1

Application of SVC to Increase Power System Damping in Wind Parks

Nikolay Djagarov, Zhivko Grozdev, Milen Bonev and Stefan Filchev

Abstract Wind power is one of the most important renewable energy in the resent years. Development and analyzing of connection conditions and effects of wind farms especially on remote areas are the main aspects of growing wind power generation. Flexible AC transmission system (FACTS) devices are able to improve power system oscillation through performing flexible power flow control, secure loading, damping power system oscillation and even for the stabilization of wind energy generation. One of the basic advantages of these devices is provision of dynamic reactive power supply not only under system normal conditions but also in the event of severe faults to support voltage stability. In the paper is suggested adaptive controller of Static Var Compensator (SVC) on the basis of astatic adaptive singular regulator. The adaptive regulator identifies itself in real time on the basis of estimated parameters and variables of identification model and after that creates a controlling signal for SVC. The operation of wind park with electric grid, connected through transmission and SVC is being investigated. Thanks to this adaptive control the damping of power system is largely increased and all transient processes performances are improved. Index TermsWind generation, Induction generation, FACT device, STATCOM, SVC, Adaptive control.

I. INTRODUCTION

owdays power systems are facing new challenges such as notably increasing penetration of renewable energy sources, especially wind energy. It is known that up to now the most existing wind generators are equipped with induction generators (IG) turbines, because of the advantages of IG compared to synchronous generator [1], [2]. This type of wind turbines has some disadvantages as: bad voltage regulation, influence of the output voltage from the wind turbine speed and load, the presence of capacitors, provision the necessary reactive power for excitation. These disadvantages cause some problems with stability and reliability of operation of wind farms connected to the power system. For example when fault occurs somewhere in the power system or near to connection point of wind parks this will cause
This work is the result of the implementation of Join Research Project: TU-Varna TU-Koice: Utilization of FACTS devices in electrical power systems. N. Djagarov is head of Department Electrical Delivery and Electrical Equipment, Technical University of Varna, 9000, Varna , BUL (e-mail: jagarov@ieee.bg); Zh. Grozdev is with the Department Electrical Delivery and Electrical Equipment, Technical University, 9000, Varna, BUL (e-mail: grozdew@yahoo.com); M. Bonev is with the Department Electrical Delivery and Electrical Equipment, Technical University of Varna, 9000, Varna, BUL; S. Filchev is with the Department Electrical Delivery and Electrical Equipment, Technical University of Varna, 9000 Varna BUL.

voltage drop in same connection point. This will bring to unbalance between the mechanical shaft torque and the generators electromagnetic torque, and the induction generator will speed up. Consequently, the induction generator will draw more reactive power from the grid, which in turn will result in further steps in voltage collapse in the network [3]. One of the main requirements of the electricity transmission system is to maintain system voltage at appropriate levels. Modern power systems are not very stable when changing the voltage even for short periods. On the other hand by generation or absorption of active power at any given point of the system the power system generates or absorbs reactive power in significant quantities. This also contributes to changing the system condition. In cases where it is difficult to install new transmission lines for increase of power flow it is required the existing facilities to carry more power. The problems of voltage regulation grow and this may lead to overbalancing the power system. Following these conditions, the power systems must resolve some basic operating problems, such as voltage regulation, power flow control, transient stability and reliability, power system oscillation damping and etc. The FACTS devices [4] can be a solution to these problems. They are able to provide fast active and reactive power compensations to power systems, and therefore they can be used to provide voltage support and power flow. The more efficient utilization of existing transmission networks is obtained when the FACTS devices are suitable located. One possible FACTS device is SVC, which can be connected to wind park substation [5]-[8]. This device represents variable impedance device where the current through a reactor is controlled using back to back connected thyristor valves. These compensators are widely used in distribution network or near large industrial loads to maintain the voltage within certain limits, to reduce the voltage or current disturbances to improve dynamic stability, to increase the power flow of transmission line. Another major reason for implementation of these devices is the possibility for damping of electricity fluctuations. The damping of power system oscillations plays an important role not only in improving deliverability, but also in stabilizing the system condition in emergency situations, particularly in loosely coupled power systems [9]. For control of FACTS devices are used all known methods from the theory of automatic control: classical PIregulators, methods of fuzzy logic and neural network, regulators with adjusted parameters, regulators with variable structure and others. The main trend is to make these controllers adaptive [10], [11].

