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FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) -MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

P.V.Chopade B.E.Kushare MIEEE, LMISTE MIEEE, LMISTE Electrical Engg. Dept. Electrical Engg.Dept Bharati Vidyapeeth K.K.Wagh College Deemed University of Engg.,Nashik College of Engg. Pune ,MS,India pravinvchopade@gmail.com M. T. Hiwase Inst. Engg. Dept. Dr. D. Y. Patil College of Engg., Pimpri, Pune. Dr. D.G.Bharadwaj LMISTE Electrical Engg Dept. Bharati Vidyapeeth Deemed University College of Engg. Pune-43 dattatrayb@eth.net

pravinchopade@ieee.org

ABSTRACT : With the growing demand of electricity, at times, it is not possible to erect new lines to face the situation. Flexible AC Transmission System (FACTS) makes use of the thyristor controlled devices and optimally utilizes the existing transmission network. Number of controlling devices and have been propounded which pertain either to the group of series connected controllers or shunt controllers to provide power flow or voltage control respectively . One of such device is Unified Power Flow Controller (UPFC) on which the emphasis is given in the present work. Index Terms(Key Words)- FACTS,UPFC,GTO. 1. INTRODUCTION : [2] [4] The UPFC has full dynamic control on the transmission parameters, voltage, line impedance and phase angle. It consists of two back-to-back voltage sourced inverters having Gate Turn Off (GTO) thyristor valves with a common d.c. terminal capacitor as shown in Fig.1.1. The real power can flow freely in either direction between the a.c. terminals of the two inverters, each one of them can either generate or absorb reactive power. These inverters, labeled Inverter 1 and Inverter 2 in the figure, are operated from a common dc link provided by a dc storage capacitor. This arrangement functions as an ideal ac to dc power converter in which the real power can freely flow in either direction between the ac terminals of the two inverters and each inverter can independently generate (or absorb) reactive power at its own ac output terminal. Inverter 2 provides the main function of the UPFC by injecting an ac voltage Vpq with controllable magnitude Vpq (0 < Vpq < Vpq max) and phase angle (0< < 360o), at the power frequency, in series with line via an insertion transformer. The

Figure 1.1 : Implementation of the Unified Power Flow Controller using Two back-to-back voltage Sourced inverters with a common dc terminal capacitor.

injected voltage can be considered essentially as a synchronous ac voltage source. [3]. The transmission line current flows through this voltage source resulting in real and reactive power exchange between it and the ac system. The real power exchanged at the ac terminal (i.e. at the terminal of the injection transformer) is converted by the inverter into dc power, which appears at the dc link as positive or negative real power demand. The reactive power exchanged at the terminal is generated internally by the inverter. The basic function of Inverter 1 is to supply or absorb the real power demanded by Inverter 2 at the common dc link. This dc link power is converted back to ac and coupled to the transmission line via a shunt connected transformer. Inverter 1 can also generate or absorb controllable reactive power, if it is desired, and thereby it can provide independent shunt reactive compensation for the line. It is important to note that whereas there is a closed direct path for the real power negotiated by the action of series voltage injection through inverter 1 and 2 back to the line, the corresponding reactive power exchanged is supplied or absorbed locally by Inverter 2 and therefore it does not flow through the line. Thus Inverter 1 can be generated at a unity power

FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) - MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

factor or can be controlled to have a reactive power exchange, with the line independently of the reactive power exchanged by Inverter 2. This means that there is no continuous reactive power flow through the UPFC. The UPFC can fulfill all these functions and thereby meet multiple control objectives by adding the injected voltage Vpq , with appropriate amplitude and phase angle, to the terminal voltage Vo . The UPFC described can be thus be useful in 1. Reactive shunt compensation 2. Reactive Series compensation, and 3. Phase shifting UPFC thus meets multiple control objectives by adding the injected voltage Vpq in appropriate values of terminal voltage V0 in requisite magnitude and phase. 2. REAL POWER (P) AND REACTIVE POWER (Q) CONTROL [8][ [9] Fig 2.1 represents the schematic diagram of twomachine system indicating Vs and Vr as sending end receiving end voltages respectively .Neglecting reactance of the transmission line, X is the inductive reactance of line or tie.

