UPFC with Eliminated Common DC Link

Connection Between Shunt and Series Part

Zhihui Yuan
TU Delft
Z.yuan@tudelft.nl
Sjoerd W.H. de Haan
TU Delft
S.W.H.deHaan@tudelft.nl
Braham Ferreira
TU Delft
J.A.Ferreira@tudelft.nl
AbstractThe UPFC is the most powerful power ow con-
troller recently, and because of the exchange of active power
between the shunt and series parts, they have to be located at
the same place. This paper presents a new concept to transmit
power without the common dc link of the UPFC, which gives
the possibility of the separated UPFC. The exchange of active
power is through the existing transmission line but at a dierent
frequency, which is independent from the fundamental frequency
component. The results of steady-state analysis of the separated
UPFC are also presented.
I. Ixraootcrrox
At present, the unied power ow controller (UPFC) is the
most powerful device in power ow control [1]. It provides
a full simultaneous control of power transmission parameters,
the voltage magnitude is controlled by the shunt part, and
the line impedance and the phase angle are controlled by
the series part [2].The UPFC is the combination of a shunt
FACTS device static compensator (STATCOM) and a series
FACTS device static synchronous series compensator (SSSC),
which are connected by a common dc link capacitor, see in
Fig.1. During the operation, there is exchange of active power
between the series and shunt converters [3].
AC
DC
AC
DC
Transmission Line
DC
V
I
Active power exchange
Fig. 1. Simplied representation of a UPFC
In order to improve power system stability eciency, the
shunt FACTS device should be located at the node where
it is the most eective to decrease the voltage changes at
reactive power variation, and series device is supposed to be
installed at the branch whose parameters changing inuence
variations of active power and reactive power the most [4]. For
that reason, normally in a power system network, shunt and
series devices should be located at dierent places. However,
because of the power exchange, the shunt and series parts of
the UPFC have to be at the same location. If we could have
the ability to split the shunt and series parts of the UPFC and
place them at proper locations, the eectiveness of the UPFC
would increase.
The primary issue of a separated UPFC is to nd a method
to exchange active power between the shunt and the series
parts. There are several concepts for the power transmission,
such as lengthening the dc link or using wireless of power
transmission, however for the cost and capability reason,
neither is a good choice. This paper presents a new method
of transmitting active power between shunt and series parts
of UPFC to enable the separated placement. The method is
based on transmitting power through the existing power lines
but at a frequency that is dierent from the fundamental fre-
quency. Because of the independence of the power in dierent
frequencies, the powers can be controlled independently. For
the system, a simplied model and steady-state analysis have
been made.
II. Mrrnoo or Taxxsmrrrrxo Acrrvr Powra wrrnotr Commox
DC Lrxk
The new method for active power exchange is based on the
non-sinusoidal power theory. According to Fourier analysis,
a non-sinusoidal voltage and current can be expressed by
the sum of sinusoidal functions in dierent frequencies with
dierent amplitudes. The denition of active power is the mean
value of the product of voltage and current. Since the integrals
of all the cross-product of terms with dierent frequencies are
zero, the active power can be expressed by:
P =

n=1
V
sn
I
sn
cos
n
(1)
where cos
n
is power factor in n
th
harmonic frequency, and

