The International Conference on Electrical Engineering 2009

Damping of power system oscillations as affected by VSC-based control

W. Du, H. F. Wang Senior Member, IEEE, and R. Dunn

Abstract-- This paper presents the damping torque analysis of

magnetic energy storage system) [5], etc. Some of renewable power generations can also be connected through the VSC to power system oscillation stability as affected by the dynamic and power transmission systems, such as fuel cell [6][7] and control functions of an embedded voltage source converter (VSC). photovoltaic [8] power generation units and so on. Installation The objective of study is to explain why and how the dynamic of those VSCs in a power system serves various purposes to and basic control functions of the embedded VSC, ac and dc voltage regulation, provides damping to power system improve the operational flexibility and aspect of renewable oscillations. The most important conclusion obtained in the paper power generation. However, at the same time, it may bring is that the dynamic and dc voltage control of the VSC contribute about some unexpected impact on power system stability. This paper investigates the power system oscillation damping as affected by embedded VSCs. The focus of discussion is the impact of the dynamic and basic control functions of the VSC, ac and dc voltage control, on the damping of power system oscillations. On this subject, study cases have been reported in [9] and [10] that the dc voltage control of a STATCOM or UPFC may damage power system oscillation stability and ac voltage control function has little influence on the damping of power system oscillations. However, those reported study cases are presented in [9] and [10] as the results of numerical computation of system oscillation modes and non-linear simulation. There is no detailed analysis provided in [9] and [10] to help the understanding about why and how those impacts are brought about by the VSC control.

a variable damping torque, which can be positive or negative, at different levels of system load conditions. More positive damping torque can be supplied by the VSC at a heavier load condition. There exists a point of system load condition where the VSC provides no damping torque to power system oscillation hence dose not imposes any influence on power system oscillation stability. The VSC studied in the paper can be the powerelectronics-based interface of various FACTS (flexible ac transmission systems) controllers, energy storage systems and renewable power generation units, although the focus of discussion in the paper is the effect of dynamic and basic control functions of the VSC themselves on power system oscillation damping. To demonstrate the analytical conclusions obtained in the paper, results of eigenvalue computation and non-linear simulation of an example power system installed with a STATCOM (static synchronous compensator) are given. Index Terms-- Power system oscillations, damping torque analysis, VSC, STATCOM

This paper begins with the establishment of a general mathematic model of a power system with an embedded VSC. n order to increase the operational flexibility of power It then employs the commonly-used damping torque concept transmission systems which may be penetrated by a high and analysis to reveal the mechanism on how and why the percentage of renewable power generation, more and more VSC dynamic and control affect power system oscillation power-electronics-based controllers have been and will be stability. It is concluded by simplified damping torque installed. Many of those controllers are integrated with power analysis that the ac voltage control of the VSC contributes transmission systems through the voltage source converters very little damping torque and hence imposes little impact on (VSCs), such as STATCOM (static synchronous compensator) power system oscillation stability. However, VSC dynamic [1][2], UPFC (unified power flow controller) [1]-[3], BESS and dc voltage control affect the damping of power system (battery energy storage system) [4], SMES (superconducting oscillations positively or negatively at different levels of system load conditions (not just negatively as reported in [9] and [10]). The reason is that the damping torque provision The authors would like to acknowledge the support of the EPSRC UKChina joint research consortium (EP/F061242/1), Supergen 1 flexible from the VSC dynamic and dc voltage control can change network consortium, Supergen 3 energy storage consortium, UK, and the from negative to positive damping torque with the variations Fund of Best Post-Graduate Students of Southeast University, China. of system load conditions. Thus there exists a system load W. Du is with the Southeast University, Nanjing China, and working at the Queens University of Belfast, Belfast, UK at present (e-mail: condition where the VSC dynamic and dc voltage control ddwenjuan@googlemail.com). have no influence on power system oscillation stability. H F Wang is with the Queens University of Belfast, Belfast, UK and R. Therefore, whenever a VSC based device is planned to be Dunn is with the University of Bath, Bath, UK. I. INTRODUCTION