Fig. 2.3 : Plot of P and Q against The reactive power Q = Qs = Qr , is shown plotted against the transmitted power P corresponding to the stable values of (lie 0 < < 90 o). Q = Q s = Qr

Fig. 2.4 : Reactive Power Vs Transmitted Power Fig 2.5 is the extension of the basic system shown in Fig 2.1, which includes UPFC

Fig 2.1 Simple Two-Machine System Fig. 2.2 shows the phasor diagram when Vs and Vr are displaced by an angle (the power angle) and |Vs| = |Vr| = V. Fig. 2.5 : Two Machine System with Unified Power Flow Controller The voltage injected by the UPFC in series with line is represented by phasor Vpq having magnitude Vpq (0 < Vpq < 0.5 pu.) and angle (0 < < 360o) measured from the given phase position of phasor Vs, as illustrated in the figure 2.5. The line current represented by phasor I, flows through the series voltage source Vpq, and generally results in both reactive and real power exchange. In order to represent the UPFC properly , the series voltage source is stipulated to generate only the reactive power Qpq it exchanges with the line. Thus, the real power Ppq it negotiates with the line is assumed to be transferred to the sending-end generator as if a

Fig. 2.2 Simple Two-Machine System The Transmitted Power P = (V2/X ) sin and the reactive power Q = Qs = Q r= V2/X (1-cos ) Fig. 2.3 shows the plots of P and Q against

FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) - MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

perfect coupling for real power flow between it and the sending-end generators. This is in agreement with the UPFC circuit structure in which the dc link between the two constituent inverters establishes a bi-directional coupling for real power flow between the injected series voltage source and the sending-end bus. As Figure 2.5 implies, in the present discussion it is further assumed for clarity that the shunt reactive compensation capability of the UPFC is not utilized. That is, the UPFC shunt inverter (inverter 1 in Figure 1.1) is assumed to be operated at unity power factor, its sole function being to transfer the real power demand of the series inverter to the sending-end generator. With these assumptions, the series voltage source, together with the real power coupling to the sending-end generator as shown in Figure 2.5. is an accurate representation of the basic UPFC. It can be readily observed in Figure 2.5 that the transmission line sees Vs + Vpq as the effective sending end voltage. Thus, it is clear that the UPFC affects the voltage (both its magnitude and angle) across the transmission line and therefore it is reasonable to expect that it is able to control, by varying the magnitude and angle of Vpq the transmittable real power as well as the reactive power demand of the line at any given transmission angle between the sendingend and receiving-end voltages. 3. MATHEMATICAL MODEL [6]

Fig. 3.1. Single line diagram UPFC + two bus network

Fig.3.2

Single line diagram of one branch

Fig.3.3 Single line diagram of one branch decomposed in scalar axis. This results in following equations : Vnet 1d = V2d + R1 I1d - L1 I1q + L1 dI1d ------dt Vnet 1q = V2q + R1 I1q - L1wI1d + L1 dI1q

A Simple two-bus system with UPFC is shown in Fig. 3.1 .The series and shunt compensations are actuated through series voltage Vs and shunt current Ish respectively. Rt, R , and Xt, X1 are the parameters pertaining to transformer & transmission line respectively. The current component in phase with the injected voltage Vs determines the real power exchanged with the shunt part. The MATLAB model ensures an active power balance between the shunt and series part. 3.1 D-Q Axes Equations : The circuit shown in Fig 3.1 is divided into different branches as described in Fig 3.2. The d-q transform, [6] is applied to the branch composed of a voltage source in series with a R-L element representing a transformer and transmission line (d-q) co-ordinates represent the direct and quadrature projection of vectors. Since the aim is steady state power frequency solution, equation 1 are simplified by neglecting the derivatives of the currents.

