Keywordsdynamic voltage restorer, multilevel voltage source converter, voltage sag and voltage swell.
PPLICATIONS of multilevel voltage source converter are becoming popular in power and energy systems as results of its high power density, excellent performance and high reliability. Some of the conventional and emerging multilevel voltage source converter (MVSC) applications include flexible AC transmission system (FACTS), custom power and distributed energy system (e.g. photovoltaic, wind, micro turbine) in transmission and distribution systems, respectively[1]-[4]. Application of MVSC for high power utility is the recent developments that going to change the entire distribution system due to the high performance of power semiconductor devices in many ways. In this paper, MVSC is used for implementation in custom power device as the compensator of power quality problems. The concept of custom power devices is introduced by N. Hingorani in early 1990s [1]. These devices can deal with various power quality problems that can jeopardize sensitive loads such as computer, adjustable speed drives and programmable logic controllers. Among various power quality P. Boonchiam and N. Mithulananthan are with the Energy field of study, School of Environment, Resources and Development, Asian Institute of Technology, P.O. Box 4, Klong Luang, Pathumthani 12120, Thailand, (e-mail: mithulan@ait.ac.th).
I. INTRODUCTION
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II. DEVELOPMENT OF POWER SEMICONDUCTORS DEVICES Recent technology advances in power electronics have been made by improvements in controllable power semiconductor devices. In [4] and [5] summarize the most important power semiconductors on the market and their rated voltages and currents today. Metal Oxide Semiconductor Field Effect Transistors (MOSFET) and Insulated Gate Bipolar Transistors (IGBTs) have replaced Bipolar Junction Transistors (BJT) almost completely. A remarkable development in MOSFETs took place during the last years. Nowadays MOSFETs are available up to a maximum switch power of about 100kVA [5]. Various new concepts of MOS-controlled thyristors such as the MOS-controlled thyristor (MCT) and the MOS turn-off thyristor (MTO) have been presented but they do not have any commercial applications. Conventional GTOs are available with a maximum device voltage of 6 kV in traction and industrial converters [6]. The high on state current density, the high blocking voltages, and the possibilities to integrate an inverse diode are considerable advantages of these devices. However, the requiring of bulky and expensive snubber circuits as well as the complex gate drive are the reasons that GTOs are being replaced by IGCTs and Gifts [6]. Like GTOs, IGCTs are offered only as a presspack device. The symmetrical IGCT is offered by Mitsubishi with a maximum device voltage of 6.5 kV [5], [6]. An increase of the blocking voltage of IGCTs and inverse diodes to 10 kV is technically possible today. Due to the thyristor latching, a GTO structure offers lower conduction losses than an IGBT of the same voltage class. To improve the switching performance of classical GTOs, gate commutated thyristors (GCTs) with a very little turn-off delay (about 1.5 s) have been developed [7]. New asymmetric GCT devices up to 10 kV with peak controllable currents up to 1 kA have been manufactured but only those devices with 6 kV and 6 kA are commercially available. IGBTs were introduced on the market in 1988. IGBTs from 1.7 kV up to 6.5 kV with dc current ratings up to 3 kA are commercially available today. They have been optimized to satisfy the specifications of the high-power motor drives for industrial and traction applications. They are mainly applied in a module package due to the complex and expensive structure
TABLE I DEVICES RATING OF MEDIUM VOLTAGE POWER SEMICONDUCTORS Power Semicon -ductors GTO Manufacturer ABB MITSUBISHI ABB MITSUBISHI EUPEC HITACHI TOSHIBA ABB MITSUBISHI Max. Voltage Ratings 6 kV 6 kV 6 kV 6 kV 6 kV 3.3 kV 4.5 kV 6 kV 6.5 kV Max. Current Ratings 6000 A 3000 A 600 A 600 A 600 A 1200 A 2100 A 3000 A 1500 A Case
Presspack Presspack Module Module Module Module Module Presspack Presspack
of an IGBT presspack [6]. In IGBT modules, multiple IGBT chips are connected in parallel and bonded to ceramic substrates to provide isolation. Both IGCTs and IGBTs have the potential to decrease the cost of systems and to increase the number of economically valuable applications as well as the performance of high-power converters, compared to GTOs, due to a snubberless operation at higher switching frequencies (e.g. 500-1000Hz). The max. voltage and current ratings for medium voltage power semiconductors are shown in Table I. III. MULTILEVEL POWER CONVERTER Multilevel voltage source converters have been studied intensively for high-power applications. These converters synthesize higher output voltage levels with a better harmonic spectrum and less insulation stress. However, the reliability and efficiency of the converter are reduced due to an increasing number of devices. Today there is a large variety of converter topologies for medium voltage application. For medium power industrial applications (e.g. S = 300kVA 30MVA) the majority of the industrial manufacturers offer different topologies of