IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO.

5, OCTOBER 2006

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STATCOM-Based Voltage Regulator for Self-Excited Induction Generator Feeding Nonlinear Loads
Bhim Singh, Senior Member, IEEE, S. S. Murthy, Senior Member, IEEE, and Sushma Gupta
AbstractThis paper deals with the performance analysis of a static compensator (STATCOM)-based voltage regulator for self-excited induction generators (SEIGs) supplying nonlinear loads. In practice, a number of loads are nonlinear in nature, and therefore, they inject harmonics in the generating systems. The SEIGs performance, being a weak isolated system, is very much affected by these harmonics. The additional drawbacks of the SEIG are poor voltage regulation and that it requires an adjustable reactive power source with varying loads to maintain a constant terminal voltage. A three-phase insulated-gate-bipolartransistor-based current-controlled voltage source inverter working as STATCOM is used for harmonic elimination, and it provides the required reactive power for the SEIG, with varying loads to maintain a constant terminal voltage. A dynamic model of the SEIGSTATCOM feeding nonlinear loads using stationary dq axes reference frame is developed for predicting the behavior of the system under transient conditions. The simulated results show that SEIG terminal voltage is maintained constant, even with nonlinear balanced and unbalanced loads, and free from harmonics using STATCOM-based voltage regulator. Index TermsHarmonic elimination, load balancing, nonlinear loads, self-excited induction generator (SEIG), static compensator (STATCOM).

I. I NTRODUCTION N REMOTE areas, plenty of nonconventional energy sources are available. These nonconventional energy sources are identied as potential prime movers for the generating systems. An externally driven induction machine operates as a self-excited induction generator (SEIG), with its excitation requirements being met by a capacitor bank connected across its terminals. The SEIG has advantages like simplicity, maintenance free, absence of dc, brushless, etc., as compared to the conventional synchronous generator. Considerable reported literature exists on steady state and transient analysis of SEIG under balanced/unbalanced resistive, reactive, and motor loads. In [1][3], dq axes modeling is reported for the transient analysis of SEIG. Wang and Deng [4] have presented the transient performance of the SEIG under unbalanced excitation system. Jain et al. [5] have given a generalized model for the transient analysis of SEIG under symmetrical and unsymmetrical conditions.

Manuscript received November 25, 2004; revised April 26, 2005. Abstract published on the Internet July 14, 2006. Presented and published in IECON 2003 USA, pp. 709714, Nov. 24, 2003. The authors are with the Department of Electrical Engineering, Indian Institute of Technology, New Delhi 110016, India (e-mail: bsingh@ee.iitd.ac.in; bhimsinghr@gmail.com; bhim_singh@yahoo.com). Digital Object Identier 10.1109/TIE.2006.882008

A major disadvantage of SEIG is its poor voltage regulation requiring a variable capacitance bank to maintain a constant terminal voltage under varying loads. Attempts have been made to maintain a constant terminal voltage by xed capacitor and thyristor-controlled inductor (SVC) [6], saturable-core reactor [7], and short-shunt connections of capacitors [8]. However, voltage regulation provided by these schemes is of a discrete type and injects harmonics in the generating system. However, due to the invention of solid-state self-commutating devices, it is now possible to make a static noiseless voltage regulator, which can provide a continuously variable reactive power to the SEIG with a varying load to keep the terminal voltage constant. This system, called a static compensator (STATCOM), has specic benets compared to SVC [9]. Schauder and Mehta [10] have derived governing equations of the STATCOM to determine the response of the STATCOM. Singh and Shilpakar [11] have proposed an analysis of a solid-state voltage regulator for SEIG with a static load. Wekhande and Agrawal [12] have proposed a controller to regulate the three-phase ac output voltage of the SEIG with varying rotor speed, transient load conditions, and reactive loads. Miranda et al. [13] have proposed a static volt ampere reactive (VAR) compensator for an electrical pumping system driven by induction generator. Kuo and Wang [14], [15] have described a method of voltage control of SEIG under unbalanced/ nonlinear load using a current-controlled voltage source inverter (VSI). However, due to extensive use of solid-state devices, energy can be saved by employing adjustable speed drives used in pump, compressor, air-conditioner, and other domestic appliances such as TV, computer, switch-mode power supply (SMPS), uninterruptible power supply (UPS), etc. Three-phase and single-phase rectiers are the front-end converter of the aforementioned systems, which are nonlinear in nature. These nonlinear loads draw nonsinusoidal currents (fundamental along with harmonics) from the generating system; therefore, they inject the harmonics in the system. The SEIG is an isolated system, which is small in size and where injected harmonics may pollute the generated voltage. The STATCOM eliminates the harmonics, provides load balancing, and supplies the reactive power to the load and generator. In this paper, a simple mathematical modeling is presented for the transient analysis of the SEIGSTATCOM system under balanced/unbalanced three-phase and single-phase nonlinear loads (uncontrolled and controlled rectiers), and the simulated results show that the SEIGSTATCOM system behaves like an ideal supply under these unbalanced nonlinear loads.