However, this relates to the need of large computational resources, which will worsen their performance and hence the quality of regulation. The proposed adaptive regulator uses optimal singular adaptive observers. These observers based on measured parameters of the controlled object identify the parameters and variables of minimal model of Frobenius. The main difference of this identification from the known is that not only the current vector is estimated but also the initial vector. That avoids the iterative solution of Riccati equations and achieves very high speed of identification and calculation of control signal. Thanks to this, the calculation time of the control signal and feedback is negligible small in comparison with the speed of running processes in the system. Therefore, these regulators improve all parameters of the transition process, damp the oscillations and improve the power system stability like whole. II. STUDIED POWER SYSTEM On Fig. 1 is presented studied power system. The studied system includes wind park connected to power system trough powerful step-up transformer (TrTL), transmission line (TL) and static active-inductive load (Load). A wind farm consisting of six 1,5MW wind turbines is connected to a 33kV distribution system exports power to a 110kV grid through a 25km transmission line. The 9 MW wind farm is simulated by three pairs of 1,5MW wind-turbines. Wind turbines use squirrel-cage induction generators (IG1-6). The wind generators are connected through coupling transformers Tr1-6 and connecting line L1-6 to wind substation busses (WSB). The wind turbine is a variable-pitch wind turbine. The pitch angle is controlled in order to limit the generator output power at its nominal value for winds exceeding the nominal speed (9 m/s). In order to generate power the IG speed must be slightly above the synchronous speed. The required reactive power provided by capacitor banks C1-6 for each wind generator ensures the normal operation of induction generator. On the WSB is connected static var compensator (Fig. 2). This compensator represents shunt connected condenser C and thyristors controlled reactor L. The control of thyrisIG1 Tr1 C1 L1 Il1 IL ITL ISVC WSB TrSVC TrL TrTL TL Load

R S T

L
h1

L
h3

L
h5

h2

h4

h6

Th1,2

Th3,4 CMT BL

Th5,6

UT

AR

UREF

Fig.2. SVC delta connection diagram with control structure

reactors current. This regulation is performed by control of firing angle of thyristors and is a result from regulating of inductivity of shunt connected reactor. Each three-phase capacitor banks and thyristors controlled reactor are connected in delta so that, during normal balanced operation, the zero-sequence tripplen harmonics (3rd, 9th... ) remain trapped inside the delta, thus reducing harmonic injection into the power system. III. MATHEMATICAL MODEL OF STUDIED POWER SYSTEM The mathematical model of suggested power system is presented in [12]. The transformers Trj, (j=16), TrL, TrTL and TrSVC are replaced by aggregate dispersion resistance of primary and secondary windings zTr = zTrl1 + zTrl 2 . The studied power system has n+3 nodes (where n is number of wind generators) as equivalent transformer resistance are summed with reactance of corresponding lines connected in series with them. In this way the node voltages of studied system are: terminal voltage of wing generators, UGj; voltage of WSB, USVC; voltage of infinity busses, UB; In this equivalent replacement diagram in each node there is one condenser as its voltage represents a state variable. For this voltage is written equation which enters into right part of equation of other elements. A. Induction Generator The equations of the induction generator are written in synchronous coordinate system dq0syn: A ss A sr I s B ss d I s ; (1) . + .U = dt I r j A rs A rr j I r j B rs j CGj
d 1 T T rj = (2) dt mj Tj ej where: subscript s refers to the stator parameters and variables, and subscript r - rotor; the elements of matrices and vectors A and are in function of the stator and rotor resistance and inductive impedance and the rotor angular speed -

IG1
ICG1

Power System

IG6

IG6

Tr6 C6

L6 Il6

SVC Wind Park

ICG6

Fig.1. Diagram of studied power system

tors is ensured by adaptive regulator (AR) creating controlling signal which is proportional to conductivity of thyristor controlled reactor BL. After that this signal is transformed from control module for thyristors (CMT) into firing angle for thyristors Th. The thyristors controlled reactor continuously regulates reactive energy by regulation magnitude of

and

coordinate

system

Tj

k;

I s = i d ,i q

]t;

I r = i rd ,i rq

] t ; U Gj = [u d ,u q] j t ; T

wind turbine torque;

T ej = x ad . i rd .i q i rq .i d - the generator electromagnetic torque; UCGj voltage vector of exciting condenser of wind generator; mj - mechanical time constant of wind genera-

tor: B. Wind Turbine For the mathematical model of wind turbine is assumed that the hardness of the gearbox is infinite and the coefficient of friction and mechanical time constant of the turbine are combined with those of the generator. Output of the turbine is described by the following dependence [13] C p .(, ) .A . v w3 (3) TT = 2 T where: Cp is a specific nonlinear factor depending from two .R parameters: = - relation of speed at the top of turbine vw blade to the wind speed and attack angle of wind turbine blades [grad]. Also this factor depends also from aerodynamic characteristics of wind turbine blades and working mode; specific density of air [kg/m3]; A surface of turbine circle [m2]; w wind speed [m/s]

ence point UREF, which is given from the operator. On the inputs of adaptive regulator is feeding discrete sample from voltage vector from measuring point and reference voltage given from operator. The scalar adaptive modal regulator identifies in real time control object on the basis of estimated parameters and variables of the model and create control signal. The obtained signal after adaptive regulator BL is fed on the input on the controlling module for thyristors. The CMT creates firing angle for thyristors Th1-6 (Fig. 2). The observed system might be present by a following type of a linear model in the state space describing from following differential equations [14]: x(k + 1) = A.x(k ) + b.v (k ) (8)
v (k ) = u(k ) + z (k )
y (k ) = c t .x(k )