Voltage Source Converters: Two-Level Voltage Source Converters (2L-VSC), Three-Level Diodeclamped Voltage Source Converters (3L-DC VSC), FourLevel Flying Capacitor Voltage Source Converters (4L-FC VSC) and Series Connected H-Bridge Voltage Source Converters (SCHB VSC). While 4.5kV, 6kV and 6.5kV IGCTs are mainly used in DC VSCs and CSIs respectively; 2.5kV, 3.3kV, 4.5kV and 6.5kV High Voltage IGBTs (HVIGBTs) are applied in 2L-VSCs, 3L-DC VSCs and 4L-FLC VSCs [8]. The DC VSC topology has been accepted by several large manufacturers. ABB is using this topology in both their ACS 1000 and ACS 6000 series, in a voltage and power range of 2.3kV-4.16kV and 315kVA-27MVA. DC VSC topology uses high-voltage blocking devices with a relatively low switching frequency capability. This topology has a simple circuit and needs a inductive-capacitive (LC) output filter to operate standard application. The FC VSC is attractive if a very high switching frequency, a low harmonic distortion, and a small output filter or a high output voltage is required. The SCHB VSC topology uses low-voltage blocking devices with a high switching frequency capability. It typically consists of three to six equal H-bridge cells per phase, which results in a seven- to thirteen-level output voltage waveform. An input isolation transformer feeds each of the H-bridges via its own threephase winding and full-bridge diode in star, delta, zigzag, and combinations are used. This topology has excellent utility grid current and output voltage waveforms. However, the cost of the complex input transformer and the high number of semiconductor devices with their control equipment are its drawbacks. This paper will extend this comparison to the main electric components of the power part, if all converter realize an output voltage THD of 5% according to the standard IEEE519-1999. Most well known multilevel topologies
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IGBT
IGCT
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developed so far are shown in Figure 4, namely diodeclamped (DC), flying capacitor (FC), and series cascaded Hbridge (SCH) VSCs. The dominant factors in determining which converter topology would be useful in custom power are as follows; independent ac side voltage, size of dc-side capacitor required for balanced and unbalanced current flow, and overall complexity of the converter. As can be seen from the Table II, DC VSC topology uses a low number of capacitors compared to other two topologies. Although this topology requires some additional clamping diodes, its low number of reactive components is usually preferred from the economical point of view. It can be connected to a single dc link voltage. The FC VSC also shares this advantage, but the SCH VSC does not, since this topology requires multiple isolated dc power supplies. Other reason is that FC VSC needs a large dc-side capacitor which may prove difficult and costly. SCH VSC may need booster transformer to reach the desire voltage level. Though, some practical experience with DC VSC reveals technical difficulties that complicate its application, such as: voltage stress and neutral pole balance voltage, the DC VSC has many technical and economical advantages over other topologies. Hence, in this work, The DC VSC is clearly the most attractive topology if a high converter efficiency is required and low switching frequency is applied. At a converter efficiency of 99% and a switching frequency of 1000 Hz the required material costs of semiconductors, gate units, capacitors and inductors are 43% and 173% lower than that FC VSC and SCH VSC respectively. Thus the DC VSC is the most attractive topology for the majority of DVR application in the power and voltage range. IV. MEDIUM VOLTAGE DVR Basic function of medium voltage DVR is to inject a voltage component, vinj(t), of desired amplitude, frequency and phase, between PCC and load in series with the grid voltage. A typical configuration of medium voltage DVR is shown in Fig. 2. The main components of the medium voltage DVR are multi-level VSC, output LC filter, three single phase transformers, DC-link capacitor, and energy storage device. Figs. 3 and 4 show a simplified single-line diagram of the system with DVR that can be represented as a voltage source with controllable amplitude, phase and frequency, and compensation strategy of medium voltage DVR for voltage sag, respectively. During the fault condition, medium voltage DVR will inject both active and reactive power and make appropriate voltage and current compensation. This will thus restore both magnitude and phase of the load voltage. Assuming that load voltage and current in pre-fault conditions are both equal to 1 p.u., the power injected by DVR during voltage sag/swell mitigation is equal to:
DCM VSC
TABLE II DEVICES RATING OF MEDIUM VOLTAGE POWER SEMICONDUCTORS Typ A B C D E e 2n-1 n-L 6(n-1) 6(n-2) n-1 Vdc /(n 1)
5-L n-L 24 6(n-1) 24 6(n-1) 24 18 0 0 0 0 4 3n-5 10 3n/2-1.5 6
9 2n-1 9 2n-1 9
FCM VSC
5-L n-L
CHM VSC
5-L
where A: switches B: independent diodes C: capacitors D: maximum voltage applied E: line-to-line output voltage levels
Vdc/2 N Vdc/2
S1x a S2x
(a)
S21x Vdc/4 S22x S24x S23x a
S13x N S14x
(b) (c) (d) Fig. 1 One-leg topologies of 2L-VSC (a); 5L-SCH VSC(b); 5L-DC VSC(c); 5L-FC VSC(d).
