ELECTRIC POWER ENGINEERING 2010

Advanced Adaptive Control for

Thyristor Controlled Series Capacitors
N. Djagarov1), M. Kolcun2), Zh. Grozdev3), M. Bonev4), L. Beňa5), D. Hlubeň6)
1) 3) 4)
, , , Technical University of Varna, Electrical Faculty, 9010, Varna, Studentska str. Bulgaria,
http://www.tu-varna.bg/tu-varna/ email: jagarov@ieee.bg
2) 5) 6)
, , , Technical university of Košice, Faculty of Electrical Engineering and Informatics, Department of Electric
Power Engineering Mäsiarska 74 041 20 Košice Slovak republic,
http://web.tuke.sk/fei-kee/kee-a.html email: Michal.Kolcun@tuke.sk

ABSTRACT The main trend is to make these controllers adaptive

In the article is proposed a new adaptive control of se-
ries compensator in power systems. This control represents
series connected adaptive stabilizer to the conventional PI-
regulator. With the help of identification parameters and
variables is created control signal for the compensator .By
mathematical modelling studies are performing the investi-
gations of work of the power system in various disturbing
influences. Experimental results show the efficiency of the
proposed adaptive control.
Keywords: FACTS, TCSC, Adaptive Control,
1 INTRODUCTION
The development of power systems put requirements to
increase the power transfer capabilities of existing transmis-
sion system. Because of this, the interest is increasing for
maximizing the utilization of transmission systems by oper-
ating them closer to their thermal limits. That is performs by
using the so-called Flexible AC Transmission System
(FACTS) devices, such as for example, the thyristor con-
trolled series capacitor (TCSC) [1,2,3]. The thyristor-
controlled series capacitor is promising as a powerful device
to increase power transfer capability and transient stability.
The basic configuration of the TCSC consists of a series of
capacitors connected antiparallel with thyristor-controlled
reactors, so that firing angle control of the thyristors makes
the TCSC capable of achieving impedance control in a wide
range with quick response.
The controllers for FACTS can also balance the power
flow and thereby use the existing power system network
most efficiently. Because of their fast response, FACTS
controllers can also improve the stability of an electrical
power system by helping critically disturbed generators to
give away the excess energy gained through the acceleration
during fault. Thyristor controlled series compensator is an
important device in FACTS family, and is widely recog-
nized as an effective and economical means to solve the
power system stability problem.
For control of FACTS is using all known methods from
the theory of control: classical PI-regulators, methods of
fuzzy logic and neural network, regulators with adjusted
parameters, regulators with variable structure and others.
[4,5,6,7].
However, this is related to the need for large computa-
tional resources, which will worsened their performance and
hence - the quality of regulation.
The suggested adaptive stabilizer from us used optimal
singular adaptive observers. These observers based on
measured parameters of the controlling 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 and the ini-
tial vector. That avoiding iterative solution of Riccati equa-
tions and hence is achieve very high speed of identification
and calculation of control signal. Thanks to this, the calcula-
tion 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, damping the oscillations and improving
power system stability like whole.
2 TEST SYSTEM
In the article is presenting power system realized from
one module thyristor controlled series capacitor (TCSC),
transmission line, static active/inductive load and synchro-
nous generator. As can see from Fig.1 the synchronous gen-
erator is connected to infinity bus through transmission line
and TCSC.
Line
SG TCSC
Load Infinity
bus
Fig. 1 Investigated power system scheme
Figure 2 shows a one-line diagram of a single phase of a
TCSC. The operation of TCSC involves discrete actions and
is periodic in nature whereby one of the anti-parallel thyris-
tors of the TCSC conducts during a portion of a half-cycle
of the power frequency and it’s turned-off during the re- 2(π − α ) + sin 2(π − α )
mainder of the cycle. The other anti-parallel thyristor re- X TCSC = X C − .
π
peats the conduction/non-conduction during the next half-
 XC X L 
cycle and vice-versa. The duration and timing of the thyris-  .4cos 2 (π − α )
 XC X L  X −X 
tor conduction is based on the triggering logic and is con-  C L 
trolled by the synchronization system and adaptive X C + + (1)
 XC − X L  XL
regulator. When a thyristor conducts, a circulating current
flows in both the inductor and the capacitor, which can ei- XC  XC XC 
tan π− α  − tan(π − α )
ther increase or decrease the voltage across the capacitor. XL  XL XL 
On the Fig. 3 is shown the reactance of the TCSC as a  
function of the firing angle α. From the figure can be ob- π
served that a parallel resonance is created between the in-
ductor L and the capacitor C at the fundamental frequency. The variation of TCSC reactance (XTCSC/XC), as a
This resonance corresponds to the firing angle αres. fu1nction of firing angle α is depicted in Fig. 3. it is noted
from Eq. (1) that the parallel resonance is created between XL
and XC at the fundamental frequency, corresponding to the
C values of firing angle αres, given by:
πω
αres = (2m − 1) (2)
2ωr
L
Th1 1
where: ωr = , m=1,2
Th2 LC

