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Paper

An Improved Control Strategy for Hybrid Series Active Filter


dealing with Unbalanced Load
Nguyen Xuan Tung
Goro Fujita
Kazuhiro Horikoshi

Non-member
Member
Member

This paper presents an improved control strategy for hybrid series active power lter (HSAF) working
with nonlinear and unbalance three-phase three-wire loads. An algorithm based on the Instantaneous Power
Theory is introduced to precisely extract only harmonic component from supply current, even this current is
contaminated with negative sequence component due to the imbalance of load. An improved control strategy
based on that sequence extraction algorithm is proposed and investigated in detail by numerical simulation.
The proposed control method has shown a better performance in mitigating harmonics, especially for the
nonlinear and unbalanced loads.
Keywords: Series active lter, Instantaneous power theory, Unbalanced load, Harmonic isolation.

eBook for You

1. Introduction
The increasing use of power electronics-based loads
(adjustable speed drives, switch mode power supplies,
etc.) is responsible for the rise in harmonic distortion
levels. These nonlinear loads appear to be prime sources
of harmonic distortion in a power distribution system.
Harmonics have a number of undesirable eects on the
distribution system such as the excessive voltage distortion, increasing resistive losses or voltage stresses. In
addition, the harmonic currents can interact adversely
with a wide range of power system equipment such as
capacitors, transformers, and motors, causing additional
losses, overheating, and overloading. Because of the adverse eects that harmonics have on equipments, many
solutions have been developed to deal with harmonic
control (1)(3) .
Besides conventional solutions such as passive lters,
the hybrid series active power lters have proven to be
an interesting alternative to compensate harmonics in
power distribution systems. Compared to passive lters, active lters provide superior ltering performance,
more exible operation and more compact. There are
various series hybrid active power lter topologies reported in literature (4)(6) , but the most common one is
shown in Fig. 1
Figure 1 shows the system conguration of series hybrid active power lter (APF), in which the shunt passive lter consists of one or more single-tuned LC lters and/or a high pass lter (HPF). The hybrid series APF is controlled to act as a harmonic isolator between the source and nonlinear load by injection of a

Fig. 1. Typical system conguration of hybrid series active power lter

controlled harmonic voltage source. It is controlled to


oer zero impedance at the fundamental frequency and
high impedance (ideally open circuit) at all undesired
harmonic frequencies. This forces all harmonic load currents to ow into the passive lter and decoupling the
source and nonlinear load at all frequencies, except at
the fundamental.
Control algorithm of the series active power lter
is mostly based on the Instantaneous Power Theory
(7)(10)
or the Synchronous Reference Frame (so-called
dq transform) (11)(15) . Basically, all those existing control schemes calculate the harmonic current reference
signal based on the separation of fundamental positive
sequence component and other harmonic components.
In detail, the harmonic contents (ih ) are determined by
excluding the fundamental component from measured
supply current as presented in Eq. 1:
[ih ] = [is ] [if p ] (1)
here
is : measured supply current.
if p : fundamental positive sequence component of
corresponding supply current.
The high impedance imposed by the series active power
lter is achieved by generating an appropriate voltage of

Shibaura Institute of Technology


3-7-5, Toyosu, Koto-ku, Tokyo 135-8548

Tohoku Electric Power Co.,Inc.


7-2-1, Nakayama, Aoba-ku, Sendai, Miyagi 981-0952

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the same frequency with that of the harmonic current


component as shown below:
[vF ] = K [ih ] (2)
with K is the amplication factor.
The performance of the active power lter depends
mainly on the selected reference generation scheme. The
reference current must reex the desired compensation
current, however, since the Eq. 1 is used, certainly the
harmonic component here comprises all other current
components those dier from fundamental positive sequence current. Therefore this extraction method gives
the true harmonic component if the load is assumed to
be perfectly balanced.
In a quite common situation, the load current is usually
unbalanced with the existence of fundamental negative
sequence current. Consequently, that negative sequence
current will present in the extracted harmonic component ih if Eq. 1 is still utilized although it is not a real
harmonic component. In this case, the series active
lter would have to handle not only the real harmonic
current but also the undesirable fundamental negative
sequence current. As a result, the controller would force
the series active lter to generate the compensating voltage at fundamental frequency and this could increase
signicantly the power rating of the PWM converter and
also induce high voltage oscillations at double the system frequency in dc link (16) .
Literature on series active lter shows that so far no
attempt has been made to deal with unbalanced load
and that is a disadvantageous point of the existing control strategies. In this paper, an improved control strategy based on Instantaneous Power Theory is proposed
which will ensure that the series active power lter work
with only the harmonic components even the load is unbalanced.
This paper rstly introduces the Instantaneous Power
Theory, and then discusses the basic principle and
scheme used to extract positive and negative sequence
components. Next, control strategy is presented in details. Finally, the numerical simulations are carried out
to validate the feasibility and eectiveness of this proposal.

Fig. 2. Calculation block of Instantaneous Power


Theory

ia
ib (4)
ic

i
i

1
1/2
0
3 2

1/2

3 2

Next, the instantaneous real power p and instantaneous


reactive power q are calculated by:
p
q

v
v

v
v

i
i

(5)

p
q

=
=

p + p
(6)
q + q

Where the p, q are the dc components corresponding to


the product of fundamental positive sequence quantities,
and p, q are the ac components corresponding to product of other components those dier from fundamental
positive sequence components.
By using a high-pass lter, the oscillating components
p, q can be extracted from p, q and then the reference
harmonic current can be obtained as follow:
iF
iF

v2 + v2

v
v

v
v

p
q

(7)

Next, those reference currents go through an inverse -


transform to generate the reference current in conventional three-phase abc frame.
2.2 Consideration in case voltage and current
are distorted and unbalanced
If voltage and current are distorted (due to the presence of high order
frequency harmonic components) and unbalanced (with
the existence of the fundamental negative sequence component) then the resulted oscillating power components
p, q will be the cross products of not only the harmonic
components but also the fundamental negative sequence
components (16) . In other words, the oscillating power
components p, q contain the fundamental negative sequence components.
Consequently, if the reference current signals are generated based on those power components then they would
contain both negative sequence and harmonic components rather than only harmonic components as expected. This fact raises a need to develop a method
which can precisely extract only harmonic currents despite of the presence of the fundamental negative sequence component.

2. Instantaneous power theory and its ap-

plication
2.1 Brief review of Instantaneous Power Theory
The Instantaneous Power Theory (16) is well utilized for control system of active lter. Control strategy
based on this method provides fast response to changes
in power system, good compensating performance and
imposes a little computational burden (17) (18) .
Figure 2 shows the calculation block of this theory:
Firstly, three-phase voltages and load currents are transformed into the stationary - reference frame (Clarke
transformation):

va
2
1
1/2
1/2
v

=
vb (3)
v
0
3 2 3 2
3
vc

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According to Instantaneous Power Theory, p and q can


be decomposed into average parts p, q (dc parts) and
oscillating parts p, q as shown in Eq. 6:

Tng hp cc bi bo khoa hc giai on 2007-2012

An Improved Control Strategy for Hybrid Series Active Filter dealing with Unbalanced Load

the resulted dc components p , q of those power quantities in this case are the cross product of only fundamental positive components as shown below:

current
3.1 Problem formulation and proposal
All
the existing control strategies for the series active power
lter determine the reference currents ih by simply subtracting the fundamental positive sequence current from
the supply current as below:

p
q

3V+1 I+1 cos (+1 )


3V+1 I+1 sin (+1 )

(11)

here
I+1 : the fundamental positive sequence current
component of the measured supply current.
+1 : phase angle between the auxiliary positive sequence voltage V+1 and the fundamental positive
sequence current component I+1 .
It is clear to see that only fundamental positive sequence
voltage V+1 and current I+1 components contribute to
average value p and q , the negative sequence components does not appear in those power quantities. Next,
the low-pass lter is utilized to extract only those dc
power components p , q . Once those power components
in Eq. 11 is extracted then it is easy to obtain the positive sequence current using the same denition as shown
in Eq. 7.
For extracting fundamental positive sequence component, the amplitude of v+1 and v+1 are not important
and can be chosen arbitrarily due to the fact that they
appear in both direct and inversecalculations (16) .
For simplicity, they are set to unity hence Eq. 10 becomes:

[ih ] = [is ] [if p ] (8)


This approach has shown many disadvantages as already
mentioned in Sec. 1 since the reference current ih will
contain the fundamental negative sequence current component if load is unbalanced. In order to overcome
this drawback, the improved reference current extraction method is proposed as follow:
[ih ] = [is ] [if p ] [if n ] (9)
where is , if p , if n are the measured supply current, fundamental positive and negative sequence current components of corresponding supply current respectively.
The improved reference current extraction method differs from previous proposals since it eliminates not only
the fundamental positive sequence current but also the
fundamental negative sequence current from the supply
current to form the harmonic reference current.
Because is is already measured, the remaining task of
determining the harmonic reference current based on
new proposal is to extract the positive and negative sequence components (two last components at right side
of Eq. 9). In this paper, the sequence current component extraction implementation is completely based on
the Instantaneous Power Theory. Basically, it includes
following steps:
Generate an auxiliary voltage which contains only
a pure fundamental positive or negative sequence
voltage.
This auxiliary voltage will be used together with origin supply current to create the instantaneous power
components.
Implement ltering processes to achieve the desired
power portions from those power components then
applying inverse transformation to generate the corresponding current.
The role of the auxiliary voltage will be fully described
in next section.
3.2 Positive sequence current extraction
Considering an auxiliary voltage that contains only fundamental positive sequence component V+1 with phase angle +1 assumed to be zero then the - transform of
this voltage results in:

3V+1 sin (1 t)
v+1 =

(10)
v+1 = 3V+1 cos (1 t)

v+1 = + sin (1 t)
(12)
v+1 = cos (1 t)
3.3 Negative sequence current extraction
Similar procedure is employed to extract negative sequence current, however, an auxiliary negative sequence
voltage is considered instead of the auxiliary positive sequence voltage.
The results of - transform of this auxiliary pure fundamental negative sequence voltage is shown in Eq. 13.
v1
v1

=
=

+ sin (1 t)
(13)
+ cos (1 t)

Here the amplitude of negative sequence voltage v1


and v1 are again selected to be unity and corresponding phase angles are assumed to be zero for simplication.
The dc power components p , q resulted from the
product of those auxiliary negative sequence voltages
{v1 , v1 } and the supply current are shown in Eq. 14
p
q

= 3V1 I1 cos (1 )
(14)
= 3V1 I1 sin (1 )

here
I1 : the fundamental negative sequence current
component of the measured supply current.
1 : phase angle between the auxiliary negative sequence voltage V1 and the fundamental negative
sequence current component I1 .
Again, only fundamental negative sequence voltage V1
and current I1 components show up in the average
value p , q even the supply current is distorted and unbalanced. Therefore, if those dc power components are

Next step, this pure fundamental positive sequence voltage is used together with the supply current to calculate
the instantaneous power quantities p, q following Eq. 5.
The supply current may contain fundamental negative
sequence and high order harmonic components, however,

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=

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3. Approach for determining reference

Tng hp cc bi bo khoa hc giai on 2007-2012

extracted through a ltering process then the negative


sequence current can be calculated using same denition
as shown in Eq. 7.
3.4 Generation of auxiliary voltages and sequence detection circuit
The generation of the
fundamental positive and negative sequence components
is necessary for determining the harmonic reference current. An important part of generating auxiliary reference voltage is the phase locked loop (PLL) circuit.
The PLL circuit tracks continuously the fundamental
frequency 1 of the measured system voltage.
The PLL is designed to operate properly under distorted
and unbalanced voltage wave forms. The frequency 1
is used in a sine wave generator to produce two quantities sin(1 t) and cos(1 t) those correspond to the
auxiliary fundamental positive sequence voltages v+1
& v+1 (mentioned in Eq. 12). The PLL circuit is already well introduced in literature and it has good performance in handling this task (19) (20) (see Appendix for
operation principle).
Figure 3 shows the positive sequence detection circuit
based on principle stated in Sec. 3.2. Similar circuit can
be implemented for the negative sequence extraction if
the output of PLL circuit are sin(1 t) and cos(1 t)
following the Eq. 13.