---------

dt ------- Eqn (1) 3.2 Network Equations : For Figure 3.1 i) Network Equivalent Based on two parameter in one substitution the short circuit power Ssc and the XR = X/R ratio (X = L ) , line parameters are calculated with equation U22n R = ----------------- , L = XR Eqn(2) Ssc 1+ XR2 - R1, X1 = L1 Rs Xs = Ls Line parameters are calculated considering short circuit power reference equation 2.

FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) - MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

(ii) Infinite Source Equivalent In Figure 3.1 the infinite voltage source are calculated for a given power flow transfer P2, Q2, simple formula could be used when the losses are not taken into account. The following calculation is performed in the general case : V1 = RI + jL I +V2 This relation is decomposed in the scalar axis as described in Fig 3.3 one line diagram of one branch. V1= V2 cos + RI cos 0 = V2 sin - RI sin + L sin + L sin ----Eqn(3) System (3) gives the equation (4): L V1 - L V2 cos + R V2 sin = -----------------------------------------R2 + (L )2 R1V1 - V2 (L * sin + R cos ) = ---------------------------------------R2 + (L )2 -------- Eqn (4) or P = 3/2 V1 I sin Q = 3/2 V1 I cos Lets introduce the following variables A, B, x, y x = V2 cos y = V2 sin A = V2 (L sin + R cos ) = L y + Rx cos ) = Ry - L x ------Eqn (5) system (5) gives the equations (6) : x = V2 cos AR - BL = -----------------R2 + (L )2 AL + RB = -----------------R2 + (L )2

V2 =

x2 + y2 , Phi2 =

= A TAN(y/x) -- (6)

Vector voltage Vnet1 and Vnet4 are calculated to ensure a given P2 and Q2 flows in initial conditions without UPFC, which is given above. 4. FLOW CHART AND RESULTS : UPFC- Reactive Compensation Impact on a Two bus system

I sin

Fig. 4.1 Voltage for various Ssc1 in V2

I cos

Fig. 4.2 P3 and Q3 flow in line for various Ssc1 at V2.

B = V2 (R sin - L

y = V2 sin

---

Eqn (6)

The infinite voltage source is calculated based on equation (4).


Fig. 4.3 P3 and Q3 flow in line for various Ssc1 at V2 FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) - MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

UPFC FLOWCHART

Main Algorithm The algorithm described in Flowchart shown above is based on four main loops describing the full range of UPFC capability - Short Circuit Power Ssc1, Ssc2 - Reactive current injection from the shunt inverter ishq - Series voltage amplitude Vs and phase-shift PHIs This Matlab model is designed to be customized depending on situations . It is possible to loop on various parameters such as power flows in line, voltage at V2, X/R ratio etc. Reactive Compensation Impact on A Two Bus System Based on an actual installation [11], the impact of the UPFC Shunt part on the power system is evaluated R1, Rs, X1, Xs are calculated using Short circuit strength at the buses. Vnet1, Vnet2 are calculated for initial power flows through the line P2(o) = 500 MW, Q2 (0) = -150 Mvar.

The voltage bus in PST1 (Inez) substation is taken at V2 = 138 Kv = 1 pu. The UPFC shunt part can provide upto 160 Mvar = 1 pu.

FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) - MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