Grid Injection Transformer vload(t) iload(t) PCC
vx(t) iline(t)
Load
Line impedance
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load power factor. Since most of the loads are inductive in nature with lagging power factor, in order to inject voltage, reactive power needs to be injected more than active power. This can be achieved with the help of energy storage devices. V. CONTROL OF MEDIUM VOLTAGE DVR The structure of controllers applied to medium voltage DVR varies considerably. However, in general, DVR control has two parts. The first part includes the measurement of the source (VS) or the load voltage (Vload) as shown in Fig. 5 and the generation of the reference signal (Vref) for the voltage injection (Vinj). This part will have significant role in controlling of the output voltage in response to the reference signal. The second part can be presented with feedback structure that allows a good stationary response while forward structures generate quick responses during voltage transients. The feed forward structures will have both the characters. The generation of the reference signal depends strongly on the compensation objectives. The rms value of the grid voltage can be measured to detect voltage disturbances. Once detected, the phase lock loop (PLL) used to synchronize the compensation signal must be frozen to maintain the previous phase. When the load voltage has to be compensated due to disturbances, a controller can be applied to mitigate the effect of all voltages. In this case, the reference signal is generated by the voltage controller. Figure 6 shows the structure of DVR controller that is applied in the study. Figure 5 describes a novel approach utilizing the space vector control which, in fact, is a part of the core DVR control system. The three supply phases are converted into one phasor VS which itself comprises two orthogonal components, namely, V and V. A synchronous reference frame is locked to VS via a PLL, which produces a vector Vd, and Vq. The vector can be obtained by equations (5) to (6).
Vd cos V = q sin sin V cos V
iload
Vpcc
0.9 p.u.
1.1 p.u.
(5) (6)
where is phase shift angle and is power factor angle. Observe that power absorbed by the load is given by
* Sload = Pload + jQload = Vload I load = e j = cos + j sin
Vs = Vd = Vd2 + Vq2
(2)
* where Vload is 10 and I load is e j , therefore, the active and reactive power injected by DVR is given by (1) and (3), respectively.
(3)
This is simplest type of approach for detection and hence control, where monitoring Vd shown by equation (6) will return the state of the supply at any instant in time and hence detect whether or not a sag has occurred. The vector control techniques have been implemented to control the injected voltage in a way similar to the control variable speed drives. Both feedforward and feedback loop techniques have been presented. The grid voltages ( va , vb , vc ) are measured and transformed to the stationary reference frame ( v ). A phase locked loop is exploited to calculate the transformation angle ( ), which is required to transform the grid voltage from the stationary reference frame to the synchronous reference frame ( v
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dq
Vx , sag sin ( + ) (4) Qinj = 1 Qload sin The injected active and reactive power of medium voltage DVR depends on amplitude of supply, phase angle shift and
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Supply voltage
voltage is subtracted from the reference of the load voltage dq dq ( vload ) to calculate the reference of the injected voltage ( vinj * ). In feedback control systems, an error signal is generated by subtracting the actual injected voltage from the reference of the injected voltage. This error signal is fed to a controller to obtain the reference of the voltage that should be generated by VSC. The aim of the controller is to keep the load voltage dq constant. Thus, the DVR should inject the voltage vinj * such that
dq dq * vinj * = vload vsdq
0.15
0.2
0.25
0.3
0.35
Injection voltage
0.15
0.2
0.25
0.3
0.35
Load voltage
0.15
0.2 T im e [s]
0.25
0.3
0.35
(7)
Supply voltage
dq* where vload is the reference voltage demanded by the load. The
missing voltage v
dq* inj