Equivalent circuit for harmonic compensation

Fig. 5.
lter

Proposed control circuit for series active

If the gain factor K is set suciently large as


K
(ZS + ZF ) then neither harmonic current ow
from load to ac source nor from ac source to load side.
4.2 Control Scheme
The proposed control circuit is shown in Fig. 5, where the three-phase load current is measured and transformed into stationary -
frame. The PLL circuit generates the auxiliary positive and negative sequence voltages (corresponding to
Eq. 12 & 13). Those currents and auxiliary voltages in
stationary - frame are supplied to positive and negative sequence extraction blocks (extraction principle is
detailed in Sec. 3.2 & 3.3). The output positive and negative sequence currents in - frame are passed through
the inverse - transform to give the positive and negative sequence currents in conventional three-phase abc
frame.
Harmonic current is extracted from measured supply
current after subtracting the fundamental positive and
negative sequence components as stated in Eq. 9. Next,
each extracted harmonic current is passed through a
gain block with the amplication factor of K to form
reference voltage vF (Eq. 2). Finally, this reference
voltage vF is applied to the gate control circuit for each
PWM converter.

4. Control strategy
4.1 Operation principle of series active lter
as harmonic current isolator
It is well known
that series active lters correct current system distortion caused by non-linear load by synthesizing an active
impedance presenting a zero impedance at fundamental frequency and a high resistance K between load and
source at all harmonics frequencies. By inserting a high
resistance K, the series active lter forces the high frequency current ow mainly through LC passive lter
connected in parallel to load (2) (21) .
The equivalent single phase circuit for harmonic compensation is shown in Fig. 4. In this gure, non-linear
load is represented by a harmonic current source Ih and
source voltage is represented by harmonic voltage source
Vsh . The series active lter is equivalent to a controlled
voltage source Vc and shunt passive lter becomes an
equivalent impedance ZF . If the series active lter is
controlled as Vc = K Ish (equivalent to a resistor of K
ohm) then the Ish can be calculated as:
Ish =

Fig. 4.
Positive sequence current detection circuit

5. Simulation setup
Simulation is setup as following:
The investigated system is three-phase, three-wire
system then zero sequence component does not exist.
Sources line to line voltage is 200V (50Hz). Source
impedance is Zs = 0.0280 pu (with the system
base of Ubase = 200V and Sbase = 20kV A).
Active lter rating capacity is 700V A and it is activated at 0.5 [s] during simulation.
PWM converters switching frequency is set at

ZF
Vsh
+
Ih (15)
ZS + ZF + K
ZS + ZF + K

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Fig. 3.

Tng hp cc bi bo khoa hc giai on 2007-2012

An Improved Control Strategy for Hybrid Series Active Filter dealing with Unbalanced Load
Isa

150

Isb

Isc

100
50

-50
-100

-150
0.460

Representative diagram for simulation

Table 1.
5th lter
7th lter
High-pass

Capacitance [F]
340
170
300

0.500

0.510

0.520

0.530

0.540

0.550

0.560

5.0

Q=14
Q=14
R=3

15 kHz. The dc sources voltage is Vdc = 200V .


Coupling transformers turn ratio n = 1 : 20. The
ripple lter connected at the output of PWM converter consists of a series inductor Lr = 1mH and
a shunt capacitor Cr = 0.33F .
Passive lters are tuned to the most dominant 5th ,
7th harmonics and a high pass lter with total capacity of 10kVA (parameters are given in Table 1).
The unbalanced and nonlinear load is represented
by a combination of a 20 kVA three-phase thyristor
rectier and a linear single phase load (17.5) as
shown in Fig. 6. This setup gives a total load current of about 60 [A] RMS with the unbalance factor
I2 /I1 10%.
Current is measured in ampere [A].

0.0

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

29

30

31

(b) Current spectra: Before activation of active lter


Current Spectrum
5.0

0.0

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

(c) Current spectra: After activation of active lter

Fig. 7. Waveshapes and spectra of source current


before and after active lter is activated

6. Result and discussion

150

Iap

Ibp

Icp

100

6.1 Eectiveness of series active lter equipped


with improved control algorithm
Figure 7 generally shows the eect of active power lter equipped
with improved control strategy on the nonlinear and unbalanced load. For detail:
Figure 7a shows that: Once active lter is activated at 0.5 [s] then it almost immediately takes effect to reduce the harmonic contents injecting into
the source, the source current almost becomes sinusoidal. Moreover, the active lter not only successfully mitigates the harmonic contents but also
preserves perfectly the imbalance characteristic of
load as expected.
Figure 7b & 7c present the spectra of source current
before and after active lter is activated. Evidently,
the harmonic contents signicantly drops at all harmonic frequencies. Thus, this is again to numerically conrm the eectiveness of the series active
lter.
The fundamental positive and negative sequence currents extracted from measured source current are also
shown in Fig. 8 & Fig. 9. Noticeably, the positive and
negative sequence current remain constant, even while
active lter is operating. These results conrm the advantage of improved control strategy: the active lter
does not alter the load imbalance characteristic. In other
words, the active lter does work with only harmonic

50

-50
-100

-150
0.460

0.470

0.480

Fig. 8.
15.0

Ian

0.490

0.500

0.510

0.520

0.530

0.540

0.550

0.560

Extracted positive sequence current


Ibn

Icn

10.0
5.0

0.0

-5.0
-10.0

-15.0
0.460

0.480

Fig. 9.

0.500

0.520

0.540

0.560

Extracted negative sequence current

current components as designed.


For nonlinear and balanced load, the active lter
equipped with new control strategy still works very well
as it can be seen in Fig. 10, the harmonic contents are
mostly eliminated and the inherent load characteristic
remains untouched.
6.2 Eectiveness comparison over series active
lters equipped with improved and previous con206

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IEEJ Trans. TEEE, Vol.125, No.1, 2005

0.490

Current Spectrum

Parameter of shunt passive lter

Inductance [mH]
1.2
1.2
0.26

0.480

eBook for You

Fig. 6.

0.470

(a) Harmonic mitigation eect with improved control strategy for


unbalanced load

Tng hp cc bi bo khoa hc giai on 2007-2012

Isa

150

Isb

Current Spectrum

Isc

5.0

100
50

-50
-100

-150

0.0

0.460

0.470

0.480

0.490

0.500

0.510

0.520

0.530

0.540

0.550

0.560

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

25

26

27

28

29

30

31

(a) With improved control strategy

Fig. 10. Harmonic mitigation with improved control strategy for balanced load

Current Spectrum
5.0

Isa

150

Isb

Isc

100
50

-50
-100
0.0

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

-150
0.460

0.470

0.480

0.490

0.500

0.510

0.520

0.530

0.540

0.550

(b) With previous control strategy

0.560

(a) Result with improved control strategy


Isa

150

Isb

Fig. 12. Current spectrum comparison in cases


with improved and previous control strategies

Isc

lter to overload condition, degrading the harmonic


mitigation eect, that balancing the inherent unbalanced load does not bring any benet for customer
who invested money for that active lter.
In contrast, the active lter employing the improved
control method does not need to handle the negative
sequence current then it can devote all of it capacity
for harmonic mitigation function. As a result, the
harmonic mitigation eciency in this case is higher.
This higher eciency is illustrated in Fig.12a as the
harmonic contents shown there are much more lower
than those in Fig.12b. In other words, the active lter with the improve control algorithm has a better
performance.
Figure 13 shows the compensating voltages generated
by the series active lters (the blue and red lines show
instantaneous and RMS values respectively), those gures are for the output volt-ampere comparison purpose.
Figure 13b presents the output voltage of series active
lter which is equipped with previous control algorithm.
Apparently, looking at voltage waveform, one may see
the presence of the 50Hz component. That is reason
why the output voltage in RMS value is almost double
of that in Fig. 13a. This phenomenon is due to all the
previous control algorithms do not exclude the negative
sequence component which may occur if load is unbalanced.
For numerical detail comparison:
In case the active lter employs improved control algorithm, the compensating voltage presents a RMS
value of only about 3.4V . This means that the
volt-ampere rating of the series active lter is only
3.4V 60A 3 = 612V A. Assuming that the active
lter rating capacity is chosen as 700V A, then this
gure presents only a small portion as about 3.5%
of the load rating 20kV A.
On the contrary, if the previous control algorithm
is utilized, then the output compensating voltage in

50

-50
-100

-150
0.460

0.470

0.480

0.490

0.500

0.510

0.520

0.530

0.540

0.550

0.560

(b) Result with previous control strategy

Fig. 11. Waveshape comparison in cases with improved and previous control strategies

trol algorithms
For comparison purpose, the active
lter which is equipped with the previous control strategy is also simulated. Simulation studies for comparison
are setup based on follow assumptions:
In previous control strategy, the negative sequence
component is not excluded from the reference harmonic current.
On the contrary, for the improved control strategy,
the negative sequence component is excluded from
the reference harmonic current.
Comparisons are carried out with unbalanced loads
since the improved control strategy is proposed to
help the series active lter performs better under
unbalanced loading conditions.
All other conditions remains the same for both
cases.
Figure 11 & 12 compare the current waveshapes and
spectra in cases the active lters utilize the improved
and previous control strategies. Under the same testing conditions, the active lter with improved control
strategy shows a better performance. This conclusion
can be claried in below discussion:
The active lter equipped with previous control
strategy will have to handle both harmonic and the
fundamental negative sequence current components,
consequently the load will be forced to be balanced
as shown in Fig. 11b and the PWM converter might
be easily overloaded. Besides exposing the active

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An Improved Control Strategy for Hybrid Series Active Filter dealing with Unbalanced Load
V_active_filter

20.0

VfilterRMS

Zs = 0.02pu
THDi (%)

16.0

Zs = 0.1pu
THDi (%)

Zs = 0.2pu
THDi (%)

12.0
8.0
4.0
0.0
-4.0

-8.0

-12.0
-16.0

0.869893

0.631617

0.497768

(a) Zs = 0.02pu

(b) Zs = 0.1pu

(c) Zs = 0.2pu

-20.0
0.460

0.470

0.480

0.490

0.500

0.510

0.520

0.530

0.540

0.550

0.560

(a) With improved control strategy


V_active_filter

20.0

Fig. 15. Total harmonic distortion (THD) of


source currents

VfilterRMS

16.0

8.0

tents tend to go down for three cases. This fact may be


discussed as below:
Since the source impedance are set increasingly from
0.01pu to 0.2pu , the source becomes weaker and its
voltage actually get distorted. However, on the contrary, the higher the source impedance, the smaller
amount of harmonic currents injected into source.
That is reason why the harmonic contents after compensation is reduced correspondingly for three cases.
Despite the distortion of voltage, the series active lter still work eectively. This point proves that the
Instantaneous Power Theory used in the sequence
extraction algorithm can work well under the voltage distortion conditions.

4.0
0.0
-4.0
-8.0
-12.0
-16.0
-20.0
0.460

0.470

0.480

0.490

0.500

0.510

0.520

0.530

0.540

0.550

0.560

(b) With previous control strategy

Fig. 13.

Voltage generated by series active lters

Zs = 0.02pu
THDv (%)

Zs = 0.1pu
THDv (%)

Zs = 0.2pu
THDv (%)

1.06281

2.01309

2.30476

(a) Zs = 0.02pu

(b) Zs = 0.1pu

(c) Zs = 0.2pu

7. Conclusions
The improved control strategy for hybrid series active
lter is already proposed and investigated in detail. This
control method bases on sequence component elimination algorithm to obtain only the harmonic content from
a distorted and unbalanced current set. Consequently,
this control strategy does help the series active lter to
improve its performance, especially when load is unbalanced. Main conclusions can be recognized as follow:
Only harmonic component is precisely extracted to
form the reference current for the series active lter,
therefore, the active lter work with only harmonic
component as expected, even when load is unbalanced.
The proposed control strategy enhances the stability of control process since the imbalance of load will
not have any aect on the reference signal.
Especially, the active lter is protected away from
severer overload conditions because it does not have
to deal with the fundamental negative sequence
component which may occur if load is unbalanced.
The proposed control strategy is well tailored to suit
with all operating conditions such as serving balanced or unbalanced loads. In other words, it can
apply for the series active lter working with any
generic loads.
Finally, all the simulation results have successfully validated the eectiveness and feasibility of this proposal.