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II. S YSTEM C ONFIGURATION AND C ONTROL S CHEME The schematic diagrams of SEIG with excitation capacitor, STATCOM, load, and control scheme are shown in Fig. 1(a) and (b). Excitation capacitors are selected to generate the rated voltage of SEIG at no load. The additional demand of reactive power is fullled using the STATCOM under varying loads. The STATCOM acts as a source of lagging or leading current to maintain a constant terminal voltage with varying loads. The STATCOM consists of a three-phase IGBT-based currentcontrolled VSI, dc bus capacitor, and ac inductors. The output of the inverter is connected through the ac ltering inductors to the SEIG terminals. The dc bus capacitor is used as an energy storage device and provides self-supporting dc bus. The control scheme to regulate the terminal voltage of the SEIG is based on the control of source currents (which have two components in phase and quadrature with ac voltage). The in-phase unit vectors (ua , ub , and uc ) are three-phase sinusoidal functions, computed by dividing the ac voltages va , vb , and vc by their amplitude Vt . Another set of quadrature unit vectors (wa , wb , and wc ) is a sinusoidal function obtained from inphase vectors (ua , ub , and uc ). To regulate the ac terminal voltage, the amplitude of the terminal voltage (Vt ) is computed from sensed instantaneous ac terminal voltages (va , vb , and vc ). This amplitude of ac voltage (Vt ) is compared with the reference voltage (Vtref ), and the voltage error is processed in the proportional integral (PI) controller. The output of the PI controller (Ismq ) for ac voltage control loop decides the amplitude of reactive current to be generated by the STATCOM. Multiplication of quadrature unit vectors (wa , wb , and wc ) with the output of PI-based ac voltage controller (Ismq ) yields the quadrature component of the reference source currents (i , saq i , and i ). To provide a self-supporting dc bus of STATscq sbq COM, its dc bus voltage (Vdc ) is sensed and compared with the dc reference voltage (Vdcref ). The error voltage is processed in another PI controller. The output of the PI controller (Ismd ) decides the amplitude of the active power component of the source current. Multiplication of in-phase unit vectors (ua , ub , and uc ) with output of PI controller (Ismd ) yields the in-phase component of the reference source currents (i , i , and sad sbd i ). The sum of the quadrature (i , i , and i ) and insaq sbq scq scd phase (i , i , and i ) current components is the reference sad sbd scd source currents (i , i , and i ), which are compared with the sa sb sc sensed source line currents (isa , isb , and isc ) in a pulsewidth modulation (PWM) current controller to generate switching signals for the devices of the STATCOM. Nonlinear loads draw nonsinusoidal currents (fundamental as well as harmonics) due to which harmonics produced are injected in the generating system, resulting in a distortion in the terminal voltage. Under unbalanced loading conditions, SEIG currents may be unbalanced (produce positive and negative sequences) due to which the machine is to be derated. The STATCOM is able to lter out the harmonics and balances the unbalanced load, resulting in balanced currents and voltages of the SEIG. III. M ODELING OF SEIGSTATCOM S YSTEM Mathematical model of SEIGSTATCOM system consists of the modeling of SEIG and STATCOM.

A. Modeling of Control Scheme of STATCOM Different components of SEIGSTATCOM system are shown in Fig. 1(a), and its control scheme is shown in Fig. 1(b); these are modeled as follows. Three-phase voltages at the SEIG terminals (va , vb , and vc ) are sensed, which are considered sinusoidal; hence, their amplitude is computed as
2 2 2 Vt = (2/3) va + vb + vc 1/2

(1)

The unit vectors in phase with va , vb , and vc are derived as ua = va /Vt ; ub = vb /Vt ; uc = vc /Vt . (2)

The unit vectors in quadrature with va , vb , and vc may be derived using a quadrature transformation of the in-phase unit vectors ua , ub , and uc [11] as (3) wa = ub / 3 + uc / 3 wb = 3ua /2 + (ub uc )/2 3 (4) wc = 3ua /2 + (ub uc )/2 3. (5) 1) Quadrature Component of Reference Source Currents: The ac voltage error Ver at the nth sampling instant is Ver(n) = Vtref Vt(n) (6)

where Vtref is the amplitude of the reference ac terminal voltage and Vt(n) is the amplitude of the sensed three-phase ac voltages at the SEIG terminals at nth instant. The output of the PI con troller (Ismq(n) ) for maintaining ac terminal voltage constant at the nth sampling instant is expressed as
Ismq(n) = Ismq(n1) + Kpa Ver(n) Ver(n1) + Kia Ver(n) (7)

where Kpa and Kia are the proportional and integral gain constants of the PI controller, Ver(n) and Ver(n1) are the voltage errors in nth and (n 1)th instant, and Ismq(n1) is the amplitude of the quadrature component of the reference source current at (n 1)th instant. The quadrature components of the reference source currents are estimated as
i = Ismq wa ; saq i = Ismq wb ; sbq i = Ismq wc . scq

(8)

2) In-Phase Component of Reference Source Currents: The dc bus voltage error Vdcer at nth sampling instant is Vdcer(n) = Vdcref Vdc(n) (9)

where Vdcref is the reference dc voltage and Vdc(n) is the sensed dc link voltage of the STATCOM. The output of the PI controller for maintaining the dc bus voltage of the STATCOM at the nth sampling instant is expressed as
Ismd(n) = Ismd(n1) + Kpd Vdcer(n) Vdcer(n1)

+ Kid Vdcer(n) . (10)

Ismd(n) is considered as the amplitude of the active power component of the source current. Kpd and Kid are the

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Fig. 1.