installed in a power system, its impact on system oscillation stability needs to be examined carefully, especially at lighter system load condition when the VSC may supply negative damping torque as indicated by the analysis given in the paper. II. MATHEMATICAL MODEL A single-machine infinite-bus power system is shown by Figure 1, where a shunt-connected device is installed through an embedded voltage source converter (VSC) at busbar s. VC at the ac terminal of the VSC is controlled by the modulation ratio m and phase respectively so as to regulate the exchange of active and reactive power between the device and the rest of the power system. The installed device can be a fuel cell or photovoltaic power generation or energy storage unit integrated into the power grid, which is connected to the VSC through the dc capacitor by a dc-dc converter (converter2 in Figure 1) [7][8] [11][12]. Injection of dc current from the unit is I dc 2 , which is normally controlled by the duty cycle dc . The device can also be a wind power generation or flywheel energy unit. In this case, converter2 in Figure 1 is an ac-ac converter and the control variable dc is a vector [13][14] which regulates the dc current I dc 2 . The device can simply be a STATCOM (Static Synchronous Compensator) with I dc 2 = 0 when converter2 in Figure 1 does not exist. Hence the embedded VSC represents connection of a wide range of devices into the power system, which could have different impacts on power system oscillation stability. Nevertheless, those different impacts are reflected by various control mechanisms of converter2 and operational principles of different integrated units below the converter2. Focus of discussion of this paper is power system small signal oscillation stability as affected directly by the VSC dynamic and control. Hence details of and below converter2 will not be described because there is no enough space in this paper to extend the study covering their impact on power system oscillation stability. The commonly-used dynamic equations of the generator for the study of power system oscillation stability are [15] & = o ( 1)
&= 1 [Pm Pt D ( 1)] M & '= 1 ( E + E ) E q q fd Td 0 ' E fd '=TE ( s )(Vtref Vt )

Vt = jxts I ts + Vs

Vs = jxs I s + Vc Vs Vb = jxsb ( I ts I s ) Those equations above give jxs I s + Vc Vb = jxsb ( I ts I s ) Vt = jxts I ts + jxsb ( I ts I s ) + Vb
Vt Xts Vs Xsb Vb

(2)

(3)

Generator

Its Is Xs VC VSC Cdc

Isb

m Idc1 Idc2 Idc converter2 dC

Figure 1 A power system embedded with a shunt-connected VSC device

In d-q coordinate of the generator, as shown by Figure 2, from Eq.(3) it can be obtained that xsb xs xsb itsq Vc cos + Vb sin x + x + x = xsb Vb sin ts sb q isq
xsb x '+ x + x ts sb d xs xsb I tsd Vc sin Vb cos I = E ' V cos xsb q b sd

(4)

From phasor diagram of Figure 2, in the d-q coordinate of the generator the ac voltage at the VSC terminal is [12] (5) Vc = mkVdc (cos + j sin ) = mkVdc where k is the converter ratio dependent of VSC structure and Vdc is the dc voltage across the capacitor Cdc in Figure 1. Active power received by the VSC from the power system is Vdc I dc1 = isd vcd + isq vcq = isd mkVdc cos + isq mkVdc sin Hence I dc1 = isd mk cos + isq mk sin VSC dynamic equation is & = 1 I = 1 (I + I ) V dc dc dc1 dc 2 Cdc Cdc (6)

(1)

1 (isd mk cos + isq mk sin ) + I dc 2 Cdc VSC ac and dc voltage control functions are m = m0 + K ac ( s)(Vs Vsref ) =

(7)

(8)

where Pt = vtd itsd + vtq itsq = xq itsq itsd + ( Eq ' xd ' itsd )itsq
= Eq ' itsq + ( xq xd ')itsd itsq

Eq = Eq ' ( xd xd ')itsd
Vt = vtd 2 + vtq 2 = ( xq itsq )2 + ( Eq ' xd ' itsd )2
From Figure 1 it can have

(9) =0 + where K ac ( s) and K dc ( s) is the transfer function of VSC ac and dc voltage controller respectively. Eq.(1), (4) and (7)-(9) give the mathematical model of the power system with the embedded VSC, including the mathematical description of VSC dynamic and control function by Eq.(7)-(9).