Fig. 14. Total harmonic distortion (THD) of


source voltages

this case is about 8V as shown in Fig. 13b. Numerically, the required volt-ampere output of the active
lter now is up to 8V 60A 3 = 1440V A. In this
case, the active lter is about 1440V A/700V A =
2.05 times overloaded. As a result, this will seriously
damage the converter. Apparently, the percentage
of overload depends on the load unbalance factor.
6.3 Inuence of source side impedance on harmonic mitigation eect
From Fig. 4, it is easy to
see that the harmonics generated by nonlinear load are
injecting into source. As consequence, the source voltage will be distorted depending on the value of source
impedance. If the source impedance is low, then the
voltage distortion is low and vice versa. Since this control algorithm utilizes the quantities calculated from
both voltage and current, then it is necessary to examine
the inuence of voltage distortion (or source impedance)
on the compensation eect.
All above simulations run with source impedance set at
0.02pu, then now two more worse scenarios are examined: source impedances are set higher at 0.1pu and
0.2pu. Consequently, the results in Fig. 14 show that
total harmonic distortion (THD) factors of source voltages are 1.06%, 2.01% and 2.3% respectively. Thus, the
higher the source impedance, the worse the voltage distortion.
Figure 15 show the corresponding THDs of source currents after compensation. Noticeably, after series active
lter was started, the remain amounts of harmonic con-

References
(1)

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IEEJ Trans. TEEE, Vol.125, No.1, 2005

Z. Salam, and T. P. Cheng, and A. Jusoh, Harmonics Mitigation Using Active Power Filter: A Technological Review,

eBook for You

12.0

Tng hp cc bi bo khoa hc giai on 2007-2012

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)

(19)

(20)
(21)

rent detection circuit. It detects fundamental angular


frequency (1 ) and generates synchronous sinusoidal signals those correspond to auxiliary positive sequence voltages under sinusoidal as well as highly distorted and unbalanced source voltages. The PLL circuit introduced

Elektrika Journal of Electrical Engineering, (2006)


F. Z. Peng, and H. Akagi, and A. Nabae, A New Approach to
Harmonic Compensation in Power Systems, IEEE Industry
Applications Society Annual Meeting, (1988)
M. El. Habrouk, and M. K. Darwish, and P. Mehta, Active
Power Filters: A Review, IEE Proceedings Electric Power
Applications, (2000)
F. Z. Peng, and H. Akagi, and A. Nabae, Compensation
Characteristics of The Combined System of Shunt Passive and
Series Active Filters, IEEE Transactions on Industry Applications, (1993)
F. B. Libano, and D. S. L. Simonetti, and J. Uceda, Frequency Characteristics of Hybrid Filter Systems, Power
Electronics Specialists Conference, (1996)
J. Turunen, and M. Salo, and H. Tuusa, Comparison of Three
Series Hybrid Active Power Filter Topologies, International
Conference on Harmonics and Quality of Power, (2004)
B. Han, and B. Bae, and H. Kim, and S. Baek, Combined
Operation of Unied Power Quality Conditioner With Distributed Generation, IEEE Transactions on Power Delivery, (2006)
S. P. Litran, and P. Salmeron, and R. S. Herrera, and J. R.
Vazquez, New Control Strategy to Improve Power Quality
Using A Hybrid Power Filter, International Conference on
Renewable Energies and Power Quality, (2008)
H. Akagi, and Y. Kanazawa, and A. Nabae, Instantaneous
Reactive Power Compensators Comprising Switching Devices
without Energy Storage Components, IEEE Transactions
on Industry Applications, (1984)
Q. Wang, and W. Yao, and J. Liu, and Z. Wang, Voltage
Type Harmonic Source and Series Active Power Filter Adopting New Control Approach, Industrial Electronics Society
Conference IECON, (1999)
S. Bhattacharya, and D. Divan, Synchronous Frame Based
Controller Implementation for A Hybrid Series Active Filter
System, Industry Applications Conference, (1995)
G. D. Marques, and V. F. Pires, and M. Malinowski, and M.
Kazmierkowski, An Improved Synchronous Reference Frame
Method for Active Filters, The International Conference on
Computer as a Tool, (2007)
S. Bhattacharya, and D. Divan, Design and Implementation
of A Hybrid Series Active Filter System, Power Electronics
Specialists Conference, (1995)
K. Karthik, and J. E. Quaicoe, Voltage Compensation and
Harmonic Suppression Using Series Active And Shunt Passive
Filters, Canadian Conference on Electrical and Computer
Engineering, (2000)
B. R. Lin, and B. R. Yang, and T. L. Hung, Implementation of A Hybrid Series Active Filter for Harmonic Current
and Voltage Compensations, International Conference on
Power Electronics, Machines and Drives, (2002)
H. Akagi, and E. H. Watanabe, and M. Aredes: Instantaneous
Power Theory and Applications to Power Conditioning, John
Wiley & Sons, Inc. (2007)
D. Chen, and S. Xie, Review of The Control Strategies
Applied to Active Power Filters, IEEE International Conference on Electric Utility Deregulation, Restructuring and
Power Technologies, (2004)
G. W. .Chang, and T. C. Shee, A Comparative Study of
Active Power Filter Reference Compensation Approaches,
Power Engineering Society Summer Meeting, (2002)
S. A. O. Silvia, and P. F. Donoso-Garcia, and P. F. Seixas,
A Three Phase Line Interactive UPS System Implementation
with Series-Parallel Active Power Line Conditioning Capacities, IEEE Transactions on Industry Applications, (2002)
F. F. Ewald, and M. A. S. Masoum: Power Quality in Power
Systems and Electrical Machines, Academic Press (2008)
L. Xu, and E. Acha, and V. G. Agelidis, A New Synchronous
Frame-Based Control Strategy for A Series Voltage and Harmonic Compensator, Applied Power Electronics Conference
and Exposition, (2001)

app. Fig. 1.

Phase locked loop circuit

here is based on the instantaneous active power expression:


p3

=
=

va ia + vb ib + vc ic
p3 + p3

vab ia + vcb ic

(A1)

The current feedback signals ia (t) = sin(t) and


ic (t) = sin(t + 1200 ) are generated by sine generator circuits through the time integral of the output
of the PI controller. The PLL can reach stable point
of operation only if the input p3 of PI controller has,
in steady state, a zero average value, that is, p3 = 0.
Moreover, the low frequency oscillations p3 should be
minimized.
Because ia (t) and ic (t) contain only positive-sequence
components and have unity magnitudes, therefore, the
average three phase power p3 = p3 is given by:
p3 = 3V+1 I+1 cos(+ + + ) (A2)
where + and + are the initial phase angles of the fundamental positive sequence voltage and current ia (t)
respectively. Now the PLL can reach stable point of operation only if the input p3 of PI controller has a zero
average value, that is equivalent to:
p3 = 3V+1 I+1 cos(+ + + ) = 0 (A3)
The above condition is satised since + + + = 900 .
This means that the auxiliary currents ia (t) and ic (t)
become orthogonal to the fundamental positive sequence
component V+1 of the measured voltages va and vc respectively. Therefore, the generated auxiliary voltage
v+1a = sin(t 900 ) is in phase with fundamental positive sequence voltage V+1 . Similar relations hold for
v+1b and v+1c .
Nguyen Xuan Tung (Non-member) received the B.E. degree in electrical engineering from Hanoi University of Technology, VietNam in 1999 and
the M.E degree from Curtin University of
Technology, Australia in 2005. He has been
pursuing PhD degree in Shibaura Institute of
Technology, Japan since 2007. His interests
are about protective relay system and power
quality issue in power distribution system.

Appendix
Phase locked loop (PLL) circuit
The PLL is one of components of the sequence cur-

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eBook for You

(2)

Tng hp cc bi bo khoa hc giai on 2007-2012

An Improved Control Strategy for Hybrid Series Active Filter dealing with Unbalanced Load
Goro Fujita (Member) received the B.E., M.E. and Ph.D
degrees in electrical engineering from Hosei
University, Tokyo, Japan in 1992, 1994 and
1997 respectively. In 1997, he was a research
student of Tokyo Metropolitan University. He
is an Associate Professor of Shibaura Institute of Technology, Tokyo, Japan. His interest is in power system control including AGC
and FACTS. He is a member of the Society of
Instrument and Control Engineers (SICE) of
Japan, the IEE of Japan, and IEEE.

eBook for You

Kazuhiro Horikoshi (Member) was born in Miyagi, Japan,


on August 30, 1967. He received the B.E.
degree in electrical engineering from Tohoku
University, Japan, in 1990. In the same year,
he joined Tohoku Electric Power Co., Sendai,
Japan. He is now an assistant research manager in Research & Development Center at Tohoku Electric Power Co., Inc. His research
area is about distribution system and interconnection of distributed generations.

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Tng hp cc bi bo khoa hc giai on 2007-2012

Paper

Fault Current Limiting Function of Dynamic Voltage Restorer Utilizing


Signals from Existing Protective Relays
Nguyen Xuan Tung
Fujita Goro

Non-member
Member

Dynamic Voltage Restorer (DVR) is a series custom compensator utilized in power distribution network,
however, due to connected in series with distribution line then DVR would suer from downstream faults.
To limit the ow of large fault currents and protect DVR itself as well, a fault current limiting function is
proposed in the DVR control strategy. Fault current limiting function of DVR will be activated by protection
system and then DVR will start injecting a series voltage to the line in such a way to limit fault current
to an appropriate level (in accordance with required sensitivity of protection systems). The contribution of
this proposal is the utilization of signals from existing feeder protection system to activate DVR. This will
simplify the structure of DVR because the extra build-in fault detection module is not required. Moreover,
it will ensure proper coordination between DVR and protection systems.

eBook for You

Keywords: Dynamic Voltage Restorer, Fault Current Limiter, Protection System.

1. Introduction
Distribution networks are usually expanded by adding
either extra transformers and/or feeders. This fact may
raise the chances of increasing prospective fault currents
that might exceed circuit breakers interrupting capacity. Moreover, that adding dispersed power sources may
be convinced as other reason for increasing potential
fault current level. Many solutions have been proposed
to deal with high fault duty level; one of these solutions
is utilizing fault current limiting (FCL) devices. Basically, FCL can bring many benets to utilities, such as:
Avoid or delay upgrading existing CBs.
Minimize voltage dip on upstream bus when fault
occurs at downstream feeder.
A larger transformer can be used to meet demand
without upgrading CBs.
Reduce thermal damage due to fault currents and
hence protecting and extending life time of transformers and other equipments.
In this study, a dynamic voltage restorer (DVR) is
proposed as a fault current limiter. Dynamic voltage
restorer is a series custom power device used to protect
sensitive customers from impacts of all voltage disturbances. Dynamic voltage restorer can be implemented
at both low voltage level and medium voltage level. A
topology of typical medium voltage DVR is in Fig. 1.
The basic operation principle of DVR is simple. DVR
will insert a series voltage with appropriate magnitude,
frequency and phase to compensate for any voltage disturbances (especially voltage sags) that may aect the
proper operation of loads. In order to handle that oper

Fig. 1.

ation, DVR is equipped with a Voltage Source Inverter


(VSI) and energy storage. However, when fault occurs
at down stream location, DVR would suer from a large
fault current and that such large current will damage the
power switching devices within the VSI. In order to protect DVR, a bypass circuit is added to DVR (1) (2) . The
bypass circuit does protect DVR during fault at downstream but it still allows the large fault current owing
through faulty part and circuit breaker. In order to deal
with the above mentioned problems, a fault current limiting function is added to DVRs control function. When
fault occurs, the DVR reverses its injecting voltage polarity in such a way to pull down the current ow to an
appropriate level as desired. The advantages of added
fault current limiting function are:
Additional protection circuits (such bypass circuit)
are not necessary for DVR.
Implementation is simple.
Diminish damage caused by large fault current to
circuit breaker and other equipment.
The fault current limiting function ensures that the devices are protected from excessive high current without
additional circuit complexity. However, another concern

Shibaura Institute of Technology


3-7-5, Toyosu, Koto-ku, Tokyo 135-8548, Japan

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Typical topology of DVR

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Fig. 2.

