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NEW MODEL OF A THYRISTOR CONTROLLED PHASE SHIFTER IN A SIMPLE POWER SYSTEM P. Kumkratug and M. H.

Haque Center of Advanced Power Electronics School of Electrical and Electronic Engineering Nanyang Technological University Singapore
Abstract
This paper proposes a new model of a Thytristor Controlled Phase Shifter (TCPS) placed in a single machine infinite bus system. The voltage magnitude and angle of the bus at which the TCPS is connected are expressed in terms of the control parameters of the TCPS. With this model, the generator output power can easily be expresses in terms of TCPS parameters and that makes the dynamic analysis of the system much simpler. The proposed model of TCPST is then used to investigate the damping improvement of a single machine infinite bus system and the results obtained are systematically described.

1.

INTRODUCTION

Flexible AC transmission systems (FACTS) devices are being increasingly used in a modern power system to improve both steady state and dynamic performances of the system. For many years, one of major interests of power utilities is to improve the system damping. FACTS devices have the capability of improving not only system damping but also other aspects of the system [1]. There are many types of FACTS devices, such as Unified Power Flow Controller (UPFC), Static Synchronous Compensator (STATCOM), Static Synchronous Series Compensator (SSSC), Thyristor Controlled Phase Shifter (TCPS), Static Var Compensator (SVC), etc. All of these devices can be used to improve system damping [2, 3]. A TCPS consists of a shunt transformer, a series transformer and a converter. The classification of TCPS depends on the type of converter used. The converter can be of ac-ac bridge type, pulse-width modulation (PWM) type, ac controller type, etc. [4]. Most of the previous works on damping improvement by FACTS devices used PSCAD/EMTDC software to generate the system response [5-8]. In this software, power system and FACTS devices need to be represented at component level. This requires significant amount of computational time to generate the system response because of the use of very small step size. However, the electromechanical dynamics

of the machine is very slow and thus such a sophisticated system model may not be required to generate the swing curve. In fact, almost the same dynamic response of the machine can be obtained when the system and the FACTS devices are represented by some appropriate mathematical models. It is well known that the output electrical power of a generator is the main factor that dictates the dynamic behavior of the generator. Thus if the parameters of the FACTS devices are directly incorporated into the expression of electrical output power of the generator, the dynamic analysis of the system would become easier. The incorporation of the parameters of STATCOM, SSSC and UPFC into the output electrical power equation of the generator is presented in [9-11]. This paper presents a mathematical model of a TCPS in a simple single machine infinite bus system. The above model helps to investigate the effect of TCPS on system dynamics in a much simpler way. A control strategy of the TCPS is also presented to improve damping of the system. 2. MATHEMATICAL MODEL

Fig. 1(a) shows the schematic diagram of a TCPS. The series transformer injects a voltage in series with the system. The active and reactive power injected by the series transformer is taken from the shunt

transformer. For the sake of simplicity, the losses in the transformers and the converter are neglected. Thus the net complex power (active and reactive power) exchange between the TCPS and the system is zero. The injected complex power of the series transformer depends on the complex injected voltage and the line current. Fig. 1(b) shows the equivalent circuit of Fig. 1(a) where Vs and Vsh represent by the voltage of the series and shunt transformer, respectively. Xs and Xsh represent the leakage reactance of the series and shunt transformers, respectively. X s represents the leakage reactance seen from the primary side of the series transformer and is given by X s = X s + n 2 X sh where n is the turns ratio of the shunt transformer [12]. The shunt voltage source and the associated leakage reactance Xsh can be represented by a shunt injected current source (Ish) as shown in Fig. 1(c). The shunt injected current has two components: in phase component (Ip) and quadrature component (Iq) with respect to the bus voltage Vm. Thus Ish can be expressed as I sh = ( I p jI q )e j m (1)

Here b=1/X2 and s is the angle of VS. Similarly, the active (Psht) and reactive (Qsht) powers drawn by the shunt transformer are given by
Psht = [S sht ] = Vm I p Q sht = [S sht ] = Vm I q

(5) (6)