= 0 + K dc ( s )(Vdc Vdcref )

For the analysis in the following section, an explicit mathematical description of active power delivered along the transmission line from the generator in Figure 1 needs to be established. This is presented as follows.

description of the active power delivered along the transmission line in the power system of Figure 1 can be obtained to be Eq 'Va V 2 ( xq xd ') Pt = sin ' a sin 2 ' (14) x 'd 2 x 'd xq where ' is the angle between
Eq '

and Va

and

x 'd = x + xd ', xq = x + xq .

From phasor diagram of Figure 3 it can be obtained that Va sin ' = bVb sin + aVc cos

Va cos ' = bVb cos + aVc sin Hence from Eq.(14) and (15) it can have Eq ' Pt = (bVb sin + aVc cos ) x 'd
Figure 2 Phasor diagram of power system of Figure 1

(15)

( xq xd ') x 'd xq Eq ' x 'd

(bVb sin + aVc cos )(bVb cos + aVc sin )

From Figure 1 it can have jxsb xsb Vb VS = I + V + xsb ts xsb C x xS (1 + 1+ ) 1 + sb xS xS xS That gives x x Vt = jxts I ts + VS = j ( xts + S sb ) I ts xS + xsb
xsb xS VC + Vb = jxI ts + Va xS + xsb xS + xsb where x x x = ( xts + S sb ) xS + xsb +

(bVb sin + aVc cos ) (16)

(10)

where Vc = mkVdc
q E q

(11)

bVb

Va aVc d

xsb xS VC + Vb = aVC + bVb xS + xsb xS + xsb For a single-machine infinite-bus power system without the embedded VSC with the following voltage equation (12) Vt = jxt I t + V where xt is the equivalent reactance of the transmission line, Va =
I t the line current and V the voltage at the infinite busbar, the explicit mathematical description of the active power delivered along the transmission line is Eq ' V V 2 ( xq xd ' ) Pt = sin sin 2 (13) x 'd 2 x 'd xq

d
Figure 3 Phasor diagram

III. DAMPING TORQUE ANALYSIS

where is the angle (load angle) between Eq ' (q axis of the generator) and V and x 'd = xt + xd ', xq = xt + xq . Comparing Eq.(11) and (12) it can be seen that the power system with the embedded VSC of Figure 1 is electrically equivalent to a power system without the embedded VSC with an equivalent line reactance to be x and voltage at the infinite busbar to be Va . Hence by replacing xt and V in Eq.(13) by x and Va respectively, the explicit mathematical

Figure 4 Extended Phillips-Heffron model

Small signal stability of power system is normally studied based on the linearized model. Appendix of the paper gives the details of deriving the following linearized model of the

power system with embedded VSC of Figure 1 from Eq.(1), (4) contribution. Hence a much simplified damping torque and (7)-(9) analysis can be carried out as follows to study the small signal stability of the power system as affected by the VSC dynamic & = o and control based on the following simplified linearized 1 & = ( K1 ' D K 2 ' Eq ' K pdc ' Vdc ) equations of VSC obtained from Eq.(A-4), (A-8) and (A-10) M in Appendix with the variation of Eq ' ignored. 1 & & = K + K V + K m + K Eq '= ( K 4 K 3 Eq ' + E fd ' K qdc ' Vdc ) (17) V dc 7 9 dc dm d Td 0 ' K ac E fd '=TE ( s )( K 5 + K 6 Eq ' + K vdc ' Vdc ) m = [ B1 + ( Bdc + B4 K dc )Vdc ] (20) 1 K ac B3 & Vdc = C1 + C2 Eq '+ C3 Vdc = K dc Vdc

Figure 5 Electric torque contributions from the VSC

The linearized model is illustrated by Figure 4, which is quite similar to the conventional Phillips-Heffron model with an extension including the embedded VSC [15]. Figure 5 shows the electric torque contribution, Tdc , from the VSC to the electromechanical oscillation loop of the generator. This electric torque contribution can be divided into direct electric torque, Tddc , and indirect electric torque, Tidc , and each can be decomposed into two components, synchronising torque and damping torque. Direct damping torque is much greater than the indirect damping torque, i.e., TDddc >> TDidc . This is because the signal through the lower part of Figure 5 is attenuated significantly by two lag loops before it forms the indirect damping torque [16]. From Figure 5 it can have K pdc ' Tddc = C1 s C3
Tidc = ( K 2 '+ C2 K pdc ' s C3 )