transformer. The inputs to the controller are the grid voltages, the grid currents, the VSC currents and the capacitor voltages of the output LC-filter. The proposed controller is a discrete controller and uses a sampling time of Ts. Hence the sampling frequency fs equals to 1/Ts. The controlled variables are the inductor current i dq and the dq capacitor voltage vinj . Based on the above assumptions, the equations of the control are obtained as:
0.15
0.2
0. 25
0.3
0.35
Load voltage
0.15
0.2 T im e [sec]
0. 25
0.3
0.35
Supply voltage
i
v
dq* dq *
= i jC f v
dq s
dq * inj
+ Gv {v
dq* inj
dq inj
}
dq *
(8)
i
dq
= v + Rf i
dq inj
dq*
j L f i
dq*
+ Gi {i
(9)
Injection voltage
1 0 -1 0.1 1 0 -1 0.1
Load voltage
voltages to track the reference of the injected voltage. The gains Gv and Gi are the dead-beat gains calculated in terms of the filter parameters and the sampling time; Gv=Cf/Ts, Gi=Lf/Ts+Rf/2. VI. RESULTS AND DISCUSSIONS The proposed DVR based on DC VSC in which the distribution supply, Vs(t) is augmented by an injection voltage, Vinj(t). The series voltage provides boost compensation during sag/swell to deliver rated voltage to the load, Vload(t) as shown in Fig. 1. To illustrate a typical response of DVR, consider a simple distribution system with proposed DVR protecting a sensitive load. The feed forward control is selected for DVR control as it can be implemented easily compared to other control techniques. The system data and parameters are given in Appendix. Figure 7 shows the performance of proposed DVR for a balanced voltage sag due to a three phase balanced fault that was initiated at around 0.2 sec. and lasted for 0.05 sec as presented in the supply voltage graph. Figure 7 also shows load voltage and the injected voltage by DVR. As can be seen from the figure, the proposed DVR is able to inject the appropriate three phase voltage component with phase shift to correct the supply voltage anomalies due to three phase fault. Observe that during the normal operation the DVR is doing
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0.15
0.2
0.25
0.3
0.35
0.15
0.2 T im e [sec]
0.25
0.3
0.35
nothing. It quickly injects necessary voltage components to smoothen the load voltage upon detecting voltage sag. In order to see the performance of proposed DVR for voltage swells, first, a balanced voltage swell was simulated by connecting three phase capacitor banks in the system at about 0.2 sec. The duration of the voltage swell was 0.05 sec. Fig. 8 shows the supply voltage, injected voltage component by DVR and the load voltage. As can be seen from load voltage, the DVR is quick to respond to correct the voltage swell by injecting negative three phase voltage components. Figure 9 shows the performance of proposed DVR for unbalanced voltage sag created by single line to ground fault in the system. As depicted in supply voltage the fault was initiated at 0.2 sec and it was cleared at 0.25 sec. As shown in Fig. 9, the proposed DVR is quick in injecting the required unbalanced voltage component for correcting the load voltage and keep it at nominal value.
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The performance of three multilevel voltage source converter compared with the same level. It can be obvious that the power loss of DC VSC had the lowest switching power loss and the amount of switch device is 24 with the same level. The minimum carrier frequency is required for high topology. Table III shows the performance of multilevel VSC when operated with the sag or swell compensation. The DC VSC has fast response time, high compensation scale, low voltage harmonic distortion, and small over shoot of the voltage with the same condition of the control algorithm. VII. CONCLUSION A multilevel VSC based DVR is proposed in the paper. As the ratings of various power electronic switches are limited, multilevel VSC topologies are becoming useful for high voltage and high power applications. This will help reducing harmonics penetration as well. Among existing multilevel voltage source converters, three topologies, namely, DC, FC and SCH that can be used for DVR application are compared. DC VSC is selected for DVR application as the number of capacitors needed and switching states are less compared to other topologies. A new control strategy for DVR based on space vector is also presented in the paper. The simulation results show the capabilities of proposed DVR along with the low pass filer in mitigating voltage sag/swell in a 22 kV distribution system.