AC System

Series transformer

Shunt transformer

Converter

(a)
m Vs jX s n

Vs

jX s

jX sh Vsh

I sh

(b)

(c)

Consider a TCPS is placed at bus m of the single machine infinite bus (SMIB) system of Fig. 2(a). Fig. 2(b) represents the equivalent circuit of Fig. 2(a). Here X1 is the sum of generator transient reactance, main transformer leakage reactance and the equivalent reactance of lines 1 and 2; X2 is the sum of X s and the equivalent reactance of lines 3 and 4. Fig. 3 shows the phasor diagram of the system showing various voltages and currents The complex power (Sst) injected by the series transformer can be written as Vm + Vs + E 2 S st = Vs (I ) = Vs jX 2
* *

Fig. 1 A TCPS: (a) schematic diagram; (b) equivalent circuit; (c) current injection model.
Main Transformer

Generator G

L1 L2

m Series transformer

L3 L4

Shunt transformer converter

(a) (2)
E1 jX 1 Vm = Vm m Vs V m jX 2 E 2 = E 2 0

The active (Pst) and reactive (Qst) powers injected by the series transformer are given by Pst = [S st ] = bV sVm sin( s m ) bV s E 2 sin( s ) Q st = [S st ] = bV sVm cos( s m ) + bV s2 + bV s E 2 cos( s ) (3) (4)

I sh

(b) Fig. 2 A single machine infinite bus system with a TCPS: (a) single line diagram; (b) equivalent circuit.

Is =
Vm a

Vs = aVm be j ( m + 90) jX 2

(12)

Vm

The above current source is connected between bus m and the infinite bus and it can be replaced by two shunt current sources as shown in Fig. 4(b). The net injected current (Iinj) at bus m can be written as
I inj = I sh + I s

Ip

(13)

m
I sh Iq

E2

The injected current I inj can further be replaced by a fictitious load S Lf as shows in Fig. 4(c). The value of the fictitious load is given by

Fig. 3 Phasor diagram of the system. As mentioned earlier, the net complex power exchange between the TCPS and system is zero. Thus Pst = Psht (7)

S Lf = PLf + jQLf = Vm (I inj )*

(14)

The active and reactive powers of the fictitious load are given by
PLf = [S Lf ] = abE 2Vm sin( m + )

(15)

From eqns. (3) and (5), the in-phase component of shunt current (Ip) can be written as bV s E 2 sin( s ) Vm

Q Lf = [S Lf ]
2 2 = 2abVm cos + a 2 bVm + abE 2Vm cos( m + ) (16) The active power balance equation at bus m of Fig. 4(c) can be written as

I p = bVs sin( s m ) + Consider

(8)

Vs = ae j . The value of a depends on the Vm

size or rating of the TCPS (0 a amax) and the range of depends on the type of the TCPS used [4]. Thus eqn. (8) can be rewritten as
I p = abVm sin( ) + abE 2 sin( m + )

PR1 = PLf + Ps 2
where PR1 = and Ps 2 =

(17)

E1Vm sin( m ) X1

(9)

Vm E 2 sin( m ) X2

Similarly, the reactive power balance equation of the TCPS is Qst = Qsht (10)

After some mathematical manipulations of eqn. (17), the angle m of the voltage at bus m can be expressed as X 2 E1 sin + aX 1 E1 sin( ) m = tan 1 X 2 E1 cos aX 1 E 2 cos( ) + X 1 E 2 (18) Similarly, the reactive power balance equations at bus m of Fig. 4(c) is
Q R1 = Q Lf + Q s 2

Using eqns. (4) and (6), the quadrature component of shunt injected current (Iq) can be written as I q = abVm cos a 2 bVm abE 2 cos( m + ) (11)

The series injected voltage Vs and the associated reactance X2 of Fig. 2(b) can be transformed into a current Is as shown in Fig. 4 (a). The value of Is is given by

(19)

EV V2 where Q R1 = 1 m cos( m ) m X1 X1 and Q s 2 =


2 Vm

Pe =

X2

Vm E 2 cos( m ) X2

E1Vm sin( m ) X1

(21)