n
=
vn

in
. Equation 1 describes that active power at
dierent frequencies is isolated from each other, and voltage or
current in one frequency has no inuence on other frequency
component. It gives the possibility of individually control
active power ow at dierent frequencies.
Consequently, instead of exchanging active power between
the shunt and series parts through the common dc link, this
power could be exchanged at a harmonic frequency. This
harmonic is super imposed on the fundamental component
and has no inuence on the fundamental. The shunt part of
UPFC and a nth harmonic lter are placed at each side of
transmission line. The principle is shown in Fig.2.
1-4244-1298-6/07/$25.00 2007 IEEE.
Vi Vj
AC
DC
AC
DC
L
,1 sh
P
, sh n
P
,1 se
P
, se n
P
nth
harmonic
pass filter
nth
harmonic
block filter
Fig. 2. The principle separated UPFC in a two port system
For the analysis, all components are assumed to be lossless.
The converters in Fig.2 have the ability to converts fundamen-
tal power to power at a dierent frequency, but at the same
terminal. For lossless converter, this implies:
P
1
(t) + P
n
(t) = 0 (2)
The dc link capacitors in Fig.2 are used to balance in-
stantaneous dierence between P
1
(t) and P
n
(t). Therefore, the
exchange of the active power of the UPFC without common
dc link is accomplished through this method.
III. Srmrirrrro Moori xxo Srrxo.-Srxrr Axxi.srs
Assume the separated UPFC is installed in a two buses (Bus
i and Bus j) lossless system, with two innite voltage sources
at each end, and there is a power angle dierence between
the two voltages, see in Fig.2. From the conceptual viewpoint,
each converter can be replaced by a controllable voltage source
in series with a impedance. Hence each converter generates 2
dierent frequencies voltage phasor, and can be represented
by one fundamental frequency voltage source in series with
one nth harmonic frequency voltage source with controllable
voltage magnitudes and angles. In order to satisfy the active
power balance constraint for each converter, the sum of active
power through the two sources is equal to zero. The conceptual
representation of separated UPFC is shown in Fig.3.
,1 se
V
, se n
V
,1 sh
V
, sh n
V
sh
L
se
L
j
V
i
V
,1 , se se n
P P =
,1 , sh sh n
P P =
, , se n sh n
P P =
r r
Q P ,
nth
harmonic
block filter
Bus i Bus j
nth
harmonic
pass filter
Fig. 3. Conceptual representation of separated UPFC in two port system
For each converter, the active power balance of dierent
frequency components can be expressed by the equations
P
sh,1
= P
sh,n
and P
se,1
= P
se,n
, and the exchange of active
power in nth frequency component is given by P
sh,n
= P
se,n
.
Base on the superposition theorem, the circuit can be split
into two circuits in dierent frequencies, shown in Fig.4.
,1 se
V
, se n
V
,1 sh
V
,1 sh
X
,1 se
X
j
V
i
V
,1 , se se n
P P =
,1 , sh sh n
P P =
, sh n
V
, se n
X
, sh n
X
(a) fundamental circuit (b) nth order circuit
Fig. 4. Electrical circuits in fundamental and nth frequency
The nth harmonic blocking lter can be seen as short circuit
in fundamental frequency and open circuit in nth harmonic
frequency, and the nth harmonic pass lter can be assumed
as open circuit to fundamental short circuit to nth frequency
component.
The power ow control capability of the UPFC can be
illustrated by the active power P
r
and reactive power Q
r
at the
receiving end in the two buses system. According to UPFC
theory, the relationship between P
r
and Q
r
in Fig.3 can be
expressed in the following form [1]:
(P
r
P
r0
)
2
+ (Q
r
Q
r0
)
2
=

|V||V
se,1
|
|X
se,1
|

2
(3)
where P
r0
and Q
r0
are the active and reactive power ow
without UPFC at a certain phase angle =
i

j
, X
se,1
= L
se
is the line impedance in fundamental frequency, |V| = |V
i
| =
|V
j
| is the voltage magnitude at both ends (assuming unied
voltage control). The function f (P
r0
, Q
r0
) is a circuit with a
radius of |V|
2
/|X
se,1
| around the center dened by coordinates
P = 0 and Q = |V|
2
/|X
se,1
| in a (P
r
, Q
r
) reference frame.
Each point of this circle gives the P
r0
and Q
r0
values of
the uncompensated system at the corresponding phase angle
. The boundary of the attainable control region for P
r
and
Q
r
is obtained from a complete rotation of phasor V
se,1
with
its maximum magnitude. Fig.5 shows three dierent control
regions of the UPFC in certain transmission angles = 0

, 90

and 60

.
r
P
r
Q
,1
0
se
V =
Control region
Control region
60 =

Control region
90 =

2
,1 se
V
X

,1
,1
se
se
V V
X
,1
,1
se
se
V V
X 0 =

Fig. 5. The control region of P
r
and Q
r
of DPFC in two port system
The active power exchange between shunt and series part
is transmitted through the transmission line by nth frequency
component, which will increase the RMS value of line current
and decrease the transmission capability. In order to nd out
the additional line current, the calculation of the fundamental
active power required by UPFC series part is the rst step,
and it is given by:
P
se
= Re{S
se
} =
|X
se,1
||S
r
||S
r0
|
|V
r
|
2
sin (
r0

r
) (4)
where
r0
is the power angle at the receiving end of two port
uncompensated system, and
r
is power angle at receiving
end with the UPFC (the reference power angle). The line
impedance X
se,1
and voltage magnitude V
r
are constant, so the
active power is proportional to |S
r
||S
r0
| sin (
r0

r
), which is
twice the area of the triangle (o, r0, r). Consequently, the active
power P
se
can be written as:
P
se
= C
p
A
(o,ro,r)
(5)
where C
p
= 2|X
se,1
|/|V
r
|
2
, and A
(o,ro,r)
is the area of triangle
(o, r0, r). Fig.6 illustrates the relationship between P
se
and the
receiving end power at a certain transmission angle.
r
P
r
Q
,1
0
se
V =
2
,1 se
V
X

