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FACTS (EEL894) Assignment - I

H Malik (2012EEZ8357) Date: 15/04/2013



Que: Prepare a control scheme for UPFC.

Control Scheme for UPFC

A controller for the UPFC that realizes voltage regulation and power flow control can be
designed based on the p-q theory and the concept of instantaneous aggregate voltage. Moreover,
it is an integrated design that generates the instantaneous values of the compensating current i
c

for the shunt converter, and the compensating voltage v
c
for the series converter. The shunt
converter acts as a controlled current source and the series converter as a controlled voltage
source. Here, it is assumed that both converters have a PWM switching control.

Only three measurements are needed as inputs to the UPFC controller:

1. The phase voltages of the controlled ac bus (v
a
, v
b
, v
c
)
2. The voltage of the common dc link (V
dc
)
3. The currents of the controlled transmission line (i
sa
, i
sb
, i
sc
)

Four reference values are needed:

1. The real power order of the controlled transmission line (P
REF
)
2. The imaginary power order of the controlled transmission line (Q
REF
)
3. The voltage magnitude of the controlled ac bus (V
REF
)
4. The rated voltage of the common dc link (V
dcREF
)

The control block of the UPFC series converter shown in Fig.1(a) contains the direct Clarke
transformation (abc to coordinates) for voltage and currents, and the real and imaginary
power calculation. A three-phase system without a neutral conductor is being considered, and the
zero sequence components are neglected.

If zero-sequence components are neglected, the following relations are valid:
0
0
a b c
a b c
v v v
i i i
+ + =
+ + =
(1)
Under this constraints, it is possible to simplify the Clarke transformation in Fig.1(a). Recalling
that line voltages do not contain any zero sequence components, that is,
0
ab bc ca
v v v + + = (2)
Where
ab a b
v v v = ,
bc b c
v v v = ,
ca c a
v v v = . From (1), it is possible to determine phase
voltages as functions of line voltages, that is,
( ) / 3
( ) / 3
( ) / 3
a ab ca
b bc ab
c ca bc
v v v
v v v
v v v
=
=
=
(3)


(a) Control block diagram of the series converter




(b) Control block diagram of the shunt converter

Figure 1. A UPFC control block diagram based on the p-q theory.




Further simplification can be made, since
ca ab bc
v v v = from (2). Thus, phase voltages can be
determined from the measurement of only two line voltages:

2 1
1
1 1
3
1 2
a
ab
b
bc
c
v
v
v
v
v
( (
(
( (
=
(
( (

( (

(4)
Neglecting zero-sequence components, the Clarke transformation is given by

1 1
1
2 2 2
3 3 3
0
2 2
a
b
c
v
v
v
v
v

(
(
(
(
(
( =
(
(
(

(

(

(5)
From (4) and (5), the -voltage components can be determined directly from the two measured
line voltages:

1
1
2 2
3
3
0
2
ab
bc
v v
v v

(
(
( (
( =
( (
(
(

(6)
Only two measurements of line currents are necessary, provided that
c a b
i i i = . In this case, the
-current components are given by
3
0
2 2
3
3
3
2
s
sa
s
sb
i
i
i
i

(
(
(
(
( =
(
(
(

(

(7)
The real and imaginary powers of the controlled transmission line are given by
s
s
v v i p
v v i q


( ( (
=
( ( (


(8)
These instantaneous powers are continuously compared with their references (real and imaginary
power order, P
REF
and Q
REF
respectively). The calculated error signals p and q serve as input
variables to PI controller that generate an imaginary control power signal q
c
and a real control
power signal p
c
, respectively.
The compensating voltage components on the axes are determined as
*
2 2 *
1 C C
C C
v v v p
v v q v v v



(
( (
= (
( (
+
(

(9)
The inverse Clarke transformation of (9) is given by
*
*
*
*
*
1 0
2 1 3
3 2 2
1 3
2 2
C
C
Ca
Cb
Cc
v
v
v
v
v

(
(
(
(
(
(

(
(
( =
(
(
(
(

(

(

(

(10)
The above set of equations constitutes the entire control algorithm of the controller for the series
converter of the UPFC. Next, the equation for the shunt converter is presented.
Instead of using direct calculation of power p
2
that is given by the product of v
c
and i
s
, a
measurement of the dc link voltage v
dc
is used to generate the compensating real power p
1
for the
shunt converter as shown in Fig.1(b). By doing so, an extra real power needed to supply losses in
the power circuit of the UPFC is conventionally included in control signal p
1
.
The compensating current components on the axes are determined as

*
1
2 2 *
1
1 C
C
i v v p
v v q v v i



(
( (
= (
( (
+
(

(11)

The inverse Clarke transformation gives the instantaneous reference currents as
*
*
*
*
*
1 0
2 1 3
3 2 2
1 3
2 2
Ca
C
Cb
C
Cc
i
i
i
i
i

(
(
(
(
( (

(
( ( =
(
( (
(
(

(

(

(12)
The above equations (10) and (12) show that the control algorithm of the series converter
provides instantaneous voltage reference values for the PWM control of the series converter,
whereas the control algorithm of the shunt converter provides instantaneous current reference
values, respectively.



References

[1] N.G.Hingorani and L.Gyugyi, Understanding FACTS, Concepts and Technology of Flexible AC Transmission
Systems, IEEE press, 2000.
[2] H.Akagi, Instantaneous Power Theory and Applications to Power Conditioning, IEEE press,2007
[3] Y.H.Song and A.T. Johns, Flexible AC Transmission Systems (FACTS), U.K.1999
[4]E.F. Fuchs and Md.A.S. Masoum, Power Quality in Power Systems and Electrical Machines, Elsevier
press,2008.

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