After some mathematical manipulations of (19), the voltage magnitude Vm at bus m can be written as Vm = 1 /[ X 1 + X 2 + a X 1 2 X 1a cos( )] [ X 2 E1 cos( m ) aX 1 E 2 cos( m + ) + X 2 E 2 cos( m )] ( 20)
2

The generator dynamics, in classical model, can be represented by following two first order differential equations

& =
& = 1 [Pm Pe D ] M

(22) (23)

It can be noticed in eqns. (18) and (20) that both the voltage magnitude and angle at bus m depend on the parameters of the TCPS (a and ). From Fig. 4(b), the electrical output power (Pe) of generator can be written as
E1 Vm m E 2 0

jX 1

jX 2

m I sh

Is

Here , , Pm, Pe, M and D are the rotor angle, speed, input mechanical power, output electrical power, moment of inertia and damping coefficient, respectively, of the generator. Equation (23) clearly indicates that the output electrical power (Pe) of the generator is the main factor that dictates the dynamic behavior of the generator because Pm, D and H are usually considered as constant. However, Pe depends on Vm and m, which in turn depend on the parameters of the TCPS. Thus the dynamics of the generator can be controlled by adjusting the parameters of the TCPS.

3. (a)
E1 jX 1 Vm m E 2 0 jX 2

CONTROL STRATEGY

I inj Is I s

I sh

It has been reported that a linear control strategy (proportional to machine speed deviation) provides an excellent damping improvement of a SMIB system [11]. The damping of the system is improved by increasing (decreasing) the output power of the machine when its speed deviation is positive (negative). Thus for a TCPS, the magnitude of the injected voltage a can be considered as
a = K

(24)

(b)
Vm m PS2 + jQS 2 PR1 + jQ R1 m

Here K is a positive constant. The generator output power Pe depends on its angle and the parameters of the TCPS. Thus Pe can be expressed as Pe = f ( , a, ) (25)

S Lf = ( PLf + jQ Lf )
(c) Fig. 4 Successive representation of series voltage source of the TCPS: (a) a series current source; (b) two shunt current sources; (c) fictitious load model.

The value of that provides the maximum (minimum) electrical output power of the generator can be represented by max ( min ). Values of max and min can be obtained from the solution of the following equation. Pe =0 (26)

x 10

-3

4.

SIMULATION RESULTS
Speed deviation of generator (p.u.)

4 K = 55 2 0

K =0

The single machine infinite bus (SMIB) system of Fig. 2(a) is used in this study to investigate the effect of TCPS on system damping. The data of the system are given in the Appendix. The converter of the TCPS is considered as ac-ac bridge type where the angle is always kept in the quadrature ( / 2) with the voltage at bus m [4]. It is considered that a 3-phase fault appears on line L1 and it is cleared by opening the faulted line after 80 ms. The simulation results obtained by using MATLAB software are described in the following. Fig. 5 shows the swing curve of the generator for various values of gain K (or ratings of the TCPS). It can be noticed in Fig. 5 that, without the TCPS (or when K = 0), the generator has undamped oscillations. However, the damping of the generator improves as the value of K is increased. For K = 55, the generator settled down at the stable equilibrium point in about 3 sec. The variation of generator speed deviation, magnitude of the series injected voltage (a) and its angle () for various values of K is also shown in Figs. 6, 7 and 8, respectively. It can be noticed in Fig. 7 that higher voltage injection is required in early part of the transient period when the generator speed deviation is very large (see Fig. 6). The magnitude of the injected voltage decreases as the generator approaches the equilibrium point. Fig. 8 indicates that the angle of the injected voltage is always kept in quadrature with the terminal voltage of the TCPS.
80 75 70 65
G enerator rotor angle (degree) K =55

K = 33

K = 10

-2

-4

-6

3 Time (sec)

Fig. 6 Speed deviation of the generator for various values of K


0.35
Magnitude of the series injected voltage (pu)

0.3 0.25 0.2 0.15 0.1 0.05 0

K = 55

K = 33 K = 10

3
Time (sec)

Fig. 7 Magnitude of series injected voltage for various values of K.