,1
,1
se
se
V V
X
,1
,1
se
se
V V
X
0 r
S
r
S
r r

0
Control Region
0
p se
C P /
Fig. 6. The relationship between P
se
and the receiving end power
Since the angle dierence
r0

r
can be positive or neg-
ative, the sign gives the direction of the active power through
the UPFC series part, positive sign means the UPFC series
part absorbing active power from nth harmonic component
and vise versa.
The electrical circuit in nth harmonic frequency component
is shown in Fig.4b. Since the nth harmonic frequency compo-
nent is the media of active power transmission, any reactive
power delivery in nth harmonic frequency is useless but leads
to the increase of the RMS value of the line current. Hereby,
the parameters in nth harmonic component (voltage magni-
tude, phase angle) are set to satisfy the following requirement:
P
se,n
= P
se,1
, Q
se,n
= 0 (6)
and from (6), the active power at the series part of UPFC can
be transformed into:
|P
se,n
| =
|V
sh,n
|
2
|X
n
|
cos
n
sin
n
(7)
where X
n
is the line impedance in nth harmonic frequency,
X
n
= 2f (L
se
+L
sh
), and
n
is the transmission angle between
V
sh,n
and V
se,n
,
n
=
sh,n

se,n
.
Since the |X
n
| is constant, to lower the nth harmonic
frequency voltage magnitude, which means lower the voltage
limits of the converters, cos
n
sin
n
is supposed to be the
maximum value. When the angle
n
= 45
o
, cos
n
sin
n

will be in maximum magnitude 1/2. The sign of angle

n
describes the direction of active power transmission. If it is
positive sign, the active power ows from shunt part to series
part of the separate UPFC, and vice versa. Accordingly, the
vectors of nth harmonic frequency voltages can be described
as follows, assuming
se,n
= 0.
|V
sh,n
| =

2|P
se,n
||X
n
| ,
sh,n
= 0
o
(8)
|V
se,n
| =

2
2
|V
sh,n
| ,
se,n
= 45
o
(9)
Therefore, the magnitude of the line current in the nth har-
monic in additional can be written as the following:
|I
se,n
| =
|P
se,n
|
|V
se,n
|
=

|P
se,n
|
|X
n
|
(10)
IV. Srmtixrrox
The whole simulation is run in Matlab Simulink, using
SimPowerSystems toolbox. The circuit of simulation system
is shown in Fig.3. The system frequency is 50Hz, voltage
magnitude at both ends are equal to 1pu, the line impedance
in fundamental frequency is 0.1pu, and the shunt impedance
is 0.05pu. The sending end is chosen to be reference bus, and
leads receiving end 30

.
If the UPFC is not in operating, the output active power
P
r0
will be 5pu, and reactive power Q
r0
will be 1.34pu. In
order to nd out the independent control of active and reactive
power ow at the receiving end, the reference values of P
r
and
Q
r
are set as Table I
TABLE I
Rrrrarxcr rowra xr arcrrvrxo rxo
Time(s) 00.5 0.51 11.5 1.52 22.5
P
r
(pu) 5 6 6 5 5
Q
r
(pu) -1.34 -1.34 0 0 -1.34
The nth harmonic is chosen at 3rd order, and the behaviors
of separated UPFC are shown in following gures. From the
Fig.7(a), it is easy to see that the separated UPFC system
follows the reference value quite well, although some small
transient oscillations happens after each alteration of voltage
and current. During the operating of separated UPFC, the
fundamental active power of series and shunt part are always
equal ,see in Fig.7(c), and for each single device, the total
active power (the sum of active power in fundamental and 3rd
order) keeps zero constantly,see in Fig.7(d).
V. Cnxiirxors
Compare to conventional UPFC, there are several challenges
of separated UPFC listed below:
Reducing the transmission capability.
0 0.5 1 1.5 2 2.5
2
1
0
1
2
3
4
5
6
7
Time (s)
P
o
w
e
r