Figure 6 Direct electric torque contribution from the VSC

K qdc ' K vdc ' TE ( s ) [Td 0 ' s + K 3 '+ K 6 ' TE ( s )]( s C3 ) + C2 K qdc '+ C2 K vdc ' TE ( s )

From Eq.(20), the direct electric torque contribution from the VSC can be shown by Figure 6. If only the ac voltage control of the VSC is considered, from Figure 6 it can be seen that the electric torque contributed through the VSC ac voltage control is through two paths. The signal through path 2 is attenuated 1 . Hence the electric torque significantly by the lag loop s K9 contribution by the VSC ac voltage control is approximately to be that directly through path 1 K ac B1 Tdcm K pm (21) 1 K ac B3 It is obviously a synchronizing torque. Therefore, it can be concluded that the VSC ac voltage control has little influence on the damping of power system oscillations. If only the VSC dc voltage control is considered, from Figure 6 the electric torque contribution through the VSC dc voltage control can be obtained to be K 7 (22) Tdc = ( K pdc + K dc K p ) s K dc K d K 9 s = js where s is the angular oscillation frequency of power system oscillation. From Eq.(A-2) in Appendix and Eq.(16) it can be obtained that Eq 0 ' P K pdc = t = am0 k cos 0 Vdc x 'd (23) Eq 0 ' Pt K p = am0 kVdc sin 0 = x 'd

(18) and TDddc = Re(Tddc ) >> TDidc = Re(Tidc ) (19) Eq.(19) in fact indicates that in the damping torque analysis for the VSC, only the direct torque contribution from the VSC needs to be considered. This means that the influence through C2 by considering the variation of Eq ' can be ignored, because it is only in the indirect damping torque

Hence from Eq.(22) and (23), the damping torque contribution from the VSC dc voltage control is obtained to be E ' TDddc q 0 am0 k (cos 0 K dcVdc 0 sin 0 ) x 'd (24) 0 K 7 s 2 + ( K dcp K d + K 9 ) 2 It is reported in [9][10] that the STATCOM and UPFC dc voltage control can supply negative damping to the power system. It is very interesting to notice from Eq.(24) that in fact the influence of the VSC dynamic and dc voltage control on the damping of power system oscillations varies at different levels of system load condition. Because K dc > 0 (see Appendix), it should have 1 TDddc 0 when 0 = tan 1 ( (25) ) = 0 ' K dcVdc 0 If 0 > 0 ' , the damping torque provided by the VSC dc control is negative and if 0 < 0 ' , it is positive. From Figure 2 it can be seen that when the power angle 0 increases at a heavier load conditions, 0 decreases and hence the VSC dc voltage control may influence power system oscillation stability more positively. Therefore, the impact of the VSC dc voltage control on the damping of power system oscillations changes with the variations of system load conditions. It can be negative, positive or zero at 1 0 = 0 ' = tan 1 ( ). K dcVdc 0 A more accurate computation of 0 ' can be obtained from the following equation (26) K pdc + K dc K p = 0 by using Eq.(16). IV. AN EXAMPLE Parameters and initial operating conditions of an example single-machine infinite-bus power system with a STATCOM are Transmission line: X ts = 0.3 p.u., X sb = 0.3 p.u., X s = 0.3 p.u. ; Generator: X d = 1.3 p.u., X q = 0.47 p.u., X 'd = 0.3 p.u., ; M = 7.4 s., D = 4 p.u., T 'd 0 = 5s. AVR: TA = 0.1s. K A = 10 p.u. ; STATCOM: C = 1.0 p.u., Vdc 0 = 1.0 p.u. Initial load condition: Vt 0 = 1.0 p.u., Vs 0 = 1.0 p.u., Vb 0 = 1.0 p.u. Table 1, Figure 7 and 8 present the computational results of damping torque contributions from the VSC and oscillation modes of the power system at various load conditions. Those results confirm the damping torque analysis in the above section.