Equivalent diagram of investigated system

Fig. 4. Relationship between compensated fault


current and corresponding injected voltage

changed to Eq. 2:

here UDV R is voltage injected by DVR.


Assuming that fault current will be compensated to appropriate magnitude as represented by dotted circle in
Fig. 3. Depending on the phase angle and magnitude
of injected voltage then inherent phase angle of compensated fault current can vary, for instance it can be either
If 1(c) or If 2(c) and so on.
Based on vector diagram in Fig. 4, it can be seen that
when compensated fault current (for instance If 1(c) )
is kept in phase with pre-compensated fault current
If then the amplitude of injected voltage is minimum
(UDV R1 < UDV R2 ; UDV R1 < UDV R3 ), therefore,
this technique minimizes the voltage rating of coupling
transformer (mathematical expression can be found in
ref. (3)), and hence, the voltage rating of DC capacitor
is minimized as well. In this proposal, in-phase current
compensation strategy is utilized.

is that the fault current limiting function of DVR must


not interfere with the existing protection system of the
feeder. Since the proposed function of DVR will force
the fault current to go down during the fault, in order
to avoid the interference it should be well coordinated
with the protection system.
In next section, the implementation of fault current
limiting function with activating signal from existing
protection system is presented and the coordination with
existing protection system is investigated as well.
2. Operation principle of DVR as fault

current limiter
DVR is known as a multi-function device in distribution system, it mainly used to against voltage sag that
may occur. To minimize the power losses through DVR
then the DVR is held in a null state in normal condition. Once an overcurrent occurs then FCL function is
activated and it starts to react as fast as possible and
inject the required ac voltage to the grid.
Figure 2 and 3 illustrate that operation principle:
When fault occurs, the relationship between voltage at
source and fault current can be expressed as (without
DVR):

3. Activation and termination principles

implemented for DVR


Technical literature is lled with documents and references regarding that utilizing the DVR as fault current limiter , however, the coordination between DVR
and existing protection system has not been well mentioned (4) (5) (6) . Apparently, DVR will alter fault current
since it is activated, therefore, sensitivity of protection
system will be inuenced. In order to ensure proper operation of existing protection system, the coordination
must therefore be considered. In this section, the above
mentioned issues will be analyzed and appropriate solution will be proposed. This section is divided into three
sub-sections: setting threshold for compensated current,
activation and termination mechanism of DVR serving
as fault current limiter.
3.1 Setting compensated current level
For
setting level of compensated current, S. S. Choi et al. (5) ,
L. Y. Wei et al. (6) proposed setting level based on assumption that voltage at point of common coupling
would remain as that of pre-fault level while DVR is
being activated. In other word, amplitude of compensated current will remain constant as pre-fault normal
load current. This approach had some drawbacks since
the fault current is very high in comparison with normal
load current and DVR will act as a buer between source
and fault point, hence DVR will absorb energy from up-

US = If Rf + jIf Xf
= URf + UXf = U (1)
where
US : source voltage (behind sources impedance)
Zf : total fault impedance (Zf = ZS + ZLf ault )
If : fault current
ZS : internal impedance of source
ZLf ault : impedance of faulty line section
U : voltage drop on total fault impedance
If DVR is activated, it will inject a series voltage into
line in such a way to reduce amplitude of fault current.
At this time, relationship as shown in Eq. 1 has been

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US + UDV R = If (c) Zf = U(c) (2)

Fig. 3. Relationship between fault current and


voltage drop on fault impedance

Tng hp cc bi bo khoa hc giai on 2007-2012

Fault Current Limiting Function of Dynamic Voltage Restorer Utilizing Signals from Existing Protective Relays

Sensitivitymin =

If ault min
Ipickup level

Fig. 5.

nal will be fed to DVRs control circuit and DVR starts


working as fault current limiter. This control signal will
override all other control signals referred to above power
quality improvement functions.
I. Axente et al. proposed fault detection method by
adding an extra fault detection block (4) , this block took
responsibility for impedance measurement such that implemented in commercial distance relays. However,
that adding extra impedance measurement block is very
costly solution (for reference, distance relay usually is
one of the most expensive relay) and the implementation of that block is not simple.
Other authors suggested a solution by adding overcurrent detection block into DVR conguration (6) , but
building an extra block means that more money is
needed.
Besides those costly solutions, a simpler solution can
be implemented by extracting signal from existing protection system. Generally, protection system is well designed for detecting any fault that may occur at protected zone, therefore, any signal comes from protection
system can be trusted. Based on that analysis, the signal used to activate DVR can be extracted from output
circuit of existing protection system. In other word,
when protection system picks up due to detection of
fault, it will concurrently send a signal to activate DVR
(Fig. 5). This proposal will ensure that fault current
limiting function of DVR will only activate when fault
occurs at protected zone, moreover, no extra build-in
fault detection block is needed.
3.3 Termination of DVR after fault cleared
Termination of DVR action must be carefully considered, otherwise DVR will keep functioning even
when fault has been cleared. In the study done by
L. Y. Wei et al. (6) fault clearance was detected by sensing voltage at load bus, but this solution is applied only
when distance between DVR and loads is short enough.
Other authors oered a solution by installing an extra
communication channel between DVR and protection
system, however, both studies did not clarify how fault
is eliminated (5) (6) . Another drawback of the above solutions may occur in case of downstream fault and local
CB refuses to trip; in this case the fault will persist
without any elimination.
Alternative solution to terminate DVRs action proposed in this study is based on the fact that: if compensated fault current level is kept at 2 Ipickup (as
stated in Sect. 3.1), consequently when fault occurs, relays will operate as normal even DVR is compensating

[pu]

Inherently, the sensitivity factor will vary depending on


fault current level, but the minimum sensitivity referring
to minimum fault current is considered when designing
the protection system. As a rule of thumb, sensitivity to
minimum fault condition for a protection system should
not be less than 2 per unit (pu) in order to ensure the
reliable operation of protection system in any faulty conditions.
From that point of view, setting level for compensated
current should be kept at 2 times of pick up current
(2 Ipickup ) of existing relay system (pick up current
of existing relay system is already known when designing protection system). This setting level proposes some
advantages:
Voltage rating of DC link capacitor is lower than
that in case of full compensation.
Proper operation of existing local protection system
will not be aected by action of DVR.
The coordination between relays is automatically
ensured.
3.2 Activation mechanism
Normally, DVR is
used as multi-function device dealing with improvement
of power quality, for example, DVR may be utilized to
compensate for voltage sags, unbalanced voltage problems and harmonic compensations. However, when a
fault occurs somewhere downstream then a control sig-

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Activation mechanism applying for DVR

eBook for You

stream source in order to reduce fault current level. As


a result, DVR must have a high KVA rating to deal with
large fault currents. Other concern is that some type of
protection system such as an overcurrent relay system
(non-directional type) will operate based on magnitude
of sensed current, hence if the fault current is compensated to pre-fault level then overcurrent relay might no
longer have enough sensitivity to continue tracing the
presence of fault and it will reset to standby status.
Based on that analysis, a new setting level will be proposed to ensure that protection system still functions
properly since DVR operates.
In order to deal with new setting level, the concept of
sensitivity of protection system will be referred (7) (8) (9) .
Generally, the protection system must operate reliably
even with the smallest fault current which may occur in
protective zone. However, what could happen in case
the smallest fault current is just about the setting level
(or pickup level) of protection system:
If protection system still can operate in this case
that means it already senses the faulty condition or
it is sensitive enough.
If it can not operate, that means the protection does
not sense the faulty condition, in other word, it is
not sensitive enough.
Based on that fact, the relationship between minimum
fault current and pickup level of any protection system
should be considered. In case of overcurrent relay, the
ratio between minimum fault current and setting level
is referred as the sensitivity factor of protection system
as follow:

Tng hp cc bi bo khoa hc giai on 2007-2012

Fig. 8. Relationship between DC-link voltage and


operation of DVR
Fig. 6.

Termination mechanism applying for DVR

E = Pc tprot (3)
where:
Pc : total active power owing into DVR.
tprot : operating time of protection system.
Total active power Pc owing into DVR is determined
by:
Pc = 3 Vinjected Icompensated cos() (4)

Fig. 7. Fault at load side and corresponding sequence actions

the fault current. Relay will count down setting time


and send tripping signal to open CB whenever setting
time is over. At the moment when relay issues tripping
signal, DVR should be terminated.
Based on that analysis, termination signal feeding to
DVR can be extracted from tripping circuit of relay.
This principle is illustrated in Fig. 6.
In case of fault occur at load side as shown in Fig. 7,
both protection systems of load and feeder pick up, but
only loads protection system (LPS) trips and open CB
at load side. Whenever fault is cleared by opening CB at
load side, feeders protection (FPS) will reset to standby.
In this situation, DVR already is activated due to FPS
picked up, but there is no signal to terminate DVRs operation since FPS reset without issuing any tripping signal. In order to deal with this situation, a back up signal
used to terminate DVRs operation should be deployed.
This paper proposes a solution to obtain the back up termination signal based on that monitoring DC-link voltage. When DVR is operating as fault current limiter, it
can be seen that DVR will absorb energy from upstream
source through the coupling transformer, but the diode
rectier can not feed the energy back to the source; it
will lead to DC-link voltage pumping-up (3) . Since fault
is cleared, the owing current will drop down below the
setting level of compensated current, at that moment,
DVR will reverse its action and try to increase current
level in order to keep input of its comparator at zero. In
term of energy, now DVR will start injecting energy into
system, as a result, DC-link voltage will decrease. This
principle can be claried by the block diagram in Fig. 8.
Based on that analysis, the clearance of fault can be detected by tracing the DC-link voltage. Whenever the
DC-link voltage drops down after going up, it can be
assumed that fault has been cleared and DVR as fault
current limiter should stop operating.
Energy absorbed by DVR during compensation process can be express approximately by:

UDCmax =

2E
(5)
C

And voltage across capacitor as function of time can


be represented by:
UDC (t) = UDCmax 1 et/ (6)
where is time constant of circuit.
This principle will be claried further more by simulation result in Sect. 5.3.
In summary, the current limiting function in DVR can
be terminated by signals from FPS and DC-link voltage
monitoring mechanism, at this point, one may question
whether the termination mechanism can be achieved
only by monitoring DC-link voltage and external tripping signal from FPS is really needed or not. The reason why both terminating signals are still utilized in this
proposal can be convinced as follow:
To increase the reliability of terminating mechanism: that using both signals (from DC-link voltage
monitoring mechanism and from FPS) will enhance
the reliability of terminating mechanism.
If only DC-link voltage monitoring mechanism
is utilized: basically, DC-link voltage monitoring
mechanism takes time to process signal and it will
not respond as fast as FPS does in case of fault occurs at feeder. In other word, DC-link voltage monitoring mechanism will give a bit longer fault clearance time in comparison with that done by FPS.
4. Circuit and control block of DVR serv-

ing as fautl current limiter


Simulation was implemented by PSCAD software.
The proposed DVR model is three phase inverter model
with common DC energy storage as shown in Fig. 9.
Main components of DVR model include:
Coupling transformer.
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with = angle(Vinjected , Icompensated )


Maximum voltage can occur across capacitor is:

Tng hp cc bi bo khoa hc giai on 2007-2012

Fault Current Limiting Function of Dynamic Voltage Restorer Utilizing Signals from Existing Protective Relays

Ph
BK

A
1.0
B

Ibsend

0.002 [H]

Iasend

Icsend

Vasend

0.002 [H] 0.6 [ohm]

Vbsend

0.002 [H] 0.6 [ohm]

Vcsend

0.6 [ohm]
Vsc

Vsb

Vsa
#1

#1

#1

#2

P+jQ

#2

#2

Vic_a

Vic_b

Vic_c

Fault Type
3
5
2

g21

g61

1
2

2g51

g31

g41

A
Timed
Fault
Logic

g11

FAULTS

4000.0 [uF]

6
2

2g52

6
2g32

g22

g62

Fig. 9.