(a) Schematic diagram of proposed scheme of SEIGSTATCOM system. (b) Control scheme of SEIGSTATCOM system.

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proportional and integral gain constants of the dc bus PI voltage controller, respectively. In-phase components of the reference source currents are estimated as
i = Ismd ua ; sad i = Ismd ub ; sbd i = Ismd uc . scd

The value of icc from (22) is substituted into (21) which results in vb = Rf icb + Lf picb + eb + rf ica + Lf pica + Rf icb + Lf picb . (23) By rearranging (20) and (23), these result in Lf pica Lf picb = va ea Rf ica + Rf icb Lf pica + 2Lf picb = vb eb Rf ica 2Rf icb . (24) (25)

(11)

3) Total Reference Source Currents: Total reference source currents are sum of the in-phase and quadrature components of the reference source currents as i = i + i sa saq sad i = i + i sb sbq sbd i = i + i . sc scq scd (12) (13) (14)

Hence, the STATCOM current derivatives are obtained by solving (24) and (25) as pica = {(vb eb ) + 2(va ea ) 3Rf ica } /(3Lf ) picb = {(vb eb ) (va ea ) 3Rf ica } /(3Lf ). (26) (27)

4) PWM Current Controller: The reference source currents (i , i , and i ) are compared with the sensed source currents sa sb sc (isa , isb , and isc ). The ON/OFF switching patterns of the gate drive signals to the IGBTs are generated from the PWM current controller. The current errors are computed as isaerr = i isa ; sa isberr = i isb ; sb iscerr = i isc . sc (15)

C. Modeling of SEIG The dynamic model of the three-phase SEIG is developed using stationary dq axes reference frames, whose voltage current equations are [11] [v] = [R][i] + [L]p[i] + Wg [G][i]. From above, current derivatives can be expressed as p[i] = [L]1 {[v] [R][i] Wg [G][i]} where [v] = [vds vqs vdr vqr ]T [i] = [ids iqs idr iqr ]T (29) (28)

These current error signals are amplied and then compared with the triangular carrier wave. If the amplied current error corresponding to phase a (isaerr ) signal is greater than the triangular carrier wave signal, the switch S4 (lower device) of the phase a leg of VSI is ON, switch S1 (upper device) of the phase a leg of VSI is OFF, and the value of the switching function SA is set to zero. If the amplied current error signal corresponding to isaerr is less than the triangular carrier wave signal, switch S1 is ON, switch S4 is OFF, and the value of SA is set to one. Similar logic applies to other two phases b and c, respectively. B. Modeling of STATCOM The STATCOM is a current-controlled VSI and modeled as follows. The derivative of its dc bus voltage is dened as pvdc = (ica SA + icb SB + icc SC)/Cdc (16)

where SA, SB, and SC are the switching functions for the ON / OFF positions of the VSI bridge switches S1 S6 . The dc bus voltage reects at the output of the inverter in the form of the three-phase PWM ac line voltage ea , eb , and ec which are expressed as ea = vdc (SA-SB) eb = vdc (SB-SC) ec = vdc (SC-SA). (17) (18) (19)

[R] = diag [Rs Rs Rr Rr ] 0 Lm 0 Ls + Lm 0 Lm 0 Ls + Lm [L] = Lm 0 Lr + Lm 0 0 Lr + Lm 0 Lm 0 0 0 0 0 0 0 0 (30) [G] = . 0 Lr + Lm 0 Lm Lm 0 Lr + Lm 0 The electromagnetic torque balance equation of SEIG is dened as Tshaft = Te + J(2/P )pWg . The derivative of the rotor speed of the SEIG from (31) is pWg = {P/(2J)} (Tshaft Te ) (32) (31)

The voltcurrent equations of the output of VSI of STATCOM are va = Rf ica + Lf pica + ea Rf icb Lf picb vb = Rf icb + Lf picb + eb Rf icc Lf picc ica + icb + icc = 0. (20) (21) (22)

where the developed electromagnetic torque of the SEIG (Te ) is expressed as [11] Te = (3P/4)Lm (iqs idr ids iqr ) (33)

and the shaft torque of the prime mover is considered as a function of speed and denoted as Tshaft = (A BWg ) (34)

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where A and B are the coefcients of the torquespeed characteristic of the prime mover. The values of these coefcients are given in C. The SEIG operates in the saturation region, and its magnetizing characteristic is nonlinear in nature. Therefore, the magnetizing current should be calculated in each step of integration, in terms of stator and rotor currents as (ids + idr )2 + (iqs + iqr )2 / 2. (35) Im = The magnetizing inductance is calculated from the magnetizing characteristic between Lm and Im . A relation between Lm and Im is obtained by a synchronous speed test [11] and can be written as
2 3 Lm = A1 + A2 Im + A3 Im + A4 Im .