(1) The direct damping torque contributed from the VSC control is approximately equal to its total damping torque contribution and indirect contribution can be ignored (Figure 7 and 8). (2) The damping torque contribution from the VSC is mainly from its dc voltage control (comparing Figure 7 and 8) and the contribution from its ac voltage control is very small (as shown by the results in the 3rd column in Table 1). (3) The damping torque contribution from the VSC dc voltage control changes from negative to positive with the increase

of system load conditions (or decrease of 0 ). In this 0 example, 0 ' = 68 (obtained from Eq.(26)). Hence from the 1st and 2nd column of Table 1 it can be seen that when Pt 0 is between 0.5p.u. and 0.6 p.u., 0 is around 0 ' .

This is when the damping torque contribution from the VSC dc voltage control is approximately equal to zero. Figure 8 shows that it is when the damping torque contribution from the VSC dc voltage control changes sign. (4) Computational results of system oscillation mode given in the 4th, 5th and 6th column confirm the results of damping torque calculation.
12 10 8 6 4 2 0 0 -2 -4 0.2 0.4 0.6 0.8 1 1.2 1.4

Figure 7 Damping torque contribution from the VSC ac and dc voltage control
14 12 10 8 6 4 2 0 -2 -4 0 0.2 0.4 0.6 0.8 1 1.2 1.4

Figure 8 Damping torque contribution from the VSC dc voltage control only

In order to demonstrate the correctness of above analysis and computation based on linearized model of the power system, Figure 9 presents the results of non-linear simulation of the example power system when a three-phase to-earth short circuit on the transmission line occurred at 1 second of simulation for 100ms. Figure 9 (a)-(c) give the non-linear simulation of the STATCOM with ONLY the dc voltage control at three different load conditions. From them it can be seen that the impact of the VSC dc voltage control on the damping of power system oscillation changes with the variations of system load conditions. At a heavier load condition ( Pt 0 = 1.0 p.u. ), it supplies enough positive damping torque and hence power system oscillation is damped. Figure

9(d) gives the non-linear simulation of the STATCOM with the STATCOM ac voltage control function added. By comparing Figure 9(b) and (d) it can be seen that the STATCOM ac voltage control has little influence on the damping of power system oscillation.
12 11 10 9 8 7 6 5 4

5 t

10

oscillation stability as affected by the embedded VSC. The following analytical conclusions are obtained (1) VSC ac voltage control mainly provides synchronizing torque to power systems and hence affect little the damping of power system oscillations. (2) Impact of VSC dc voltage control and dynamic on power system oscillation stability varies, negatively or positively, at different levels of system load conditions. This is because the damping torque contributed by the VSC dc voltage control changes from negative to positive damping torque when active power delivered along the transmission line increases. At the load condition when 0 = 0 ' , the damping torque contribution changes sign. The VSC dc voltage control (hence VSC control) intends to supply negative damping to power system oscillations at a lighter load condition. In the paper, an example power system installed with a STATCOM is presented. Results of damping torque computation, eigenvalue analysis and non-linear simulation confirm all the analytical conclusions obtained in the paper. VI. REFERENCES
[1] Y. H. Song and A. J. Johns, Flexible A.C. Transmission Systems, IEE Power Press, 1999 [2] M. G. Hingorani and L. Gyugyi, Understanding FACTS, IEEE Press, 1999 [3] L. Gyugyi, Unified power-flow control; concept for flexible AC transmission systems, IEE Proc. Part C., Vol. 139 No.4, 1992, pp323-331 [4] B. Bhargava and G. Dishaw, Application of an energy source power system stabilizer on the 10 MW battery energy storage system at Chino substation, IEEE Trans. on Power Systems, Vol.13, No.1, 1998, pp145 151 [5] C. S. Hsu and W. J. Lee, Superconducting magnetic energy storage for power system applications, IEEE Trans. on Industry Applications, Vol.29, No.5, 1993, pp990 996 [6] J. Padulles, G. W. Ault and J. R. McDonald, An integrated SOFC plant dynamic model for power systems simulation, Journal of Power Sources, Vol. 86, 2000, pp495-500 [7] K. Sedghisigarchi and A. Feliachi, Dynamic and transient analysis of power distribution systems with fuel cells part II control and stability enhancement, IEEE Trans. on Energy Conversion, Vol.19, No.2, 2004, pp429-434 [8] Y. T. Tan, D. S. Kirschen and N. Jenkins, A model of PV generation suitable for stability analysis, IEEE Transaction on Energy Conversion, Vol. 19, No.4, 2004, pp748-755 [9] H .F. Wang, Phillips-Heffron model of power systems installed with STATCOM and applications, IEE Proc. Part C, Vol.146, No.5, 1999, pp521527 [10] H .F. Wang, Damping function of unified power flow controller, IEE Proc. Part C, Vol.146, No.1, 1999, pp81-87 [11] S. Arabi and P. Kundur, Stability modelling of storage devices in FACTS applications, IEEE PES Summer Meeting, Vol.2, 2001, pp767 771 [12] CIGRE report TF38-01-08 Modeling of power electronics equipment (FACTS) in load flow and stability programs, 1999 [13] M. R. Patel, Wind and solar power systems, Taylor and Francis, 2006 [14] E. Haginomori, EMPT simulation of transient stability enhancement phenomena by an inverter controlled flywheel generator, Elec. Eng. Jpn., Vol. 124, Aug. 1999, pp19-29 [15] Y. N. Yu, Electric Power System Dynamics, Academic Press Inc., 1983 [16] H.F.Wang and F.J.Swift, The capability of the Static Var Compensator in damping power system oscillations, IEE Proc. Part C, May, No.4, 1996