Fig. 2 One-line diagram of a single phase from TCSC 3 ALGORITHM FOR ADAPTIVE CONTROL
The value of the reference thyristor angle is varied in The main function of adaptive control is continually
interval between 0 and π/2 and for each angle the value of identifying the controlled object in real time using a linear
the TCSC voltage is observed. Since al other parameters are model of low order and the formation of control signal. In
constant, the TCSC voltage is directly proportional to the the studied power system is using a standard PI-controller
TCSC impedance and this is an effective way to obtain and scalar modal adaptive stabilizer. On the inputs of
accurate information on the fundamental TCSC impedance stabilizer is feeding a discrete sample from the output of a
[8]. The equivalent impedance may be defined by using the PI-regulator, measured line impedance at the point of
following equation: placement of TCSC and reference line impedance (Fig. 4).
Scalar modal adaptive stabilizer identify in real time the
controlled object on the base of estimated parameters and
variables of the model. After that is forming the control
XL(αres)=XC signal for firing of anti-parallel thyristors for thyristor
controlled reactor.
Inductive Prohibited
region region Zm
αLmax ≤ α ≤ αCmin
Inductive

0 ≤ α ≤ αLmax

PI Scalar modal αTH

adaptive
αLmax αres αCmin π/2 regulator stabilizer
0 α
Zref
Capacitive

Adaptive control
αCmin ≤ α ≤ π/2
Fig. 4 Block diagram of advansed
Capacitive adaptive control
region The observed system might be present by a following
type of a linear model in the state space describing from
Fig. 3 TCSC steady state impedance characteristics following differential equations:
x(k + 1) = A.x(k ) + b.v (k ) , (3)

y (k ) = c t .x(k ) , (4)
v (k ) = u(k ) + z (k ) , x(0)=x0, k=0,1,2,
where: x(k), x(k+1) are an unknown current state vector in
two neighbour moments of discretization; x(0) is an
 )
unknown initial state vector; u(k) is an input signal; z(k) is a I q.ref (k ) = k0 (k ).yref + k (k ).x (k − 1) (16)
limited input sequence for identification;
where: yref is reference signal given from the operator.
Following difference equation ‘’input-output” corre-
sponds to equations (3) and (4):
4 EXPERIMENTAL RESULTS
y(k + n) −an.y(k + n −1) −an−1.y(k +n −2) −....−a2.y(k +1) −a1.y(k) =
USG [p.u.]
=h1.u(k +n −1) + h2.u(k +n −2) +....+hn−1.u(k +1) + hn.u(k). (5)
1.6
k =0,1,2,....
,
The investigation [9] shows that for TCSC control could 1.4
be used minimal models from 2-nd order, which ensures high
rapidity and sufficient accuracy. 1.2
A, b and c are unknown matrices and vectors of the fol-
lowing type: 1
0 1  0 1  0   1
A= t =  ; b = 1 ; c = 0  (6) 0.8
 a  a 1 a 2     
The input/output data are shaped in following matrices 0.6
and vectors.
 y (0 )  y (2 ) v(0 ) 0.4
Y1 =   ; Y2 =   ; V1 =  ;
 y (1)  y (3 )  v(1) 20 20.5 21 21.5 22
time [sec]
 y (0 ) y (1) Fig. 5 Synchronous generato voltage
Y12 =   PTCSC [MW]
 y (1) y (2 ) 5000
The vector estimate â is calculating by following ex-
4000
pression:
Y12 .aˆ = Y 2 − V 1 (7) 3000