unbalanced load. In this case, load voltage is the maximum line voltage vs (va , va ), and the rectier dc current is dened as id = vs /RRL . (41)

(36)

The coefcients A1 , A2 , A3 , and A4 are given in C. D. AC Line Voltage at Point of Common Coupling The direct and quadrature stator axis currents of the SEIG (ids and iqs ) are converted in to three-phase stator currents of SEIG (iga , igb , and igc ). From these stator phase currents of SEIG (iga , igb , and igc ), the line currents (ia , ib , and ic ) of SEIG are computed. The derivative of the ac terminal voltage of the SEIG is dened as pva = {(ia i1a ica ) (ib i1b icb )} /(3C) pvb = {(ia i1c ica ) + 2(ib i1b icb )} /(3C) va + vb + vc = 0 (37) (38) (39)

Rectier ac currents will be the same with those dened in Table I, and it will be zero in nonconducting phase, namely phase C. 3) Three-Phase Diode Rectier With Capacitive Filter and Resistive Load: The circuit diagram of three-phase diode rectier with capacitive lter (CRL ) and resistive load (RRL ) is shown in Fig. 2(c). However, the practical uncontrolled diode bridge rectier has a notional value source impedance, and a dc capacitor is used in ltering of the output ripple dc of the rectier. The three-phase uncontrolled diode bridge rectier has two operating modes, i.e., conducting and nonconducting of diodes. When the diodes are in conduction, lineline voltage of an ac source (va , vb , and vc ) is connected to the load, and dc side basic equation is given by vs = 2RSL id + 2LSL pid + vd . (42)

In the state space derivative form, the previous equation can be expressed as pid = (vs vd 2RSL id )/(2LSL ). (43)

where ia , ib , and ic are the SEIG stator line currents, ila , ilb , and ilc are the three-phase load currents, and ica , icb , and icc are the three-phase STATCOM currents. C is the per-phase no load excitation capacitor value connected parallel to SEIG, as shown in Fig. 1(a). E. Modeling of Nonlinear Loads The mathematical modeling of nonlinear loads has been carried out into the following four categories. 1) Three-Phase Diode Rectier With Resistive Load: A circuit diagram of a three-phase diode rectier with resistive load is shown in Fig. 2(a). A general case of three-phase uncontrolled diode bridge rectier with resistive load (RRL ) is taken as a balanced nonlinear load, in which the voltage across the dc load (vs ) would be the maximum line voltage of SEIG (va , vb , vc , va , vb , and vc ) and the rectier dc load current is obtained as id = iRL = vs /RRL . (40)

The ac load currents in all three phases (ila , ilb , and ilc ) of a three-phase diode rectier are achieved by using the magnitude of id and direction (sign) corresponding to conduction pairs of diodes, which are the same with those shown in Table I. RSL and LSL are the notational value of the source resistance and inductance of the ac supply system. Moreover, charging/discharging equation of the dc load capacitor is expressed as pvd = (id ir )/CRL (44)

Rectier input ac currents are dened in Table I at a resistive load with a dc bus current id , which is considered as the load currents of an SEIG system. 2) Single-Phase Diode Rectier With Resistive Load: Fig. 2(b) illustrates the circuit diagram of single-phase diode rectier with a resistive load. A single-phase uncontrolled diode bridge rectier with feeding resistive load is taken as an

where CRL is the lter capacitance on the dc side, vs is the maximum line voltage of the generator (va ,vb ,vc , va , vb , and vc ), vd is the instantaneous voltage across the capacitor, and ir is the resistive load current (vd /RRL ). When none of the diode pair is conducting, then the charged capacitor would be discharged through load resistance (RRL ), and id is zero. 4) Single-Phase Diode Rectier With Capacitive Filter and Resistive Load: Fig. 2(d) shows the circuit diagram of a singlephase diode rectier with capacitive lter (CRL ) and resistive load (RRL ). The single-phase rectier with capacitive lter and resistive load has two operating modes, i.e., conducting and nonconducting of diodes. When diodes are conducting, the ac source is connected to the load, and the basic equation is expressed as vs = RSL id + LSL pid + vd . (45)

In the state-space derivative form, the previous equation can be expressed as pid = (vs vd RSL id )/(LSL ) (46)

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Fig. 2. Circuit diagrams of nonlinear loads. (a) Three-phase diode rectier with resistive load. (b) Single-phase diode rectier with resistive load. (c) Three-phase diode rectier with capacitive lter and resistive load. (d) Single-phase diode rectier with capacitive lter and resistive load. (e) Three-phase thyristorized rectier with resistive load.

TABLE I THREE-PHASE NONLINEAR LOAD CURRENT

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Fig. 3.