Influence of the short circuit power For number of parametric studies, the use of Matlab model could be versatile. Figure 4.1 shows the voltage magnitude at V2 as function of the injected reactive power by the shunt part at different short circuit strength levels: Ssc1 = [1500; 2000; 2500; 3000; 3500]MVA. Fig. 4.2 shows that the shunt part has the capability to control the voltage from 3.5% to 7% , for the considered short circuit strength range. Fig. 4.3 shows the real and reactive power flows when the shunt output is varied from -160 to +160 MVA. It shows that the active flow varies from 460 MW to 535 MW where as reactive power flow can be greatly controlled upto 160 Mvar. The power flow is increased between 70 MW and 40 MW when the SSC1 is respectively 1500 MVA or 3500 MVA. Further studies which are carried out for evaluating the performance of UPFC includes Series Compensation Impact A. Influence of Series voltage injection B. Series Voltage and reactive current injection. C. UPFC impact for different short circuit power Thus this Matlab tool is useful to rate, evaluate or understand, the characteristics performance of UPFC on power system 5. CONCLUSION: Today, incorporation of the control capabilities provided by powerful controller UPFC into an optimal power flow opens up an unused potential for reducing power losses as well as cost for power transmission. Also due to deregulation, restructuring there is tremendous competition amongst the utilities to grab the consumers, for which efficient and effective use of transmission line, increase in power transfer capability, functionality of dumping the oscillators and also control of power flow and voltage profile are important criteria. UPFC is an advanced configuration that combines, the simulations, operation of real and reactive power flow control, dynamic voltage control and stability. UPFC damps the oscillations, improves reliability and proven to be cost effective. In future, Generalized Unified Power Flow Controller (GUPFC) will significantly extend the voltage and power flow capability, and offers a great potential in solving many of the problems facing the electric utilities in a competitive environment.

6. ACKNOWLEDGEMENTS
The Authors of this paper are greatly thankful to the Management of Bharati Vidyapeeth ,Bharati Vidyapeeth Deemed University, Dr.A.R.Bhalerao, Principal, Bharati Vidyapeeth Deemed University College of Engineering, Pune, for their support and constant inspiration for sending our paper to this AUPEC2005 International Conference at Hobart, Australia.

REFERENCES :
[1] N.G. Hingorani , EPRI , Flexible AC Transmission System IEEE Spectrum power systems, April 1993, p.p. 40-45 [2] Dr. L. Gyugyi FIEE, Unified Power Flow Control concept for flexible AC transmission systems, IEE proceedings - C, Vol. 139 , No. 4, July 1992, p.p 323-331 [3] Dr. L.Gyugyi, Dynamic Compensation of AC Transmission lines by solid-state synchronous voltage sources, IEEE Transactions on Power Delivery , Vol. 9, No.2, April 1994, p.p. 904 - 911. [4] Dr. L.Gyugyi, T.R. Rietman, A.Edris, The Unified Power Flow Controller: A New Approach to Power Transmission Control , IEEE Transaction on power systems, May 1994, p.p. 1085 - 1093. [5] Prof. M.T. Hiwse (Guide), Pravin V. Chopade, "Application of FACTS Technology to increase Asset Utilisation of Power System" Project report for Master's Degree at Govt. College of Engineering, Pune - 411 005, University of Pune in Dec1999. [6] X.Lombard, P.G. Therond , Control of Unified Power Flow Controller : Comparison of methods on the basis of a detailed numerical model, IEEE Transactions on Power Systems,
vol.12, No.2, May 1997 p.p. 824 830.

[7] Dr. L. Gyugyi FIEE, Unified Power Flow Control concept for flexible AC transmission systems, IEE proceedings - C, Vol. 139 , No. 4, July 1992, p.p 323-331. [8] Dr. L.Gyugyi, T.R. Rietman, A.Edris, The Unified Power Flow Controller: A New Approach to Power Transmission Control , IEEE Transaction on power systems, May 1994, p.p. 1085 - 1093. [9]Y. Marioka, Y. Mishima, M. Asada, Implementation of Unified Power Flow Controller and verification for Transmission Capability Improvement, IEEE Transactions on
power systems , vol. 14, No. 2, May 1999. p.p. 575 - 581

[10]Manzar Rahman, M.Ahmed UPFC Application on the AEP system : planning considerations, IEEE Transactions on Power systems, vol.12, No.4, November 1997, p.p. 1695-1701.

FACTS :UNIFIED POWER FLOW CONTROLLER (UPFC) - MATHEMATICAL MODELLING AND PERFORMANCE EVALUATION

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