(a) Pt 0 = 0.1 p.u. with only STATCOM dc voltage control

50

45

40

35

30

25

20

15

5 t

10

(b) Pt 0 = 0.5 p.u. with only STATCOM dc voltage control

100

90

80

70

60

50

40

30

5 t

10

(c) Pt 0 = 1.0 p.u. with only dc voltage control

50

45

40

35

30

25

20

15

5 t

10

(d) Pt 0 = 0.5 p.u. with ac and dc voltage control Figure 9 Non-linear simulation of the example power system installed with a STATCOM

ACKNOWLEDGEMENTS V. CONCLUSIONS Major contributions of this paper are the applications of damping torque analysis to examine the power system
The authors would like to acknowledge the support of the EPSRC UK-China joint research consortium and Supergen 3 Energy Storage Consortium, UK, the Fund of Best Post-Graduate Students of Southeast University, China, the National Natural Science Foundation of China (No.50577007), the Power

7 System Stability Study Institute, NARI Group, China and the State Grid Corporation, China.

Table 1 Computational results of damping torque contribution from the STATCOM installed and system oscillation mode Without STATCOM With STATCOM STATCOM with only dc voltage Pb 0 0 Tdt Tddt Tidt Tacdt Tdcdt control 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 -1.97 -1.39 -0.78 -0.11 0.63 1.49 2.51 3.76 5.37 7.51 10.46 -1.97 -1.47 -0.89 -0.25 0.48 1.33 2.36 3.66 5.37 7.76 11.23 0.05 0.08 0.11 0.13 0.15 0.16 0.15 0.10 -0.01 -0.25 -0.77 0.0000 0.0001 0.0001 0.0003 0.0005 0.0007 0.0011 0.0016 0.0022 0.0023 0.0039 -1.92 -1.32 -0.68 0.02 0.80 1.71 2.79 4.12 5.84 8.15 11.27 82.0 78.0 74.1 70.2 66.4 62.6 58.9 55.4 51.9 48.5 45.1 -0.2699 j 6.2735 -0.2691 j 6.2493 -0.2672 j 6.2122 -0.2636 j 6.1585 -0.2575 j 6.0842 -0.2479 j 5.9846 -0.2334 j 5.8541 -0.2120 j 5.6853 -0.1810 j 5.4693 -0.1353 j 5.1936 -0.0661 j 4.8400 -0.1374 j 4.7224 -0.1760 j 4.6813 -0.2158 j 4.6274 -0.2577 j 4.5584 -0.3028 j 4.4713 -0.3529 j 4.3625 -0.4108 j 4.2280 -0.4813 j 4.0623 -0.5728 j 3.8590 -0.7034 j 3.6108 -0.9130 j 3.3215 -0.1409 j 4.7213 -0.1815 j 4.6791 -0.2235 j 4.6238 -0.2679 j 4.5529 -0.3162 j 4.4633 -0.3703 j 4.3515 -0.4334 j 4.2130 -0.5111 j 4.0424 -0.6135 j 3.8333 -0.7621 j 3.5803 -1.0010 j 3.2976