Voltage buildup of SEIG and switching in STATCOM.

and the charging /discharging equation of the dc capacitor is pvd = (id ir )/CRL . (47)

Rectier input ac currents are dened in Table I at resistive load with dc bus current id , which are considered the load currents of an SEIG system (ila , ilb , and ilc ). IV. R ESULTS AND D ISCUSSION The SEIG system with the STATCOM-based voltage regulator feeding nonlinear balanced/unbalanced load is simulated, and results are shown in Figs. 310. For the simulation, a 22-kW 400-V 40-A six-pole machine has been used as a generator, and the parameters of the generator are given in the Appendix. A. Voltage Buildup and Switch on STATCOM Fig. 3 shows the transient waveforms under voltage buildup and, thereafter, switching in the STATCOM working as a voltage regulator. Response from top, respectively, relates to

When none of the diode pair is conducting, then the charged capacitor would be discharged through load resistance (RRL ). Rectier input ac currents will be the same with those given in Table I, and it will be zero in a nonconducting phase. 5) Three-Phase Thyristor Bridge Rectier With Resistive Load: The circuit diagram of a three-phase controlled thyristor bridge rectier with resistive load (RRL ) is shown in Fig. 2(e). A thyristorized-based three-phase bridge converter with resistive load (RRL ) is taken as a balanced nonlinear load which draws harmonics as well as reactive current with increased ring angle of thyristors. In this case, the ring angle of each thyristor is delayed by 60 . The converter dc load current is obtained as id = vs /RRL . (48)

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Fig. 4. Waveform of three-phase SEIGSTATCOM system supplying diode rectier with resistive load change from no load, to three-phase (22 kW), to one-phase (15 kW), to three-phase (22 kW) loads, and to no load.

three-phase ac terminal voltages (vabc ), SEIG line currents (iabc ), STATCOM currents (icabc ), amplitude of ac terminal voltage and its reference value (Vt and Vtref ), dc bus voltage and its reference value (Vdc and Vdcref ), and generator speed (Wg ). To generate the rated voltage of 400 V (565-V peak) at no load, a delta-connected capacitor bank of 62.5 F per phase is connected across the SEIG. Initially, a dc bus capacitor of the current-controlled VSI of STATCOM charges to 565 V (peak of ac voltage) during voltage build up through the antiparallel diodes of VSI (without control action). At 2.6 s,

gate pulses are given to the IGBTs, and the control action of the current-controlled VSI of STATCOM is activated. The STATCOM behaves as a source of the reactive power and draws active power from the generator to charge its dc bus capacitor at reference voltage (700 V). There is a small oscillation at the switching in STATCOM, but it damps out within a few cycles. For a chosen value of the moment of inertia (0.305 Kg/m2 ), there is a small change in speed (0.6%), which recovers quickly to the normal value due to the control action of STATCOM.

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Fig. 5. Waveform of three-phase SEIGSTATCOM system supplying diode rectier with capacitive lter and resistive load change from no load, to three-phase (15 kW), to one-phase (24 kW), to three-phase (15 kW) loads, and to no load.

B. Performance of SEIGSTATCOM System Feeding Three-Phase Diode Rectier With Resistive Load Fig. 4 shows the transient waveforms of the three-phase SEIG voltages (vabc ), SEIG line currents (iabc ), three-phase STATCOM currents (ica , icb , and icc ), three-phase rectier ac load currents (ila , ilb , and ilc ), amplitude of SEIG terminal voltage and its reference value (Vt and Vtref ), dc bus voltage and its reference value (Vdc and Vdcref ), and generator speed (Wg ), demonstrating the response of the STATCOM in

regulating the SEIG terminal voltage supplying the rectier with a pure resistive load (22 kW). At 6.4 s, a three-phase diode rectier with a resistive load (22 kW) is applied on the SEIGSTATCOM system. Under the three-phase diode rectier with resistive load, the SEIG voltages remain constant, but SEIG and STATCOM currents increase to supply the active and reactive power to the load, respectively. A small dip in the dc bus voltage of STATCOM is observed at the application of the load, but it recovers within a few cycles. At 6.6 s, a three-phase diode rectier with resistive load is changed to

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Fig. 6. Waveforms of three-phase SEIGSTATCOM system supplying diode rectier with capacitive lter and resistive load change from no load, to three-phase (15 kW), to three-phase (22 kW), to three-phase (15 kW) loads, and to no load.

a single-phase rectier load with a generated power of 15 kW. It is observed that the STATCOM is able to regulate the SEIG terminal voltage without any transient. When a single-phase rectier load is connected, generator currents decrease to show the lesser power generation by the SEIG. An overshoot in the dc bus voltage of STATCOM is observed when a singlephase rectier load is connected. Similarly, a small undershoot

in the dc bus voltage of STATCOM is observed at the application of three-phase loads. Charging and discharging of the dc bus capacitor of STATCOM is clearly observed under a single-phase rectier load, which also shows the load-balancing feature of STATCOM. At 7 s, a three-phase diode rectier load is disconnected from the SEIG. A small overshoot in the dc bus voltage of STATCOM is observed at the removal of the load.

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Fig. 7. Waveforms of three-phase SEIGSTATCOM system supplying thyristorized rectier with resistive load change from no load, to three-phase (18 kW) at 60 ring angle, to no load.