Generate phase angle


for referece signal

Sin

Iaref
D + -

F
Ia

Va
Ia
Vb
Ib
Ic

Vc

PLL

theta

Sin

D + F

Ibref
D + F
Ib

120.0

D + +

Sin

4
2 g12

Icref
D + -

F 120.0

F
Ic

g42

Basic simulation model of DVR

P
Delta_a

P
Delta_b

P
Delta_c

*
1

Limiter

Fig. 11. Control principle used to keep DVR in


null state

Mag. of referece current

Fig. 10.

Control block of DVR

applied in the control strategy of the DVR. With this


control, a fast response time (approximately half cycle)
can be achieved to compensate fault currents.
During normal condition, DVR is kept in null state.
This state is implemented by removing the PWM ring
from the IGBTs in the phases and instead, continuously
res the IGBTs in half of each single phase portion of
the VSI as shown in Fig. 11, so that the series windings are short circuited. When DVR is activated, PWM
ring is fed to all IGBTs in phases as normal.

Voltage Sourced Inverter (VSI).


Control system.
The inverter consists of 6-leg inverter (three single phase
full bridge inverters) using a common DC link. The basic function of the VSI is to convert the DC voltage supplied by the energy storage device into an AC voltage.
The VSI operating in PWM adds voltage harmonics to
the load. To reduce harmonic, lters can be installed at
either low voltage or high voltage side of the coupling
transformer to block high frequency harmonics caused
by DC to AC conversion. In the DVR power circuit,
step up voltage transformer (coupling transformer) is
used, thus a VSI with a low voltage rating is sucient.
A simple control block diagram of DVR is illustrated
in Fig. 10. Details parameters of simulation model is
shown in appendix. The desired reference current is generated from a phase locked loop synchronized to the supply side three-phase AC current. The actual measured
current is compared with the reference currents, and
the dierence is fed through PI controller to generate
a modulation index which is applied to the pulse width
modulated (PWM) carrier switching signal to generate
turn-on and turn-o pulses to the IGBTs. The control is
single phase based to achieve best performance, in other
word; the DVR has independent phase control.
For fast response and to maximize dynamic performance, direct feed-forward type control architecture is

5. Simulation and discussion


5.1 Simulation setting
In this study, simulations were run with following parameters:
Maximum load current: ILoadmax 75 [A]
Maximum fault current: IF aultmax 700 [A]
In power distribution system, overcurrent relay is commonly used due to its low cost, hence in this simulation,
that type of relay will be simulated as protection system.
Pick up threshold of relay: Ipickup = 115 [A] (RMS)
Time setting of relay:
tsetting = 0.2 [s] for FPS relays.
tsetting = 0.1 [s] for LPS relays.
These settings are intentionally used because the author
would like to have the readers attention focused on the
transition process from pre-fault to post-fault in which
fault current limiting function of DVR shows its eect
(in practice, time margin between FPS and LPS is nor215

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CURRENT (in Ampere)


Ia

Ib

CURRENT (in Ampere)


Ic

1.0k

0.8k

0.8k

0.5k

0.5k

0.3k

0.3k

0.0

1.0k

Ib

-0.3k

-0.5k

-0.5k

-0.8k

-0.8k
-1.0k

0.000

0.050

Fig. 12.

0.100

0.150

0.200

0.250

0.300

0.000

Three-phase fault without DVR

0.050

Fig. 14.

0.100

0.150

Ia

Ib

1.0k

0.300

Ia

Ib

Ic

0.8k

0.5k

0.5k

0.3k

0.3k

0.0
y

0.250

CURRENT (in Ampere)

Ic

0.8k

-0.3k

0.0
-0.3k

-0.5k

-0.5k

-0.8k

-0.8k

-1.0k
0.000

0.200

Phase-phase fault without DVR

CURRENT (in Ampere)


1.0k

Ic

0.0

-0.3k

-1.0k

Ia

0.050

0.100

0.150

0.200

0.250

-1.0k

0.300

0.000

Fig. 13. Three-phase fault with DVR and DVR is


terminated by FPS

0.050

Fig. 15.

0.100

0.150

0.200

0.250

0.300

Phase-phase fault with DVR activated


CURRENT (in Ampere)

1.0k

mally higher).
As stated in Sect. 3.1, minimum required sensitivity
of protection system should not be less than 2 pu, therefore, setting level of compensated current should be:

Ia

Ib

Ic

eBook for You

0.8k
0.5k

0.3k
0.0
-0.3k

Icompensated = 2 Ipickup = 2 115 = 230 [A].

-0.5k
-0.8k

In other word, when DVR operates as fault current limiter it should reduce fault current magnitude to about
230 [A]. All the faults are assumed to start at 0.03 [s].
5.2 Simulation procedure
Simulation is carried out with various scenarios:
Fault occurs at feeder side: this scenario used
to verify the eectiveness of mechanism to activate/terminate DVR by FPS.
Fault occurs at load side: This simulation is to verify the proposal used to terminate DVR action by
tracing DC link voltage and to verify the proper coordination between FPS and LPS.
5.3 Result and discussion
Simulation results
and discussion are shown below.
Figure 12 shows three-phase fault current (fault takes
place at feeder) with DVR is not activated, fault current is about 700 [A] (about ten times of normal load
current). In case DVR is activated (Fig. 13), DVR
takes full eect just after one cycle and fault current is
reduced to 230 [A] (rms) as expected. In this case, DVR
is activated and terminated by FPS.
Comparing Fig.12 with Fig. 13, it can be seen that
the operation of FPS is not interfered even while DVR
is operating, FPS cleared fault after 0.2 [s] based on its
own setting. Similarly, Fig. 14 and Fig. 15 show the
case of phase-phase fault.
In Fig. 15, it can be seen that, DVR performed single phase control perfectly, only two faulty phases (a
and b) are compensated while healthy phase (c) remain
constant. Moreover, fault clearance time of relay still

-1.0k
0.000

Fig. 16.
DVR

0.050

0.100

0.150

0.200

0.250

0.300

Three-phase fault at load side without

is 0.2 [s] that means DVR operation did not aect the
protection system.
In next section, the cases with three-phase fault at
load side (as shown in Fig. 7) is investigated. Firstly,
DVR is not activated. In this situation, fault current is
570[A] (Fig. 16) and it is smaller than that in case fault
took place at feeder because now fault location is moved
far away the source. LPS cleared the fault after 0.1 [s] as
expected and whenever fault is cleared hence current get
back to normal load current (current did not go down to
zero because only faulty part is eliminated and healthy
part is untouched). Apparently, restored load current is
lower than that of pre-fault condition because the faulty
section is eliminated.
Secondly, DVR is utilized. In this case DVR is activated by FPS because when fault occurs hence both
FPS and LPS pick up. Figure 17 shows that DVR again
fully perform its eect just after one cycle as shown in
other cases.
When fault occurs, DC link voltage goes up (Fig. 18)
since DVR is absorbing energy from upper source. Next,
LPS eliminates the fault after 0.1 [s] (at the same time
FPS reset to standby), DVR immediately reverse its action this leads to DC link voltage goes down suddenly.
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Fault Current Limiting Function of Dynamic Voltage Restorer Utilizing Signals from Existing Protective Relays
CURRENT (in Ampere)
Ia

Ib

Ic

(5)

0.8k
0.5k
0.3k

(6)

0.0
-0.3k
-0.5k
-0.8k

(7)

-1.0k
0.000

0.050

0.100

0.150

0.200

0.250

0.300

(8)

Fig. 17. Three-phase fault at load side with DVR


activated by FPS and terminated by DC-link voltage tracing mechanism

(9)

Appendix

Main : Graphs
12.0

DC voltage

Parameters in simulation
- Source & Load (Fig. 9)

10.0

8.0

6.0
y

Source voltage: 7.5 [kV] (L-L, RMS)


Frequency: 50 Hz
Source impedance: 1 80 []
Total load impedance: 55 []

4.0

2.0

0.0

-2.0
0.000

Fig. 18.

0.050

0.100

0.150

0.200

0.250

0.300

- Coupling transformer

DC-link voltage during fault at load side

Voltage ratings: 7.5 [kV]


Transformer MVA: 0.6 [MVA]
Leakage reactance: 0.05 [pu]

At the time DC link voltage drops down then consequently DVR is terminated and fault current get back
to normal level. This simulation again validates the theoretical analysis shown in Sect. 3.3.

- Fault resistance
The value of fault current can be adjusted by changing fault resistance.

6. Conclusion
In this paper, the dynamic voltage restorer is proposed
to use as a fault current limiter. A new method to activate that fault current limiting function by the signals
from existing protection system is proposed and tested.
Moreover, the coordination between existing protection
system and fault current limiting function of dynamic
voltage restorer is investigated and implemented. This
proposal oers many advantages such as the reduction
in the cost of DVR device; the proper coordination between protection systems is ensured regardless of the
fault location and even when the fault current has been
altered. Finally, all the simulation results have validated
the eectiveness of proposal.

To simulate the fault at feeder: Rf ault = 5 []


To simulate the fault at load: Rf ault = 10 []
- Reference current in control system (Fig. 10)
Iaref = Ibref = Icref = 325 [A](peak) or 230
[A](rms)

Nguyen Xuan Tung (Non-member) was born in Hai


Duong, VietNam, on April 15, 1975. He received the B.E. from Hanoi University of Technology, VietNam in 1999 and the M.E degree
from Curtin University of Technology, Australia in 2005. Currently, he has been pursuing
PhD degree in Shibaura Institute of Technology, Japan. His interests are about relay protection system and power quality issue.

References
(1)

(2)

(3)

(4)

Electronics, Machines and Drives, pp.627631 (2006)


S. S. Choi, T. X. Wang, and D. M. Vilathgamuwa, A series compensator with fault current limiting function, IEEE
Transactions on Power Delivery, Vol. 20, No.03, pp.2248
2256
L. Y. Wei, D. M. Vilathgamuwa, C. L. Poh, and F. Blaabjerg, A dual-functional medium voltage level DVR to limit
downstream fault currents, IEEE Transactions on Power
Electronics, Vol. 22, No.04, pp.13301340
GET-6450 Distribution System Feeder Overcurrent Protection, GE Publication (1997)
IEEE Std. 1596-1992,Guide for Protective Relay Applications to Transmission Lines, IEEE (1992)
A. C. Enriquez and E. V. Martinez, Sensitivity improvement of time overcurrent relays, Electric Power Systems Research, Vol. 77, No.02, pp.119124 (2007)

L. Moran, R. Oyarzun, I. Pastorini, J. Dixon, and R. Wallace,


A fault protection scheme for series active power lters,
Power Electronics Specialists Conference, Vol. 01, pp.489
493 (1996)
N. H. Woodley, L. Morgan, and A. Sundaram, Experience with an inverter-based dynamic voltage restorer, IEEE
Transactions on Power Delivery, Vol. 14, No.03, pp.1181
1186
G. Xiao, Z. Hu, C. Nan, and Z. Wang, DC-Link voltage
pumping-up analysis and phase shift control for a series active
voltage regulator, Proceeding of 37th IEEE Power Electronics Specialists Conference, pp.15 (2006)
I. Axente, M. Basu, M. F. Conlon,, and K. Gaughan, Protection of DVR against short circuit faults at the load side, Proceeding of the 3rd IET International Conference on Power

B mn H thng in - i hc Bch Khoa H Ni


IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

Fujita Goro (Member) was born in January 1970. He received the B.E., M.E. and Ph.D degrees in
electrical engineering from Hosei University,
Tokyo, Japan in 1992, 1994 and 1997 respectively. In 1997, he was a research student of
Tokyo Metropolitan University. Since 1998, he
is in Shibaura Institute of Technology, Tokyo,
Japan as an associate professor. His interest
is in power system opeartion and control. He
is a member of the Society of Instrument and
Control Engineers (SICE) of Japan, the IEE of Japan, and IEEE.