TABLE III CONTROL PERFORMANCE COMPARISION OF MULTILEVEL VSC VSC DC FC SCH Response Time(ms) 0.5 1.2 0.9 Compensation (%) 45 66 52 THDV (%) 2.23 3.54 1.5 Phase Shift () 2-5 3-7 2-6 Over shoot(%) 4 8 8
[4] [5]
[6]
[7]
[8]
[12]
[13]
[14]
R. De Doncker, Recent Power Electronic Developments for FACTS and Costumed Power, Japan, (2000) S. Bernet, Recent Developments of High Power Converters for Industry and TractionApplications, IEEE Transactions on Power Electronics, 2000, vol. 15, no. 6, pp. 1102-1117. S. Bernet, State of the Art and Developments of Medium Voltage Converters An Overview, Przeglad Elektrotechniczny (Electrical Review), May 2006, vol. 82, no. 5, pp. 1-10. R. W. De Doncker, Medium-Voltage Power Electronic Technologies for Future Decentralized Power Systems, IEEE Power Conversion Conference, Osaka, 2002, pp. 927-932. S. Bernet, D. Krug, S. S. Fazel, and K. Jalili, Design and comparison of 4.16 kV Neutral Point Clamped, Flying Capacitor and Series Connected H-Bridge Multi-Level Converters, IEEE Conf. on Industrial Electronics, Hong Kong, China, Oct. 2005, vol. 1, pp. 121128. A. Ghosh and G. Ledwich, Power Quality Enhancement using Custom Power Devices, (Kluwer Academic Publishers, 2002). N. S. Choi, J. G. Cho, G. H. Cho, A general circuit topology of multilevel inverter, Proc. IEEE PESC91, (1991) 96-103. K. Fujii, U. Schwarzer, R. W. De Doncker:Comparison of HardSwitched Multi-Level InverterTopologies for a STATCOM by LossImplemented Simulation and Cost Estimation, 2005 IEEE 36th Annual Power Electronics Specialists Conference (PESC05), Recife, Brasil. S. Eicher, S. Bernet, P. Steimer, A. Weber, The 10 kV IGCT A New Device for Medium Voltage Drives, IEEE-IAS Annual Meeting 2000, Rom Newman, M.J.; Holmes, D.G.; Nielsen, J.G.; Blaabjerg, F., A dynamic voltage restorer (DVR) with selective harmonic compensation at medium voltage level, Industry Applications, IEEE Transactions on Volume 41, Issue 6, Nov.-Dec. 2005 Page(s):1744 1753. Nielsen, J.G.; Blaabjerg, F. Comparison of system topologies for dynamic voltage restorers, Industry Applications Conference, 2001. Thirty-Sixth IAS Annual Meeting. Conference Record of the 2001 IEEE, Volume 4, 30 Sept.-4 Oct. 2001 Page(s):2397 2403.
VIII. APPENDIX
Converter line-to-line voltage Phase current Apparent output power Series booster transformer ratio Converter output frequency Converter efficiency Output filter THD of output voltage (IEEE519) Nominal DC-link voltage Modulation scheme Carrier frequency 2.3 kV 600 A 1.2 MVA 1:10 50 Hz 98 % Lf = 6 mH, Cf = 0.1 mF Rf = 3 Less 5% 3, 383 V natural sampled sine-triangle modulation with 1/6 added third harmonics 450 Hz
P. Boonchiam received his B.Eng. and M.Eng. in Electrical Engineering from Rajamangala University of Technology Thanyaburi (RMUTT), and Chulalongkorn University, Thailand, in April 1997 and April 2000, respectively. He has worked as lecturer at the Department of Electrical Engineering of RMUTT since June 1997. In November 2001- December 2003, he worked as research associate at Institut fuer Stromrichtertechnik und Elektrische Antriebe (ISEA), Rheinisch Westfaelische Technische Hochschule Aachen, Germany. He is currently a doctoral student at the Asian Institute of Technology, Thailand. His main research interests are applications of FACTS and Custom Power Controllers, Power Quality Monitoring, Power Electronic System and Optimization Techniques. N. Mithulananthan (M02) received his Ph.D. from University of Waterloo in Electrical and Computer Engineering in 2002. He has worked as an electrical engineer at the Generation Planning Branch of the Ceylon electricity Board, and as a researcher at Chulalongkorn University, Bangkok, Thailand. Dr. Mithulananthan is currently an Assistant Professor at the Asian Institute of Technology and his research interests are voltage stability and oscillation studies on practical power systems and applications of power electronics controllers in transmission and distribution systems.
REFERENCES
[1] [2] [3] N.G. Hingorani, Introducing custom power, presented at Spectrum, IEEE , (1995) N.G. Hingorani, Flexible AC transmission, IEEE Spectrum, 3 (1993) 40-45. P. Boonchiam and N. Mithulananthan, Custom Power technology: Concept and Definition, Conference on Advances in Engineering between Thai and Japan universities, Saraburi, Thailand, (2005).
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