C. Performance of SEIGSTATCOM Feeding Three-Phase Diode Rectier With Capacitive Filter and Resistive Load Fig. 5 shows the transient waveforms of all the performance variables of the three-phase SEIGSTATCOM supplying a diode rectier with a dc capacitive lter (CRL ) and resistive load (RRL ). At 6.4 s, a three-phase diode rectier with capacitive lter and resistive load (15 kW) is applied at the SEIGSTATCOM system. Under this load, SEIG and STATCOM currents increase to supply active and reactive

powers to the load. The SEIG voltage remains constant and sinusoidal. At 6.65 s, the load is changed from a three-phase load (15 kW) to a single-phase diode rectier load (24 kW). In the case of the dc capacitive lter and resistive load, on a single-phase rectier, the rectier ac load current is highly discontinuous. The dc link capacitor of the load diode rectier tries to keep the voltage constant across the rectier dc load; therefore, the STATCOM and generator currents increase to fulll the increased reactive and active power requirements,

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Fig. 8. Steady-state waveforms and harmonic spectrum SEIGSTATCOM system supplying three-phase diode rectier with capacitive lter and 15-kW resistive load. (a) SEIG voltage (Va ). (b) SEIG current (Ia ). (c) Load current (Ila ).

respectively. The speed of SEIG also drops down, which shows that the generator is heavily loaded. At 6.9 s, a threephase diode rectier with capacitive lter and resistive load is connected again to the SEIGSTATCOM system. The system recovers steady-state conditions within a couple of cycles. At 7.1 s, the load is completely removed, thus resulting in a decrease in SEIG and STATCOM currents. D. Performance of SEIGSTATCOM System With Load Change on Three-Phase Diode Rectier With DC Capacitive Filter and Resistive Load The simulated waveforms of SEIG voltages, currents, STATCOM currents, load currents, amplitude of ac terminal voltage, dc bus voltage, and generator speed are illustrated in Fig. 6 for a three-phase SEIGSTATCOM system with load change in the three-phase diode rectier with capacitive lter and resistive load. At 6.4 s, a three-phase nonlinear load of 15 kW is switched on. At 6.6 s, load is increased on the three-phase diode rectier load from 15 to 22 kW on the SEIG. Consequently, the generator, STATCOM, and load currents increase to provide the increased demand of reactive and active powers to the

load. As the load on the rectier increases, an undershoot in the dc bus of STATCOM is observed, which supplies the reactive power to the rectier load and generator, and the dc bus voltage of STATCOM settles at the reference voltage within a few cycles. At 6.8 s, load is decreased from 22 to 15 kW on the SEIGSTATCOM system. This instantaneously generated surplus power is absorbed by the dc bus capacitor of STATCOM; as a result, an overshoot in the dc bus voltage of STATCOM is observed, which settles down to the reference voltage within few cycles due to the action of the PI voltage controller. The speed of the SEIG also drops down by 6% when the generated power is increased to 22 kW, due to small drooping characteristics of the prime mover. E. Performance of SEIGSTATCOM System Feeding Three-Phase Thyristor Rectier With Resistive Load Fig. 7 illustrates the transient waveforms of SEIG voltages and SEIG currents, load currents, STATCOM currents, its dc bus voltage and its reference value, ac voltage of SEIG and its reference value, and the speed of the SEIG under the threephase thyristorized rectier with resistive load at a 60 ring

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Fig. 9. Steady-state waveforms and harmonic spectrum SEIGSTATCOM system supplying single-phase diode rectier with capacitive lter and 24-kW resistive load. (a) SEIG voltage (Va ). (b) SEIG current (Ia ). (c) Load current (Ila ).

angle of thyristors. At 6.4 s, an 18-kW load is switched on the SEIGSTATCOM system. Similarly, at 6.6 s, the controlled rectier load of 18 kW is removed from the SEIG system. This controlled rectier load draws harmonic currents and fundamental active and reactive currents which are fed from SEIG STATCOM system. Under this type of nonlinear load, SEIG voltage remains constant and sinusoidal, which shows that the STATCOM acts as a voltage regulator and harmonic eliminator. F. Power Quality Issues Figs. 810 illustrate the steady-state waveforms and harmonic spectrum of SEIG voltage (Va ), SEIG current (Ia ), and load currents (Ila ) under a three-phase diode rectier with capacitive lter and resistive load, single-phase diode rectier with capacitive lter and resistive load, and three-phase thyristorized rectier with resistive load, respectively. Table II shows the total harmonic distortion (THD) of SEIG voltage (Va ), SEIG current (Ia ), and load currents (Ila ) under a threephase diode rectier with capacitive lter and resistive load, single-phase diode rectier with capacitive lter and resistive load, and three-phase thyristorized rectier with resistive load,

respectively. Under the three-phase diode rectier with capacitive lter and resistive load, load current THD is 80.56%, but SEIG voltage and current THDs are only 1.37% and 3.2%, which shows that STATCOM has eliminated the harmonics from the SEIG voltage and current. Under a single-phase diode rectier load, the load current has a THD of 76.95%, but SEIG voltage and current have only THDs of 0.87% and 0.73%. Under a three-phase thyristorized rectier with resistive load, SEIG voltage has a THD of 1.24%, and SEIG current has 3.44%, in spite of the percent THD load at 44.82%. From these results, it can be observed that the SEIG voltage and current remain sinusoidal even under nonlinear loads. The STATCOM eliminates the harmonics from the SEIG system. It is observed from these results that the STATCOM improves the power quality in an SEIG system and thus avoids its derating due to harmonic injection, unbalancing, and reactive power requirements of nonlinear loads. V. C ONCLUSION It has been observed that the developed mathematical model of a three-phase SEIGSTATCOM is capable of simulating

