability measure is implemented. It is found that the controllability of the electromechanical mode with M B is much higher than B controller.
min

H ( s)

sTw KU (1 sT2 ) (1 sT4 ) 1 sTw 1 sTU (1 sT1 ) (1 sT3 )

D. Electromechanical Mode Identification The state equations of the linearized model can be used to determine the eigen values of the system matrix A. Out of these eigen values; there is a mode of oscillations related to machine inertia. For the stabilizers to be effective, it is

By using phase compensation method described in [11], the parameters of the SSSC damping controller at the loading condition of Pe=1.0, Vt =1.0, Vb=1.0 are calculated. The results are KU=6.50, TU=0.01s, Tw=10.0s, T1=0.92s, T2=0.87s, T3=0.89s, T4=0.68s. The oscillation mode is moved to =-0.4784j6.8717. This is satisfactory.

III. DYNAMIC PERFORMANCE OF THE SYSTEM USING

DAMPING CONTROLLER

The proposed technique for stability improvement is tested on a single machine infinite bus system. It is considered that a three-phase fault appears in the system on one of the transmission line and is cleared by opening the line from both ends after 83ms. The simulation results obtained in this system are shown in Fig. 4.

Figure 4: (e) Variation of Reactive Power

Figure 4: (a) Variation Load Angle

Figure 4: (f) Speed deviation Figure 4: dynamic performance of single machine infinite bus system

IV. CONCLUSION From the above results we can conclude that, SSSC can control the amplitude of the injected compensating voltage independent of the amplitude of the line current. Apart from that the major contributions of the research work presented are as follows. An approach to identify electromechanical mode is presented. The relative effectiveness of SSSC control signals in damping low-frequency oscillations has been examined, using a controllability index. Investigations have revealed that SSSC control signal B is ineffective in damping oscillations. Dynamic simulation results have revealed that the damping controllers based on control parameter M B is excellent. REFERENCES
[1] [2] [3] P.Kundur, Power System Stability and Control,McGraw-Hill, New York,1994 P. M.Anderson, A.A.Fouad,Power System Control and Stability, Iowa State University Press, AMES, IOWA, U.S.A 1977 N.G.Hingorani and L.Gyugyi,Understanding FACTS: concepts and technology of flexible ac transmission systems, IEEE Press, NY,2000. P.Kumkratug and M.H.Haque,Improvement of stability region and damping of a power system by using SSSC,IEEE Power engineering society general meeting, 2003,Vol.3, pp. 1710-1714. K.Duangkamol, Y. Mitani, K. Tsuji and M.Hojo,Fault current limiting and power system stabilization by static synchronous series compensator,proc. Power Con. Pp. 1581-1586. Xiaoqing Han, Nahnan Tian, Zhijing Zheng, Small-Signal Stability Analysis on Power system Considering Load Characteristics, Power and Energy Engineering Conference , APPEEC, Asia-Pacific, 2009, pp. 1-4.

Figure 4: (b) Variation of Active Power

Figure 4: (c) Variation of Terminal Voltage

[4]

[5]

[6] Figure 4: (d) Variation of Modulation Index

John M. Undril, Dynamic Stability Calculations for an Arbitrary Number of Interconnected Synchronous Machines, IEEE Trans. On Power Apparatus and Systems, Vol. PAS-87, No. 3, March 1968, pp. 835-844. [8] Y.Y.Hsu and C.L.Chen, Identification of optimum location for stabilizer applications using participation factors,IEE Proc.Pt.C.Vol. 134, No. 3, May 1987, pp.238-244. [9] M.A.Abido,Y.L.Abdel-Magid,Analysis of power system stability enhancement via excitation and FACTS-based stabilizers,Electric Power Elements & Systems, Vol.32, No. 1, January2004,pp.75-91. [10] H.F.Wang,Damping function of unfied power flow controller,IEE Proc. Gener. Transm. Distrib, Vol. 146, No. 1, January 1999,pp. 8187. [11] H.F.Wang, M.Li and F.J.Swift,FACTS-based stabilizer designed by the phase compensation method. Part I and Part II, Proc.APSCOM97,Hong Kong,1997, pp.638-649 [12] N.Tambey,M.L.Kothari,Damping of power system oscillations with unified power flow controller(UPFC), IEE Proc. Gener. Transm. Distrib, Vol. 150, No. 2, March 2003,pp. 129-140. [7]

APPENDIX Generator M = 2H =8.0MJ/MVA D = 0.0; Tdo=5.044s. Xd=1.0pu; Xq=0.6pu; Xd=0.3pu. Excitation System KA=10.0; TA=0.01s. Transformers Xt=XB=0.1pu. Transmission Lines XL1=XL2=0.3pu. Operating Condition Pe=1.0pu; Vt=1.0pu; Vb=1.0;F=60Hz DC link parameters Vdc=10.0pu; Cdc=2.0pu SSSC parameters MB=0.0; B= -30.880