217

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Paper

Phase Load Balancing In Distribution Power System


Using Discrete Passive Compensator
Nguyen Xuan Tung
Goro Fujita
Kazuhiro Horikoshi

Non-member
Member
Member

This paper describes a new proposal to deal with imbalance phase loading phenomenon in power distribution system. Discrete switched passive shunt compensators such as reactors or capacitor banks are considered
as the means to compensate for that imbalance phenomenon. Discrete switched passive compensator oers
advantages in term of installation cost and simplies the maintenance process.
A new algorithm is developed to calculate the size of discrete compensators, this algorithm incorporates
the unbalance power ow calculation module and optimal compensator sizing module. In addition, the algorithm is written in MATLAB language and tested on an actual three phase-three wires distribution feeder.
Extensive tests have validated the eectiveness of the proposal and shown that this proposal can be a useful
tool for any electrical utilities.

gories:
Rearrange feeders or redistribute the loads in such a
way the system becomes more balanced (3)(5) . However, the utilities usually cannot aord too many
load swapping due to the long time interruption of
customers and cost of labors to implement those operations.
Install compensators (power quality conditioners)
to compensate for any imbalance quantities (6)(9) .
They seem to be the most possible solutions but another concern raised by utilities is the capital cost
of these solutions.
This paper focuses on the second mitigation technique
and will establish an appropriate solution in term of capital cost. For imbalance compensation purpose, active
compensator such as Distribution Static Compensator
(DSTATCOM) is widely introduced in literature, the
power electronic solutions are elegant, however, they include a greater degree of cost. Cost has been the major factor in limiting the application of power electronic
solution over power distribution level. Based on that
fact, solutions those involve passive compensators such
as switched capacitor or switched reactor banks would
seem to be the most cost eective solution and these will
be investigated in this paper.
Moreover, a new algorithm is developed to calculate
the size of compensators. This algorithm includes unbalance power ow calculation module and discrete optimal compensator sizing module. The objective of this
algorithm is to nd the optimal size of compensators so
that minimize the unbalanced power ow through the
main feeder. The algorithm allows the user to specic
the type and the maximum number of available taps
for each compensator. In addition, detailed model of

1. Introduction
In power system, voltages (and currents) are expected
to be sinusoidal and equal in magnitude, with the individual phases 1200 apart. However, the utilities usually experience the imbalance phenomenon in both voltage and current. The nature of imbalance phenomenon
includes unequal magnitude and phase angle deviation
among phases. A major cause of voltage and current imbalances is that loads are not uniformly spread among
the three phases and load peaks are non-coincident due
to diversity of load categories. Additional causes of
power system imbalances can be asymmetrical distribution feeder impedances possibly caused by incomplete
transposition of feeder lines.
The inuence of imbalance voltage and current on
power system has been well investigated in literature.
V. J. Annette et al. (1) and L. F. Ochoa et al. (2) concluded that unbalanced voltages and currents can result
in adverse eects on equipment and on the power system, for example a small unbalance in the phase voltages can cause a disproportionately larger unbalance in
the phase currents. Under unbalanced conditions, the
power system will incur more losses and heating eects.
The eect of voltage unbalance can also be severe on
equipment such as induction motors, power electronic
converters and adjustable speed drives.
Many mitigation techniques have been developed to
deal with imbalance phenomenon in distribution system,
generally those solutions can be divided into two cate

Shibaura Institute of Technology


3-7-5, Toyosu, Koto-ku, Tokyo 135-8548

Tohoku Electric Power Co.,Inc.


7-2-1, Nakayama, Aoba-ku, Sendai, Miyagi 981-0952

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Keywords: Phase Loading Imbalance, Discrete Optimization, Passive Compensation, Distribution System.

Tng hp cc bi bo khoa hc giai on 2007-2012

Diagram of unbalanced load and compensator


Fig. 2.

the feeder including mutual coupling eect, the type of


loads and time-varying load patterns are also considered
in the algorithm in order to suggest the compensators
switching patterns over time. Finally, the algorithm is
written in MATLAB language and tested on the data
retrieved from an actual three-phase, three-wire distribution feeder to verify its eectiveness.

when installing the compensator is the capital cost,


therefore the lossless compensator is a rst top priority and the simplicity of compensator bank is preferred
as well. For those reasons, capacitive and inductive compensator banks would be the most prominent solutions.
Furthermore, if a compensator consists of both inductive
and capacitive banks then the compensation system will
be obviously more complex than that if only either pure
capacitive or pure inductive bank is used. Moreover,
the higher complexity degree of compensator will result
in more investment money and more time for maintenance. In order to oer cost advantages to utilities, the
possibility of using only either capacitive or inductive
compensation bank as the phase loading compensator
will be proven in this section.
Considering the general case where the compensator
is full thee-phase and delta connection as shown in Fig. 2
(here Yab , Ybc , Yca are compensators admittances).
Assume that phase voltages are perfectly balanced:

2. Compensation principle
Figure 1 shows the general unbalanced three-phase
load fed from a three-phase, three-wire source. Load
and compensator are connected in delta therefore zero
sequence component
will . equal to zero. The compen.
.
sator currents (I ac , I bc , I cc ) is added to load currents
.
.
.
(I al , I bl , I cl ) and then the following equation is satised
(written for phase A, similarly for phase B and C):
.

I a = I al + I ac
.
.
.
.
.
.
= (I a1l + I a2l + I a0l )+(I a1c + I a2c + I a0c )
.

= (I a1l + I a1c )+(I a2l + I a2c )+(I a0l + I a0c ) (1)

0
V A = V 0 ,

Here subscripts c and l represent for the quantities


coming
from compensator and load respectively:
.
I a : line current supplying to load after compensation.
.
.
.
I a1 , I a2 , I a0 : positive, negative and zero current
sequence components.
The objective of load compensation is to eliminate or
limit any the negative and zero sequence components of
load currents. Since zero components are zero therefore
in this case the line currents will become perfectly balanced if the negative sequence component is eliminated.
Mathematic expression of above statement is shown in
Eq. 2
.

Because Ia2l and Ia2c are complex numbers then Eq. 2


is equivalent to:
.

0
V C = V 240

calculated as
V
V

(4)

where a is a 1200 phase shift operator: a = 11200 .


Based on Eq. 4, the current sequence components of
compensator are derived as follow:
.
I. a0 = 0 .
.
.
(5)
= (Y ab + Y bc + Y ca ) V
.
.
.
I. a1
I a2 = (a2 Y ab + Y bc + aY ca ) V

real(I a2l ) + real(I a2c ) = 0


.
imaginary(I a2l ) + imaginary(I a2c ) = 0

.
.

0
V B = V 120 ,

Currents generated by compensator are


shown in Eq. 4:
.
.
.

I = Y ab (1 a2 ) Y ca (a 1)

. ac
.
.
I bc = Y bc (a2 a) Y ab (1 a2 )

.
.
.

I cc = Y ca (a 1) Y bc (a2 a)

(I a2l + I a2c ) = 0 (2)

Diagram of three-phase compensator

Now considering some particular cases where the compensators are single-phase elements only. The possible
congurations are shown in Fig. 3.
Case (a): Single-phase compensator is connected
across phase A and phase B (Ybc = 0, Yca = 0).
In order to generalize the results, the values used in
this section will be in per unit.
Substitute (Yab , Ybc = 0, Yca = 0) into Eq. 5, current sequence components produced by this single
phase compensator are:

(3)

The Eq. 3 mathematically depicts the overall conditions


for load balancing.
3. Possibility of using only either capaci-

tive or inductive element as a compensator


One of the factors which electrical utility consider

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Phase Load Balancing In Distribution Power System Using Discrete Passive Compensator

Diagram of single-phase compensations

Table 1. Negative current components contributed by various single phase compensator


congurations
Negative Current
.

I a2(AB)
.
I a2(BC)
.
I a2(CA)

Fig. 5. Decomposition of required negative current vector into two nearest component vectors

Compensator
Capacitive Inductive
1300
11500
1900
1900
11500
1300

magnitudes of a (pu) and b (pu) respectively as


shown in (Fig.5-a).
In order to generate the a (pu) vectors on CA axis
then a single phase capacitive compensator connected across phases C&A must be used (according to Table. 1). The value of CA capacitive single
phase compensator will be:
1
1
Yca =
= a (pu)
XC(CA) =
a
XC(CA)
Similarly, another single phase capacitive compensator connected between phases B&C must be used
to generate b (pu) vector on BC axis.
1
1
Ybc =
= b (pu)
XC(BC) =
b
XC(BC)
Finally, conguration of capacitive compensator will
be: [Yab ; Ybc ; Yca ] = [0; b; a]
Case b: Similarly, if compensator is inductive then
a pair of two single phase compensators connected
across phases A&B and B&C must be used (Fig.5b).
The nal inductive compensator conguration will
take follow form: [Yab ; Ybc ; 0].
In summary, the compensator which is formed from either pure capacitive or pure inductive banks can generate any desired negative current regardless of magnitude
and phase angle. In other word, it is possible to use
only either capacitive or inductive elements to balance
the phase load currents.

Fig. 4. Vector diagram of negative current components generated by various single phase compensator congurations

.
I. a0(AB) = 0.
(6)
= Y ab V
I
.
. a1(AB)
2
I a2(AB) = a Y ab V
Here subscript AB denotes current quantities resulting from the single phase compensator connected across phases A&B.
If the compensator is capacitive element with
impedance
of XC
.
.
2
I a2(AB) = a Y ab V
V
300 = 1300 (7)
=
XC
If the compensator is inductive element with
impedance
of XL
.
.
2
I a2(AB) = a Y ab V
V
1500 = 11500 (8)
=
XL
Case (b) & (c): Similar calculations are applied for
case (b) and case (c).

4. Phase load balancing in distribution

system
4.1 Problem formulation
The implementation
of load balancing or load compensation in distribution
level may involve some of follow aspects:
Technical aspects:
Compensation algorithm must be able to apply to
calculate for not only individual load but also for
feeder with several connected loads. The problem
of unbalanced phase loading is not new in power
systems, however, the previous proposed solutions
are to deal with single individual unbalanced load
only and they did not gure out how to deal with
the feeder which has several connected loads (6)(9) .
The contribution of this paper is to propose an algorithm which can apply to solve the unbalanced
phase loading phenomenon for not only single load
but also for the feeder accommodating several loads

Table 1 and Fig. 4 show the results of sequence components contributed by various single phase compensator
congurations.
Assume that the compensator must
generate a required negative sequence current as shown
in Fig. 5. This required vector will be decomposed into
two nearest available vectors:
Case a: If the compensator is capacitive then the required vector can be decomposed into the two nearest component vectors on CA and BC axes with

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Tng hp cc bi bo khoa hc giai on 2007-2012

Representative feeder

as seen in practice.
Algorithm must produce as more accurate results
as possible in comparison with other proposed solutions: in literature, all the calculations were
based on assumption that voltages are perfectly balanced (6) (7) , but actually voltages at load terminal
may not be always balanced due to many reasons.
In order to overcome this limit and to provide a more
accurate solution, this proposed algorithm will use
the actual node voltages (not assumed voltages) in
all calculations.
Cost advantage aspects: The key contribution of this
paper is that proposing an economically justiable compensation solution.
In order to reduce investment cost and make it applicable to power distribution level then only either
pure capacitor bank or pure reactor bank is considered to form the compensator as stated in Sec. 3,
mixed capacitive and reactive compensator bank is
not an option.
As stated in Sec. 1, power electronic compensators
or active compensators are a perfect choice but these
solutions are far more expensive than that if the passive compensators are selected.
For that consideration, the discrete switched passive compensator banks (such as discrete capacitor
or discrete reactor bank) will be utilized as the compensator.
4.2 Phase load balancing algorithm
The imbalance phase loading phenomenon does not immediately show its inuence over system and equipments due
to the fact that thermal inertias of equipments are quite
long. Based on that analysis, it is not really imperative
to instantly correct the imbalance phase loading situation since it occurs and the balancing action can be
carried out on averaged data over a time interval. In
other word, if daily loading curve is known then it can
be stripped into smaller intervals and the compensation
action will be calculated based on the unbalance factor
averaged over each that time interval.
From above view point, load balancing algorithm is proposed as follow: Considering the representative feeder
with m loads as shown in Fig. 6.
Step 1 : Determine the rst loading level (n = 1) to assess for imbalance compensation (here n stand for loading level order).
Step 2 : Run three-phase, unbalance power ow calculation with the given loading level from step 1.
This unbalance power ow module has ability to handle
for various types of loads such as the load with constant power; load with constant impedance or load with
constant current (11) . Furthermore, mutual impedance of

.
.
1 .
(I ali + a2 I bli + aI cli )
3
= Ci + jDi (9)

I a2li =

with Ci and Di are real and imaginary parts of negative


current produced by load number i.
Step 4 : Calculate the compensator size. This step
consists of the follow sub-steps:
* Establish load balancing equations to determine the
compensators negative current which will cancel load
negative current resulting from step 3. In this step, actual load voltages (VAi , VBi , VCi ) from step 2 will be used
in calculation to improve accuracy.
Referring to Fig. 2, current generated by compensator
is:
.
.
.
.
.
.
.
I. aci = (V. Ai V. Bi )Y. abi (V. Ci V. Ai )Y. cai
= (V Bi V Ci )Y bci (V Ai V Bi )Y abi (10)
.
.
.
.
.
.
I. bci
I cci = (V Ci V Ai )Y cai (V Bi V Ci )Y bci
Here Eq. 10 looks dierent
with . Eq. 4 due to the fact
.
.
that actual voltages V Ai , V Bi , V Ci of node i are used
instead of .assumed
balanced
voltages V . In Eq.. 10, node
.
.
.
,
,
are
already known; Y abi , Y bci ,
volatges
V
V
V
Ai
Bi
Ci
.
Y cai are compensators admittances and are all unknown
variables.
Applying symmetrical component theory, negative current injecting by compensator will be:
.