(9) (10)

C. Exciting Capacitor
d U = H CGj + BCGj .I CGj (4) dt CGj where: H CGj = ACGj .U CGj ; I CGj = I Gj I lj , the ele-

where: x(0)=x0, k=0,1,2,.; x(k), x(k+1) are an unknown current state vector in two neighbor moments of sample; x(0) is an unknown initial state vector; u(k) is an input signal; z(k) is a limited input sequence using for identification. A, b and c are unknown matrices and vectors of the following type: 0 1 0 A = 0 0 1 ; b t = [0,0,1] ; c t = [1,0,0 ] (11) a1 a2 a3 The input/output data are shaped in following matrices and vectors. y(3) v(0) y(0) y(1) ; Y = y(4) ; V = v(1) ; Y1 = 1 2 y(5) v(2) y(2)
y(0) y(1) y(2) Y12 = y(1) y(2) y(3) (12) y(2) y(3) y(4) The vector estimate a is calculating by following expression: Y12 .a = Y2 V1 (13) The initial steady state vector x (0 ) estimation is calcu-

ments of matrices ACGj and BCGj are in function from parameter of condenser capacity.

D. Reactor of SVC
d IL = H LSVC + B LSVC .U SVC (5) dt SVC = ALSVC .I LSVC ; the elements of the matri-

where: H LSVC

ces ALSVC and BLSVC are functions of parameter of SVC reactor.

E. Capacitor of SVC
d U SVC = H CSVC + BCSVC .I CSVC (6) dt where: H CSVC = ACSVC .U SVC ; I SVC = I LSVC + I CSVC ;
I CGj = I l I LSVC I L I TL ; I l = I lj ;
1 6

F. Transmission lines L16 and TL

lated by the optimal estimator of following type: x (0 ) =Y 1 (14) The current state vector is estimated by full optimal singular adaptive (OSA) observer ) x (k + 1) = F.x (k ) + b.v(k ) + g.y (k ) (15) x (0 ) = x0 ; k=0, 1, 2, , where:
) ) F = A g.cT

d (7) I lj = H lj + Blj . U i -U j dt where: H lj = Alj .I lj ; the elements matrices Alj and lj are
functions of transmission line parameters; Ui and Uj, - voltage vector of connection nodes for corresponding line. IV. ALGORITHM FOR ADAPTIVE CONTROL OF SVC The basic function of the adaptive control is continuously identifying a control object in real time by linear model from low order and creation of control signal. In studied system is used a scalar modal adaptive regulator. Its main function is keeping the voltage magnitude UT close to refer-

(16)

gT = [g1,g 2 ,...g n ] (17) The determination of formulate problem with the help of suggested algorithm exist only if matrix Y12 is singular detY12 0 (18) The stabilizing signal BL is calculated by using of astatic scalar modal stabilizer with scale factor k0 from following type [15]: k (k ) = [k1 (k ),k2 (k ),....kn (k )] (19) ) ) ) Az = A b (k 1).k (k ) (20)

4 1 ) 1 ) k0 (k ) = cT I n Az .b (k 1) ) BL (k ) = k0 (k ).yref + k (k ).x (k 1)

(21) (22)

where: yref is reference signal given from the operator. After determination of control signal for SVC reactors BL follows transformation of specific values of BL into values of firing angle Th for thyristors in degrees. This transformation is performed by next expression: BL = (2 2 + sin(2 ) ).BLnom (23) where: BLpu - values of BL converted into real system in per units (p.u.); BLnom nominal value of BL. V. EXPERIMENTAL RESULTS For provision of correctness and effectiveness of the studied power system a computer model in Matlab space was created. Different disturbances causing transient procUWSB [p.u.]
1.1

control of SVC, suggested adaptive control of SVC and without SVC. On Fig. 3 and Fig. 4 is shown the WSB voltage at three-phase short cut in low voltage side in time 10.00sec with duration 0.088s (in one wind generator terminals). On the figures is illustrated with solid line the studied system with adaptive control of SVC, with dashed line with conventional control of SVC and with dotted line without SVC. On Fig. 5 is shown the zoom part from same transient process but only operation of SVC (adaptive control and conventional control). On the Fig. 5 can be observed the operation of SVC and comparison between adaptive control and conventional control at connection/disconnection of powerful static active-inductive load in WSB. Also, as in Fig. 3 the operation of wind park is simulated without connected SVC.
UWSB [p.u.]
1.02 1 0.98 0.96 0.94

a)