(
p
u
)


Pr
Qr
(a) The power ow at the receiving end
0 0.5 1 1.5 2 2.5
10
5
0
5
10
Time (s)
F
u
n
d
a
m
e
n
t
a
l
C
u
r
r
e
n
t

(
p
u
)
(b) The fundamental current at the receiving end
0 0.5 1 1.5 2 2.5
1
0.5
0
Time (s)
P
o
w
e
r

(
p
u
)
1
0.5
0
P
o
w
e
r

(
p
u
)


Pshunt
Pseries
(c) The fundamental active power through the shunt and series part of
separated UPFC
0 0.5 1 1.5 2 2.5
0.5
0
0.5
Time (s)
P
o
w
e
r

(
p
u
)
0.5
0
0.5
P
o
w
e
r

(
p
u
)


Pshunt
Pseries
(d) The total active power through the shunt and series part of separated
UPFC
Fig. 7. The separated UPFC behavior
The exchange active power between shunt and series part
of the separated UPFC is through the same transmission line.
Therefore, the line carries both fundamental and nth harmonic
current, so the same transmitted power, the RMS value of line
current with separated UPFC is larger than with conventional
UPFC, see in Fig.8. The increase is about 5% depending on
the control range.
Additional losses in the transmission line and transformer
caused by the nth harmonic current.
Neutral point return loop for nth harmonic current.
A ground return path is needed for the nth harmonic, in
order not to disturb other power system component (generator,
transformer, and consumer), the nth harmonic current can not
0 0.5 1 1.5 2 2.5
4.5
5
5.5
6
6.5
Time (s)
R
M
S

L
i
n
e

C
u
r
r
e
n
t

(
p
u
.
)


Normal UPFC
Separated UPFC
Fig. 8. The comparison of line current RMS values between normal UPFC
and separated UPFC
construct closed loop through the ground in reality, so a cable
for the nth harmonic current return may be required.
Grounding of the transformer neutral point.
Because the oated neutral point of transformer contain nth
harmonic voltage, the transformer grounding and protection is
also point of concern.
VI. Coxcitsroxs
This paper presents the new concept of a separated UPFC.
The separated UPFC eliminates the common dc link between
shunt and series parts, and breaks the location constrain, which
gives more exibility of UPFC installation. The active power
exchange between shunt and series is transmitted through
the transmission line in the nth harmonic frequency, and has
no disturbance to the fundamental component. The separated
UPFC have the full function as conventional UPFC.
This idea can be applied in Prof.Deepak Divans
Distributed-FACTS devices [5]. The conventional series part
of the seperated UPFC can be replaced by multiple low-
power single-phase converter in series attached to transmission
line by a single-turned transformer. The Distributed series
part of the separated UPFC will reduce the cost signicantly
and have a lot of extra benets, such as higher reliability,
convenient for installation and maintenance. The active power
transmission theory can also be used in interline power ow
controller (IPFC). The active power exchange among series
converters can be at nth harmonic frequency, therefore without
any location limits, we can introduce as many control branches
as needed to IPFC system [6] [7].
Rrrrarxcrs
[1] Song, Yong Hua; Johns, Allan T.: Flexible ac transmission systems
(FACTS), London, Institution of Electrical Engineers, 1999.
[2] A.J.F. Keri; X. Lombard; A.A. Edris: Unied Power Flow Con-
troller(UPFC): Modeling and Analysis, IEEE Transactions Power De-
livery, 1999.
[3] S. Kannan; M.M.A. Salama: Real and Reactive Power Coordination for
a Unied Power Flow Controller, IEEE Transactions on Power Systems,
2004.
[4] Alexandr Z.Gamm; Irina I.Golub: Determination of locations for FACTS
and energy storage by the singular analysis, Power System Technology,
1998.
[5] Deepak Divan: A distributed static series compensator system for
realizing active power ow control on existing power lines, Power
Systems Conference and Exposition, 2004.
[6] R. Strzelecki; G. Benysek; Z. Fedyczak: Interline Power Flow
Controller-Probabilisitic Appoach, Digital Object Identier, 2002.
[7] Diez-Valencia, V.; Annakkage, U.D.; Gole, A.M.; Demchenko, P.; Jacob-
son, D.: Interline Power Flow Controller(IPFC) Steady State Operation,
Digital Object Identier, 2002.