.
.
1 .
(I aci + a2 I bci + aI cci )
3
= Ei + jFi (11)

I a2ci =

here Ei and Fi are real and imaginary parts of negative


current required to generate by compensator number
i.
.
.
and
F
are
functions
of
variables
,
,
Note
that
E
Y
Y
i
i
abi
bci
.
Y cai :
.

Ei = Ei (Y abi , Y bci , Y cai )


.
.
.
Fi = Fi (Y abi , Y bci , Y cai )
Load balancing process is to satisfy the balancing conditions as stated in Eq. 3, in this context, substitute
Ei , Fi , Ci , Di into Eq. 3 we come up with following load
balancing equations:
.

Ei (Y abi , Y bci , Y cai ) + Ci = 0


.
.
.
(12)
Fi (Y abi , Y bci , Y cai ) + Di = 0
Or in general form

B mn H thng in - i hc Bch Khoa H Ni

Ei (Y ) + Ci = 0
Fi (Y ) + Di = 0

221

IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

eBook for You

Fig. 6.

distribution line is also taken into account.


The outputs of this step will be all node voltages
(VAi , VBi , VCi ) and all load currents (Iali , Ibli , Icli ) with
i = 1 m (here subscript i is used for numbering
the loads).
.
Step 3 : Calculate negative current I a2li produced by
load.
Start calculating with the last load (corresponding to
i = m) at ending section of the feeder as shown in Fig. 6.
Load currents (Iali , Ibli , Icli ) resulting from step 2 will be
used in here. Equation 9 shows the calculation:

Tng hp cc bi bo khoa hc giai on 2007-2012

Phase Load Balancing In Distribution Power System Using Discrete Passive Compensator

with Y represents for compensators admittance.


* Solve load balancing equations by utilizing discrete
optimization technique.
Since load balancing conditions or equations have been
already established in Eq. 12 then the target of this step
is to nd out the values of variables Yabi , Ybci , Ycai to
fulll those equations.
Because Yabi , Ybci , Ycai can take only discrete values
(as mentioned in Sec. 4.1) then the Eq. 12 can not be
solved directly by conventional methods which apply to
only continuous variables. That is the reason why the
discrete optimization technique needs to take part in.
The objective of discrete optimization is to ultimately
fulll the Eq. 12 so that minimize the negative current
magnitude of load. Mathematical expression of that objective function can be expressed as below:
J = min{(Ei + Ci )2 + (Fi + Di )2 } (13)

eBook for You

with Ei & Fi are function of compensators admittance Y .

Y : set of nd discrete values


[Y ]nd [0] (for capacitor)
subject to

[Y ]nd [0] (for reactor)


nd : maximum number of taps for each compensator.
Each element of [Y ]nd will be assigned to a value of corresponding tap in a discrete manner.
In this proposal, brute-force search algorithm is utilized to solve the discrete optimization. The brute-force
search technique is simple to implement and will always
nd a solution (10) .
Outputs of this step is optimal values of compensator
i (Yabi , Ybci , Ycai ) in a discrete manner.
Step 5 : Add up compensator i to the corresponding load i and go back to step 2. Now run the power
ow again with updated load i and roll up to calculate
compensator size for the upstream adjacent load i 1.
Repeat the process from step 2 to step 5 until all loads
are processed and nal results will be values of all compensators for all loads: {Yabi ; Ybci ; Ycai } with i = 1 m.
Step 6 : Check for further compensation if is is necessary.
Since all compensators have been added to all corresponding loads then it is necessary to check for any further compensation correction. This can be done by going
back to step 2 to run power ow again with all updated
loads and repeat all the above mentioned procedures.
The iteration will terminate whenever no further compensation correction is required.
The condition to terminate calculation process is as follow:
Whenever the conditions Yabi = Ybci = Ycai with all
i = 1 m are satised then the iteration will stop because those conditions mention that all compensators
now are three-phase balanced. Since they are balanced
they will not produce any negative current to cancel for
load negative current. In other word, at this stage the
compensator size is already an optimal value and no further compensation is needed.

Fig. 7.

Outputs of this step 6 will be the nal values of all


compensators. Those discrete optimal compensators
sizes will be used to determine the corresponding tap
positions. Those tap positions are the rst switching
patterns of the compensators corresponding to the rst
loading level.
Since compensation strategy to deal with a certain
level of unbalance has been already addressed, it is possible to run multiple unbalance level congurations in
order to gure out the switching scheme for compensators over a day period. Therefore, next step is to go
back step 1 and begin to works with next loading level
(loading level n + 1).
Figure 7 shows the entire ow chart of the algorithm.
5. Result and discussion
5.1 Simulation setup
The load balancing algorithm is written in MATLAB and the eectiveness of
algorithm is tested with the data collecting from an actual feeder which has 3 main lateral loads as shown in
Fg. 8. Simulations are run with following conditions:
All loads have leading power factors (this is based
on actual data provided by power utility company).
The compensators are selected to be all inductive
due to existing leading power factors of loads; if ca222

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IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

Phase load balancing algorithm

Tng hp cc bi bo khoa hc giai on 2007-2012

Negative current through Line 2

16

Before

Fig. 8.

Percentage (%)

14

Case study of feeder with three loads

After

12
10
8
6
4
2

Negative current through Line 1

16
14

After

Time Interval

10

11

12

Fig. 10. Negative currents before & after compensation through Line 2

12
10
8

Negative current through Line 3

Before

50

Time Interval

10

11

Percentage (%)

2
0

12

Fig. 9. Negative currents before & after compensation through Line 1

After

40
30
20
10
0

pacitive compensators are used then the power factor will become worse.
Compensators are switchable with maximum 10
steps and each step is 25kVAR; 15kVAR and 5
kVAR for compensator 1; compensator 2 and compensator 3 respectively.
In this paper, time interval for unbalance assessment is
selected as 2 hours, in other word, each compensator will
have 12 time-switching patterns over every 24 hours or
a day.
The load balancing algorithm is written in MATLAB.
This algorithm consists of two main modules.
The rst is unbalance power ow module. This unbalance power ow module has ability to handle for
various types of loads such as the load with constant
power; load with constant impedance or load with
constant current. Furthermore, mutual impedance
of distribution line is also taken into account (11) .
The second module is implementation of brute-force
search algorithm. This search algorithm is simple (10) , however, calculation time will grow signicantly when the size of problem increases. In power
distribution level, the discrete switched capacitor
bank (or reactor bank) has only a few number of
taps so that if even brute-force search is applied then
the calculation time will not be a matter.
5.2 Result and discussion
5.2.1 Eectiveness of compensation algorithm
The eectiveness of compensations are illustrated in
Fig. 9, 10 and 11. Based on results of negative current
before and after compensation, it is clear that the proposed compensation strategy shows a signicant load
balancing eect, the magnitudes of negative currents
that represent the imbalance degree may reduce to less
than 1% in some cases. However, the full compensation eect (resulting in zero negative current) cannot be
expected due to the discrete characteristic of compensators.
In addition, the node voltages become balanced as a

Time Interval

10

11

12

Fig. 11. Negative currents before & after compensation through Line 3
Negative voltage at node 1

0.8

Before

Percentage (%)

0.7

eBook for You

Percentage (%)

Before

After

0.6
0.5
0.4
0.3
0.2
0.1
0

Time Interval

10

11

12

Fig. 12. Negative voltage before & after compensation at node 1


Negative voltage at node 2

0.8

Before

Percentage (%)

0.7

After

0.6
0.5
0.4
0.3
0.2
0.1
0

Time Interval

10

11

12

Fig. 13. Negative voltage before & after compensation at node 2

consequence of the phase load balancing actions. This


eect can be seen in Fig. 12, 13 and 14. As shown in
those gures, the imbalance degrees of voltage are small
and within acceptable level due to the fact that the
source is strong and possibly the distribution line sections are short.
Figure 15, 16 and 17 show the absolute value of node
voltages with respect to the source voltage of 6750 (V).
In this simulation, the downstream node voltages sometimes are higher than the source voltage due to the lead223

B mn H thng in - i hc Bch Khoa H Ni

IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

Tng hp cc bi bo khoa hc giai on 2007-2012

Phase Load Balancing In Distribution Power System Using Discrete Passive Compensator

Before

0.7

After

0.6
0.5
0.4
0.3
0.2

Time Interval

10

11

6600
6400
6200

5600

Phase A

Phase B

Phase C

Time Interval

10

11

12

Tap position vs Time for Compensator 1

300

6600

AB

BC

CA

250

Tap position (kVAR)

6400
6200
6000

200
150
100
50

5800

Time Interval

10

11

0
1

12

Fig. 18.

Fig. 15. Absolute voltage value before & after


compensation at node 1

Time Interval

Phase B

Phase C

Tap position (kVAR)

Phase A

After

6600
6400

11

12

Tap position vs Time for Compensator 2


AB

160

6800

10

Tap position vs Time for Compensator 1

180

7000

BC

CA

140
120
100
80
60
40
20

6200

0
1

6000

Fig. 19.

5800

Time Interval

10

11

12

Time Interval

10

11

12

Tap position vs Time for Compensator 2


Tap position vs Time for Compensator 3

60

Fig. 16. Absolute voltage value before & after


compensation at node 2

AB

BC

CA

Tap position (kVAR)

50

ing power factor condition. After compensation, the


leading reactive powers are partially absorbed by inductive compensators and as a consequence, the downstream node voltages become not only mostly balanced
but also its magnitudes are reduced to appropriate level.
The maximum voltage deviation from the rated value is
about 3 % and all node voltages are within allowable
level.
The switching patterns of compensators are indicated
by their tap positions versus time. The results are presented in Fig. 18, 19 and 20. Moreover, the compensation shows not only load balancing eect but it also
helps to reduce power losses through the investigated
system. Figure 21 shows power loss improvement after
compensation.
In this context, the power losses improvement (PLI) is
dened as follow:

40
30
20
10
0
1

Fig. 20.

P LI =

Time Interval

10

11

12

Tap position vs Time for Compensator 3

P Lbf P Laf
100
P Lbf

(%)

where P Lbf and P Laf are total power losses before and
after compensation.
According to results of simulation, power losses improvement can be more than 70% and in the the least
remarkable situation it is about 16%. The possible reasons for power losses improvement can be convinced as
follow:
As stated in Ref. (2), under unbalance loading situa224

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IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

eBook for You

Node Voltage (V)

After

6800

Node Voltage (V)

After

Fig. 17. Absolute voltage value before & after


compensation at node 3

7000

5600

Phase C

5800

12

Fig. 14. Negative voltage before & after compensation at node 3

5600

Phase B

6000

0.1
0

Phase A

6800

Node Voltage (V)

Percentage (%)

7000

Negative voltage at node 3

0.8

Tng hp cc bi bo khoa hc giai on 2007-2012

Power Loss Improvement

80

Average negative current through line

10

With Incorporation
Without Incorporation

60

Percentage (%)

Percentage (%)

70

50
40
30
20

6
4
2

10

Fig. 21.