The initial steady state vector x̂ (0 ) estimation is calcu- 2000

lates by the optimal estimator of following type: 1000
xˆ (0 ) =Y 1 (8)
0
The initial steady state vector x̂ (0 ) is estimates by cur-
-1000
rent state vector xˆ (k ), k = 0,1,2,... with the help of full opti-
mal singular adaptive observer from the type: -2000
)
xˆ (k + 1) = F.xˆ (k ) + b.v (k ) + g.y(k ) (9) -3000
xˆ (0 ) = xˆ 0 ; k=0, 1, 2, …, 20 20.5 21 21.5 22
time [sec]
where:
Fig. 6 Active power through TCSC
) ) δSG [deg]
F = A − g .cT (10)

gT = [g1 , g 2 ,...g n ] (11) 50

The determination of formulate problem with the help of 40
suggested algorithm exist only if matrix Y12 is singular
detY12 ≠ 0 (12) 30

The stabilizing signal Iq.ref calculates by using of astatic 20

modal state regulator with scale factor k0 from following
type: 10
k (k ) = [k1 (k ),k 2 (k ),....k n (k )] (13) 0
) ) )
Az = A − b (k − 1).k (k ) (14) -10
) −1
k0 (k ) = c T I n − Az

( )−1 .b)(k − 1) (15) -20
20 20.5 21 21.5 22
time [sec]
Fig. 7 Load angle of synchronous generator
 For proving effectiveness of the investigated system was
created computer model in Matlab space. The results from USG [p.u.]
performed investigations are compared with system with
identical parameters witch the control of compensator is
performed from conventional PI-regulator [10]. Different 1.1
disturbances causing transient processes have been
simulated. On the figures below are illustrated part of 1
parameters of power system and TCSC as in steady-state
mode as in dynamic mode. On figures with blue line are
illustrated parameters with adaptive modal control and with 0.9
red line – with conventional PI - control. On Fig. 5 ÷ Fig. 9
is shown the parameters of synchronous generator and 0.8
TCSC at three-phase short circuit at bus between line and
TCSC in 20.00 sec with duration 30msec. On the Fig. 10÷
0.7
Fig. 12 is shown the parameters of power system at voltage
drop with 30% with duration of 0,2 sec from infinity bus
side at time 15,00 sec.
15 16 17 18 19 20
time [sec]
ωSG [p.u.] Fig. 10 Synchronous generator voltage
PSG [p.u.]
2
1.004

1.002 1.5

1 1

0.998 0.5

0.996
0

0.994
20 20.5 21 21.5 22 -0.5
time [sec] 15 16 17 18 19 20
Fig. 8 Angular speed of synchronous time [sec]
generator Fig. 11 Synchronous generator active power
αTh1,2 [deg] ZTCSC [Ohm]
90
145

85 140

80 135

130
75

125
70
120
20 20.5 21 21.5 22 15 16 17 18 19 20
time [sec] time [sec]
Fig. 9 Firing angle for TCSC thyristors Fig. 12 TCSC impedance
 5 CONCLUSION
In the paper is suggested a new adaptive control of series
compensator in power system. This control combines con-
ventional PI-controller and adaptive regulator using an identi-
fication method. With the help of identification model from
minimal order is identify its variable and parameters. Based
on the identified parameters and variables is forming control
signal, which control thyristors of the TCSC.
The studied power sistem, representing work of synchro-
nous generator with infinity bus. Different disturbances caus-
ing transient processes was simulated. The obtained
experimental results show the improvement the stability of
research power system and quality of transitional regimes.

ACKNOWLEDGEMENT
This publication is the result of the implementation of
Join Research Project: TU-Varna – TU-Košice: Utilization
of FACTS devices in electrical power systems.
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