0.9

0.92 0.9

0.8
0.88 0.86 0.84

0.7

0.6

0.82

0.5 9.8 10 10.2 10.4 10.6 time [sec] 10.8 11 11.2

QWSB [MVar]
8

b)

Fig. 3. Voltage at WSB buses

UWSB [p.u.]
6
1.003 1.002 1.001 1 0.999 0.998 0.997 0.996 0.995

-2

10
0.994 0.993 9.5 10 10.5 11 11.5 12 time [sec] 12.5 13 13.5 14

11

12

13

14 15 time [sec]

16

17

18

19

Fig. 5. WSB operation characteristics at connection/disconnection of powerful static active inductive load: a) - WSB voltage; b) Reactive power

Fig. 4. Voltage at WSB buses

esses are simulated. Parts of obtained results are shown bellow. The illustrated simulation processes are: Three-phase short cut on low voltage and medium voltage side and its disconnection from circuit breaker, connection/disconnection of powerful static active/inductive load, small variation of voltage from high voltage side, variation of wind speed and etc. In the graphics are shown some operating parameters and they are compared with conventional

On the Fig. 6 can be observed the performance of wind park at variation of wind speed (in 10th sec. the wind speed decrease to minimum and in 15th sec. returns to same level of speed).

the adaptive controller allows utmost the damping of system oscillation in power system containing wind parks.
UWSB [p.u.]
1

a)

VII. REFERENCES
[1] Claudio L.Souza et. al., Power System Transient Stability Analysis including Synchronous and Induction Generator, IEEE Porto Power Tech Proceedings, vol. 2, pp. 6, 2001. V. Akhmatov, Analysis of Dynamic Behavior of Electric Power Systems with Large Amount of Wind Power, Ph.D. dissertation, Technical University of Denmark, Kgs. Lyngby, Denmark, Apr. 2003. J. O. G. Tande, Grid Integration of Wind Farms, Wind Energy, vol. 6, No. 3, pp. 281-295, June 2003. N. G. Hingorani, L. Gyugyi, Understanding FACTS: Concepts and Technology of Flexible AC Transmission Systems, IEEE, New York, 2000, ISBN 0-7803-3455-8. P. Girox, G. Sybille, SVC controller, Power System Laboratory, IREQ Hydro-Quebec, www.mathworks.com, 2006. M. Noroozian, SVC Modelling in Power Systems, ABB Power Systems AB, S-721 64 Vasteras, Sweden, Apr. 1996. Z. Gu, D.T. Rizy, Neural Networks for Combined Control of Capacitors Banks and Voltage Regulators in Distribution Systems, IEEE Transactions on Power Delivery, vol. 11, No. 4, Oct. 1996, pp. 19211928. P. N. Boonchian, A. Sode-Yome, N. Mithulananthan, K. Aodsup, Voltage Stability in Power Network when connected Wind Farm Generators, PEDS, 2009, pp. 655-660. E. Z. Zhou, Application of Static Var Compensators to Increase Power System Damping,IEEE Trans. On Power Systems, vol. 8, No. 2, May 1993, pp.655-661. N. Yang, Q. Liu and J.D. McCalley, TCSC Controller design for damping interarea oscillations, IEEE Trans. on Power Systems, vol. 13, No. 4, Nov. 1998, pp. 1304-1310. C. A. Canizares, Z. T. Faur, Analysis of SVC and TCSC controllers in voltage collapse, IEEE Trans. on Power System., vol. 14, pp. 158165, Feb. 1999. N. F. Djagarov, Transient electromechanical processes calculation of power systems with complex topology, Electricity, Moscow, No.1, 1990, pp. 9-16. J. Zaragoza, J. Pou, A. Arias, C. Spiteri, E. Robles, S. Ceballos, Study and experimental verification of control tuning strategies in a variable speed wind energy conversion system, Renewable Energy, vol. 36, 2011, pp. 1421-1430. L. N. Sotirov, Selected chapters from modern control theory, Technical University, Varna, Bulgaria 1998. N. N. Nikolov, Study of algorithms for synthesis of state modal adaptive regulators, Ph.D dissertation, Dept. of Computing and Automation, Technical Univ. Varna, Bulgaria, 2008.

0.99

[2]
0.98

[3]
0.97

[4]
0.96

[5]
0.95

[6]
0.94

[7]
b)

QWSB [MVar]

7
[8]

6
[9]

5 4 3 2
[12] [10]

[11]

1
[13]

0 8 10 12 14 16
time [sec]

18

20

22
[14] [15]

Fig. 6. WSB operation characteristics at wind variation: a) - WSB voltage; b) Reactive power.

VI. CONCLUSION In the paper is suggested the adaptive controller for SVC used in wind parks. The proposed adaptive control allows improving the dynamic characteristics of the studied compensator. Due to low requirements of computing resources

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