150 Angle of the series injected voltage (degree) K = 55 100 K = 33 K =10

K =0

60 55 50 45 40 35 30 25 0 1 2

K =33

K =10

50 0

-50

-100

-150

3 Time (sec)

3
Tim (sec) e

Fig. 5 Swing curve of the generator for various values of K.

Fig. 8 Angle of the series injected voltage various values of K.

5.

CONCLUSION

This paper presents a mathematical model of a Thyristor Controlled Phase Shifter (TCPS) in a simple power system to investigate the dynamic behavior of the system. The voltage magnitude and angle of the bus at which the TCPS is connected are expressed in terms of the control parameters of the TCPS. This allows expressing the output power of the generator in a much simpler way. The above model of TCPS is then used to investigate the damping improvement of the system. Simulation results indicated that the TCPS is capable of significantly improving the damping of the system. However, the degree of improvement depends of the size or rating of the TCPS. 6. REFERENCES

[1] Gyugyi, L., Dynamic compensation of ac transmission line by solid-state synchronous voltage sources, IEEE Trans. PD., Vol. 9, No. 2, pp. 1994, 904-911. [2] Higorani, N.G., and Gyugyi, L., Understanding FACTS: concepts and technology of flexible ac transmission systems, IEEE Press, New Jersey, 1999. [3] Abdel-Aty, E., Enhancement of first-swing stability using a high speed phase shifter, IEEE Trans. PD, Vol. 6, No. 3, 1991, pp. 1113-1118. [4] Song, Y.H., and Johns, A.T., Flexible AC transmission systems (FACTS), The Institution of Electrical Engineers, London, 1999. [5] Bakhshai, A.R., Joos, G., and Jin, H., EMTP simulation of multi-pulse unified power flow controllers, Proceeding of the Canadian Conference on Electrical and Computer Engineering, Vol. 2, 1996, pp. 847-850. [6] Lo, K.L., Ma, T.T., Trecat, J. and Crappe, M., Detailed real-time simulation and performance analysis of UPFC using electromagnetic transient program (EMTP), Proceedings of International Conference on Power Con98, Vol. 2, 1998, pp. 889-894.

[7] Al-Mawsawi, S.A., and Coonick, A., Analysis, simulation and implementation of PMW based UPFC, Proceeding of the Sixth International Conference on AC and DC Power Transmission, 1996, pp. 220-225. [8] Toufan, M., and Annakkage, U.D., Simulation of the unified power flow controller performance using using PSCAD/EMTDC, Electric Power Systems Research, Vol. 46, 1998, pp. 67-75. [9] Ying, Y., Chen, J., and Han, Y., Statcom modeling and analysis in damping power system oscillations, Proceeding of the Energy Conversion Engineering Conference and Exhibit, Vol. 2, 2000, pp. 756-762. [10] Gyugyi, L., Schauder, C.D., and Sen, K.K., Static synchronous series compensator: a solidstate approach to the series compensation of transmission lines, IEEE Trans. PD., Vol. 12, No. 1, 1997, pp. 406-417. [11] Kumkratug, P., and Haque, M.H., Versatile model of unified power flow controller in a simple system, IEE Proc.-Gener. Transm. Distrib., Vol. 150, No. 2, 2003, pp. 155-161. [12] Noroozian, M., and Anderson, G., Power flow Control by use of controllable series component, IEEE Trans. PD, Vol. 8, No. 3, 1993, pp. 1420-1429. 7. APPENDIX

Data of the single machine infinite bus system of Fig. 2(a) Generator Inertia constant: H = 6.5 sec Direct axis transient reactance: X d = 0.2 pu Prefault electrical output power: Pe = 1.0 pu Prefault internal voltage: E1 = 1.2237.9 Reactance of lines 1 and 2: X = 0.40 pu Reactance of lines 3 and 4: X = 0.50 pu Reactance of the main transformer: Xt = 0.10 pu Reactance of the series transformer: Xs = 0.05 pu Reactance of the shunt transformer: Xsh = 0.05 pu E 2 = 1.000 Voltage of the infinite bus:

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