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Fig. 10. Steady-state waveforms and harmonic spectrum SEIGSTATCOM system supplying three-phase thyristorized rectier with capacitive lter and 12-kW resistive load. (a) SEIG voltage (Va ). (b) SEIG current (Ia ). (c) Load current (Ila ). TABLE II RMS VALUES AND PERCENT THD OF SEIG VOLTAGE (Va ), SEIG CURRENT (Ia ), AND AC LOAD CURRENT (Ila )

its performance while feeding nonlinear loads under transient conditions. From the simulated results, it has been found that the SEIG terminal voltage remains constant, with the sinusoidal feeding of the three-phase or single-phase rectiers with resistive and with dc capacitive lter and resistive loads. When a single-phase rectier load is connected, the STATCOM balances the unbalanced load currents, and the generator currents

and voltage remain balanced and sinusoidal; therefore, the STATCOM acts as a load balancer. The rectier-based nonlinear load generates the harmonics, which are also eliminated by STATCOM. Therefore, it is concluded that STATCOM acts as voltage regulator, load balancer, and harmonic eliminator, resulting in an SEIG system that is an ideal ac power-generating system.

SINGH et al.: STATCOM-BASED VOLTAGE REGULATOR FOR SEIG FEEDING NONLINEAR LOADS

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A PPENDIX A. STATCOM Control Parameters Lf = 1.2 mH, Rf = 0.045 , and Cdc = 4000 F. AC voltage PI controller: Kpa = 0.1 and Kia = 0.01. DC bus voltage PI controller: Kpd = 0.44 and Kid = 0.05. Carrier frequency = 20 kHz. B. Parameters of Nonlinear Loads 1) Three-Phase Diode Rectier With Resistive Load: RRL = 32 . For a single-phase diode rectier with resistive load, one phase (say phase C) of the three-phase rectier is disconnected from the system. 2) Three-Phase Diode Rectier With Capacitive Filter and Resistive Load: Lf = 0.1 mH, Rf = 0.7 , Cdc = 470 F, and RRL = 100 . For a single-phase diode rectier with capacitive lter and resistive load, one phase (say phase C) of the three-phase rectier is disconnected from the system. 3) Three-Phase Diode Rectier With Capacitive Filter and Change in Resistive Load: Lf = 0.1 mH, Rf = 0.7 , Cdc = 470 F, RRL = 80 (at 15-kW load), and RRL = 32 (at 22-kW load). 4) Three-Phase Thyristorized Rectier With Resistive Load: RRL = 15 , and the ring angle of the thyristor is 60 . C. Machines Parameters 1) SEIG Parameters: A 22-kW 400-V 40-A 50-Hz six-pole delta-connected machine is taken as SEIG. The parameters of the SEIG are Rs = 0.58 Rr = 0.81 Ls = Lr = 5 mH J = 0.305 kg/m2 . 2) Magnetizing Characteristic Coefcients: The coefcients of the magnetizing characteristic of SEIG are given below: A1 = 0.2417 A2 = 0.0112 A3 = 0.0003 A4 = 0.00003. 3) Prime Mover Coefcients: The coefcients of the torquespeed characteristic of prime mover are A = 3370, B = 10.

[3] M. H. Salama and P. G. Holmes, Transient and steady-state load performance of a stand-alone self-excited induction generator, Proc. Inst. Electr. Eng.Electr. Power Appl., vol. 143, no. 1, pp. 5058, Jan. 1996. [4] L. Wang and R. Y. Deng, Transient performance of an isolated induction generator under unbalanced excitation capacitors, IEEE Trans. Energy Convers., vol. 14, no. 4, pp. 887893, Dec. 1999. [5] S. K. Jain, J. D. Sharma, and S. P. Singh, Transient performance of threephase self-excited induction generator during balanced and unbalanced faults, Proc. Inst. Electr. Eng.Generation Transmiss. Distrib., vol. 149, no. 1, pp. 5057, Jan. 2002. [6] M. B. Brennen and A. Abbondati, Static exciter for induction generator, IEEE Trans. Ind. Appl., vol. IA-13, no. 5, pp. 422428, Sep./Oct. 1977. [7] R. K. Mishra, B. Singh, and M. K. Vasantha, Voltage regulator for an isolated self-excited cage induction generator, Electr. Power Syst. Res., vol. 24, no. 1, pp. 7583, Jul. 1992. [8] L. Shridhar, B. Singh, and C. S. Jha, Transient analysis of the selfregulated short shunt self-excited induction generator, IEEE Trans. Energy Convers., vol. 10, no. 2, pp. 261267, Jun. 1995. [9] E. Larsen, N. Miller, S. Nilsson, and S. Lindgren, Benets of GTObased compensation systems for electric utility applications, IEEE Trans. Power Del., vol. 7, no. 4, pp. 20552064, Oct. 1997. [10] C. Schauder and H. Mehta, Vector analysis and control of advanced static VAR compensator, Proc. Inst. Electr. Eng.C, vol. 140, no. 4, pp. 299306, Jul. 1993. [11] B. Singh and L. B. Shilpakar, Analysis of a novel solid state voltage regulator for a self-excited induction generator, Proc. Inst. Electr. Eng. Generation Transmiss. Distrib., vol. 145, no. 6, pp. 647655, Nov. 1998. [12] S. Wekhande and V. Agrawal, Simple control for a wind-driven induction generator, IEEE Ind. Appl. Mag., vol. 7, no. 2, pp. 4453, Mar./Apr. 2001. [13] M. S. Miranda, R. O. C. Lyra, and S. R. Silva, An alternative isolated wind electric pumping system using induction machines, IEEE Trans. Energy Convers., vol. 14, no. 4, pp. 16111616, Dec. 1999. [14] S. C. Kuo and L. Wang, Analysis of voltage control for a self-excited induction generator using a current-controlled voltage source inverter (CC-VSI), Proc. Inst. Electr. Eng.Generation Transmiss. Distrib., vol. 148, no. 5, pp. 431438, Sep. 2001. [15] , Analysis of isolated self-excited induction generator feeding a rectier load, Proc. Inst. Electr. Eng.Generation Transmiss. Distrib., vol. 149, no. 1, pp. 9097, Jan. 2002.