APPENDIX
Linearization of Eq.(4) is
itsq c11 c12 i = sq c21 c22 m0 k cos 0 Vdc kVdc 0 cos 0 m + m0 kVdc 0 sin 0 + Vb cos 0 Vb cos 0 itsd d11 d12 i = d sd 21 d 22

enable the injection of active power into the power system from the VSC. Therefore, it must have K dc > 0 .Because Vs = jxs I s + Vc Vs = vsd 2 + vsq 2 it can have vsd = xs isq + kmVdc cos
vsq = xs isd + kmVdc sin

m0 k sin 0 Vdc + kVdc 0 sin 0 m + m0 kVdc 0 cos 0 + Vb sin 0 Eq '+ Vb sin 0

(A-1)

+ Bdc Vdc + B3m + B4 Vs = B1 + B2 Eq From Eq.(A-7) and (A-9) it can be obtained that m = K ac B1 + K ac B2 Eq '+ K ac Bdc Vdc + K ac B3m + K ac B4 K dc Vdc Hence

(A-9)

Hence from Eq.(1) it can be obtained that + K pdc Vdc + K pm m + K p Pt = K1 + K 2 Eq

+ K qdc Vdc + K qm m + K q Eq = K 4 + K 3Eq + K vdc Vdc + K vm m + K v Vt = K5 + K 6 Eq

Linearization of the VSC dynamic of Eq.(7) is & = (i k cos + i k sin )m Cdc V dc sd 0 0 sq 0 0

(A-2)

m =

K ac [ B1 + B2 Eq '+ ( Bdc + B4 K dc )Vdc ] 1 K ac B3

(A-10)

From Eq.(A-4), (A-8) and (A-10) it can have & = C + C E '+ C V V dc 1 2 q 3 dc where
C1 = K 7 + C2 = K 8 + C3 = K 9 + K dm K ac B1 1 K ac B3 K dm K ac B2 1 K ac B3 K dm K ac [ Bdc B4 K dc ] + K d K dc 1 K ac B3

(A-11)

+ m0 k (isd 0 sin 0 + isq 0 cos 0 ) + m0 k (cos 0 isd + sin 0 isq ) + I dc 2

(A-3) Because the focus of discussion in this paper is the dynamic and control functions of the VSC only, influence of I dc 2 due to the control of and below converter2 in Figure 1 for a particular device connected through the VSC will not be investigated. Hence I dc 2 is not considered. Eq.(A-3) becomes
& = K + K E + K V + K m + K V dc 7 8 q 9 dc dm d

(A-12)

(A-4)

Linearization of ac and dc control functions of the VSC is obtained from Eq.(8) and (9) to be m = Kac (s)Vs (A-5)

By using Eq.(A-6), (A-10) and (A-11), Eq.(A-2) becomes Pt = K1 ' + K 2 ' Eq '+ K pdc ' Vdc

Eq = K 4 ' + K 3 ' Eq '+ K qdc ' Vdc Vt = K 5 ' + K 6 ' Eq '+ K vdc ' Vdc

(A-13)

= K dc ( s)Vdc

(A-6)

For the simplicity of analysis, it is assumed that both control functions are implemented by proportional control law, that is m = Kac Vs (A-7)

By substituting Eq.(A-13) into the linearized equations of Eq.(1) it can have & = o

&=

= K dc Vdc
In this case, VSC dc voltage control function is (from Eq.(9)) = 0 + K dc (Vdc Vdcref )

(A-8)

1 ( K1 ' D K 2 ' Eq ' K pdc ' Vdc ) M & '= 1 ( K K E ' + E ' K ' V ) E q q fd qdc dc 4 3 Td 0 ' K 1 E fd ' A ( K 5 + K 6 Eq ' + K vdc ' Vdc +u pss ) TA TA

(A-14)

& '= E fd

If Vdc < Vdcref , the VSC dc voltage control should enable the dc capacitor to absorb more active power from the power system to charge the capacitor. From Figure 2 it can be seen that should decrease such that < 0 to enable the injection of active power into the VSC from the power system. On the other hand, if Vdc > Vdcref , should incraese such that > 0 to

& = C + C E '+ C V V dc q dc 1 2 3