R EFERENCES
[1] C. Grantham, D. Sutanto, and B. Mismail, Steady state and transient analysis of self-excited induction generator, Proc. Inst. Electr. Eng., vol. 136, no. 2, pp. 6168, Mar. 1989. [2] K. E. Hallenius, P. Vas, and J. E. Brown, The analysis of saturated selfexcited asynchronous generator, IEEE Trans. Energy Convers., vol. 6, no. 2, pp. 336341, Jun. 1991.

Bhim Singh (SM99) was born in Rahamapur, U. P., India, in 1956. He received the B.E. (electrical) degree from University of Roorkee, Roorkee, India, in 1977 and the M.Tech. and Ph.D. degrees from the Indian Institute of Technology (IIT), New Delhi, India, in 1979, and 1983, respectively. In 1983, he joined as a Lecturer and, in 1988, became a Reader with the Department of Electrical Engineering, University of Roorkee. In December 1990, he joined as an Assistant Professor, became an Associate Professor in 1994, and full Professor in 1997 with the Department of Electrical Engineering, IIT Delhi. His eld of interest includes power electronics, electrical machines and drives, active lters, static VAR compensator, and analysis and digital control of electrical machines. Dr. Singh is a Fellow of the Indian National Academy of Engineering (INAE), Institution of Engineers (India) [IE (I)], and Institution of Electronics and Telecommunication Engineers (IETE); and a Life Member of the Indian Society for Technical Education (ISTE), System Society of India (SSI), and National Institution of Quality and Reliability (NIQR).

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S. S. Murthy (SM87) was born in Karnataka, India, in 1946. He received the B.E. degree from Bangalore University, Bangalore, India, the M.Tech. degree from Indian Institute of Technology (IIT) Bombay, Bombay, India, and the Ph.D. degree from IIT Delhi, New Delhi, India. He has been with IIT Delhi since 1970 and was the Chairman of the Department of Electrical Engineering from 1998 to 2001. He has held assignments with the University of New Castle, U.K.; University of Calgary, Canada; ERDA Barodra; Kirloskar Electric, Bangalore, and Director, NIT Suratkal, Karnataka. He holds four patents on the SEIG, Micro Hydel Applications, and a novel-braking scheme. He has also transferred technology of self-excited and grid-connected induction generators to industry for low- and medium-power generation under stand-alone or gridconnected mode. He has completed several industry sponsored research and constancy projects dealing with electrical machines, drives, and energy systems. Recently, he was instrumental in establishing state-of-the-art energy audit and energy conservation facilities at IIT under World Bank funding. His research interests include electric machines, drives, special machines, power electronic applications, renewable energy systems, and energy efciency and conservation. Dr. Murthy has received many awards including ISTE/Maharashtra Government Award for outstanding research and IETE/Bimal Bose Award for contribution in power electronics. He has made signicant contributions to professional societies, including being the General Chair of the rst IEEE International Conference on Power Electronics, Drive and Energy Systems (PEDES 96), held in January 1996 in New Delhi. He is a Fellow of the Institution of Electrical Engineer (IEE), Life Fellow of the Institution of Engineers (India), and Life Member of the Indian Society for Technical Education (ISTE).

Sushma Gupta was born in Lalitpur, U. P., India, in 1971. She received the B.E. and M.E. degrees from Barakatullah University, Bhopal, India, in 1993 and 1999, respectively. She was a Lecturer with the Electronic Engineering Department, Government Engineering College, Rewa, M. P., India. She is currently a Research Scholar with the Department of Electrical Engineering, Indian Institute of Technology, Delhi, India. Her research interests include power electronics, machines, digital electronics microprocessors, and selfexcited induction generators.