Time Interval

10

11

12

Power loss improvement after compensation

Line 1

Line 2

Line 3

Time Interval

Fig. 22. Average negative currents after compensation with & without iteration technique

tion the power system will incurs more losses. Since


compensation takes part in, the loading situation
approaches to a near balanced status, as a result,
the power losses will be smaller.
All the loads of investigated feeder have leading poor
power factors and as a countermeasure, compensators are selected to be all inductive elements and
these inductive compensators will help to improve
power factors through out the system. Since power
factors are improved the power losses will reduce as
a consequence.
5.2.2 Accuracy improvement aspect
The algorithm used to calculate size of discrete compensator is
already described in Sec. 4.2, in comparison with other
proposals (6) (7) , this algorithm shows some advantages
in term of application range and accuracy. The proposed algorithm can apply not only for single individual
load but also for any feeder which has several connected
loads. In addition, it actually incorporates the power
ow and compensation calculation processes by using
an iteration technique and this new feature does help to
improve the accuracy of compensation process.
Figure 22 compares the results with and without the
incorporation technique and reveals the signicant effectiveness of that new feature. The incorporation technique shows signicant eect, for instance, on line 1 and
line 2. In Fig. 22, if incorporation technique is employed
then the average negative current after compensation
can minimize to about 1 % on line 1, in contrary to that
result, if that technique is not deployed then the negative current after compensation remains at high level
about 8 %.
The reason why that technique can bring better results
for compensation process is possibly explained as follow:
If the incorporation technique is not used, the inuence
of power ow changing will not be taken into account
and consequently the results are less accurate in comparison with that in case the incorporation techniques
it is utilized. Referring to Fig. 8, line 3 is the ending section of the feeder and it is inherently less aected by the
changing of power ow caused by adding compensators
to loads after each iteration, however, line 2 and line
1 are upstream sections and they will be strongly and
accumulatively aected by power ow changing since
downstream loads are altered. Those reason can explain
why the incorporation technique shows a signicant effect on results for line 1 and line 2 but shows only a very
minor eect in case of line 3.

Moreover, another reason which accounts for the higher


accurate results is that using actual node voltages in
all calculations instead of assumed balanced voltages as
implemented in Sec. 4.2.
6. Conclusion
This paper has introduced a cost eective solutions
to deal with the problem of phase load imbalance in
distribution level. The mechanism of using passive compensator to balance phase loading is developed and the
algorithm for determining the size of discrete compensator is presented as well. The algorithm is main contribution of this paper and it already shows many advantages in comparison with other proposals. A simplied
case study based on an actual distribution feeder is used
to verify the possibility of the proposed compensation
strategy. Finally, all the results indicate a feasible, low
cost solution which is applicable to power distribution
system.

Appendix
1. Case study parameter
app. Table 1.
Impedance ()
Length (km)

app. Table 2.
Phase
Value
Phase
Value
Phase
Value

Parameter of case study feeder

Line 1
0.5557+j0.9982
3.629

Line 2
0.3781+j0.4154
1.024

Line 3
0.3803+j0.558
1.211

Average load of case study (kVar )

Load 1
BC
153.46-j200.63
Load 2
AB
BC
95.59-j140.78 83.43-j122.45
Load 3
AB
BC
27.13-j2.48
14.27+j3.29
AB
183.78-j222.8

CA
150.84-j233.9
CA
80.04-j141.96
CA
16.71-j11.32

2. Brute-force search algorithm


Brute-force search algorithm is used to the solve following problem:
Minimize f (X);
[X]nd
Subject to: g(X) [0];
[g]m
where
X: set of nd discrete variables
f : Objective function
225

B mn H thng in - i hc Bch Khoa H Ni

IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

eBook for You

0
1

Tng hp cc bi bo khoa hc giai on 2007-2012

Phase Load Balancing In Distribution Power System Using Discrete Passive Compensator

g: set of m inequality constrains


Begin algorithm
First step: set f = inf then
for For every allowable combination of:
(x1 , x2 . . . xnd ) (Xb )
do
if g(Xb ) 0 then
if f (Xb ) f then
f f (Xb )
X Xb
end if
end if
end for
End of algorithm.

(9)

(10)
(11)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

V. J. Annette von Jouanne, and B. Basudeb, Assessment


of voltage unbalance, IEEE Transaction on power delivery,
Volume 16, (2001)
L. F. Ochoa, R. M. Ciric, A. P. Feltrin, and G. P. Harrison,
Evaluation of distribution system losses due to load unbalance, 15th Power Systems Computation Conference, (2005)
J. Zhu, M. Y. Chow, and F. Zhang, Phase balancing using
mixed-integer programming, IEEE Transaction on power
system, Volume 13, (1998)
H. M. Khodr, I. J. Zerpa, P. M. De Oliveira-De Jesus, and
M. A Matos, Optimal phase balancing in distribution system using mixed-integer linear programming, Transmission
& Distribution Conference and Exposition: Latin America
IEEE/PES, (2006)
M. Dilek, R. P. Broadwater, J. C. Thompson, and R. Sequin,
Simultaneous phase balancing at substations and switches
with time-varying load patterns, IEEE Transaction on
power system, Volume 16, (2001)
L. Gyugyi, R. A. Otto & T. H. Putman, Principles and applications of static, thyristor-controlled shunt compensators,
IEEE Transactions on Power Apparatus and Systems, Vol.
PAS-97, (1978)
V. G. Nikolaenko, Optimal balancing of large unbalanced
loads using shuntcompensators, Harmonics And Quality of
Power Conference, The 8th Internation, (1998)
Z. Yongqiang and L. Wenhua, Balancing compensation of
unbalanced load based on single phase STATCOM, Power
Electronics and Motion Control Conference, The 4th Internation, (2004)

Goro Fujita (Member) received the B.E., M.E. and Ph.D


degrees in electrical engineering from Hosei
University, Tokyo, Japan in 1992, 1994 and
1997 respectively. In 1997, he was a research
student of Tokyo Metropolitan University. He
is an Associate Professor of Shibaura Institute of Technology, Tokyo, Japan. His interest is in power system control including AGC
and FACTS. He is a member of the Society of
Instrument and Control Engineers (SICE) of
Japan,the IEE of Japan, and IEEE.
Kazuhiro Horikoshi (Member) was born in Miyagi, Japan,
on August 30, 1967. He received the B.E.
degree in electrical engineering from Tohoku
University, Japan, in 1990. In the same year,
he joined Tohoku Electric Power Co., Sendai,
Japan. He is now an assistant research manager in Research & Development Center at Tohoku Electric Power Co., Inc. His research
area is about distribution system and interconnection of distributed generations.

226

B mn H thng in - i hc Bch Khoa H Ni

IEEJ Trans. TEEE, Vol.xxx, No.xx, xxxx

eBook for You

Nguyen Xuan Tung (Non-member) was born in Hai


Duong, Vietnam, on April 15, 1975. He received the B.E. degree in electrical enginering from Hanoi University of Technology, VietNam in 1999 and the M.E degree from Curtin
University of Technology, Australia in 2005.
He has been pursuing PhD degree in Shibaura
Institute of Technology, Japan since 2007. His
interests are about relay protection system
and power quality issue in power distribution
system.

References
(1)

B. Singh, S. Anuradha, and D. P. Kothari, Power factor correction and load balancing in three-phase distribution systems, IEEE region 10 international conference on global
connectivity in energy, computer, communication and control, (1998)
P. Venkataranman: Applied optimization with MATLAB programming, John Wiley & Sons, Inc. (2002)
H. K. William: Distribution system modeling and analysis,
CRC Press (2007)

Tng hp cc bi bo khoa hc giai on 2007-2012

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On: 30 September 2012, At: 23:04
Publisher: Taylor & Francis
Informa Ltd Registered in England and Wales Registered Number: 1072954 Registered
office: Mortimer House, 37-41 Mortimer Street, London W1T 3JH, UK

Electric Power Components and Systems


Publication details, including instructions for authors and
subscription information:
http://www.tandfonline.com/loi/uemp20

Analysis and Design of a Robust Power


System Damping Controller Considering
Time Delay
a

Huy Nguyen-Duc , Louis-A Dessaint & Aim Francis Okou

Dpartement de gnie lectrique, cole de Technologie


suprieure, Montral, Quebec, Canada

Department of Electrical and Computer Engineering, Royal Military


College of Canada, Kingston, Ontario, Canada

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Version of record first published: 02 Feb 2011.

To cite this article: Huy Nguyen-Duc, Louis-A Dessaint & Aim Francis Okou (2011): Analysis and
Design of a Robust Power System Damping Controller Considering Time Delay, Electric Power
Components and Systems, 39:3, 254-270
To link to this article: http://dx.doi.org/10.1080/15325008.2010.526995

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Electric Power Components and Systems, 39:254270, 2011


Copyright Taylor & Francis Group, LLC
ISSN: 1532-5008 print/1532-5016 online
DOI: 10.1080/15325008.2010.526995

HUY NGUYEN-DUC,1 LOUIS-A DESSAINT,1 and


AIM FRANCIS OKOU 2
1

Dpartement de gnie lectrique, cole de Technologie suprieure, Montral,


Quebec, Canada
2
Department of Electrical and Computer Engineering, Royal Military College
of Canada, Kingston, Ontario, Canada
Abstract This article presents a detailed analysis and design of a static var compensator damping controller for a power system. The drawbacks of the conventional
approach to the design of damping controllers are demonstrated. It is found that
the interaction between the static var compensator and other system control modes
can be worsened by time delay. The relation between time delay uncertainty and
control interaction is revealed, using the proposed analysis framework, and is also
demonstrated using non-linear simulations. A robust controller based on the synthesis method is designed to overcome the design challenges.

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Analysis and Design of a Robust Power System


Damping Controller Considering Time Delay

Keywords power system control, inter-area oscillations, static var compensator,


-synthesis, structured singular value

1. Introduction
In todays power systems, exible AC transmission system (FACTS) devices are increasingly utilized. Their primary application is to provide a tool for better control of power
ows, as well as an additional reactive power support. On the other hand, FACTS devices
can be used to enhance the damping of power system electromechanical oscillations.
The electromechanical oscillations are a common problem in power systems. Traditionally, damping of these oscillations is done with power system stabilizers (PSSs),
based on the phase compensation technique [1]. A FACTS damping controller can also be
designed based on this principle [2]. However, an important drawback of using FACTS
as a damping controller is that the open-loop system seen by FACTS is very dependent
of power system operating conditions [3]. In fact, it is particularly challenging to design
a FACTS that performs satisfactorily over a wide range of operating conditions [3].
Recognizing this fact, much research has been directed toward designing robust FACTS
damping controllers. The application of H1 control theory to design a thyristor controlled
series capacitor (TCSC) damping controller was discussed in [4]. A general guideline
Received 12 January 2010; accepted 9 July 2010.
Address correspondence to Professor Louis-A Dessaint, Dpartement de gnie lectrique,
cole de Technologie suprieure, 1100 Notre Dame Ouest, Montral, Quebec, H3C 1K3, Canada.
E-mail: louis.dessaint@etsmtl.ca

254

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255

of choosing weighting functions for a robust FACTS controller was discussed in [5].
A FACTS-based stabilizer using robust linear matrix inequality (LMI) techniques and
-synthesis have also been studied [6, 7].
The changes in system operating condition can be treated as a model uncertainty,
which is described in terms of a structured perturbation. This approach has been studied
in [8]. The advantage of this approach is that it allows very little conservative evaluation
of robust stability. The results in [8] have been successfully implemented in many power
system robust control analysis [7, 9, 10].
The choice of FACTS location and input signal for damping control is based on
controllability/observability analysis of various input/output signals with respect to the
oscillation mode of concern. It is possible that the best input and output signals are not
geographically close to each other, which leads to a wide-area controller. In such a case,
the problem of dealing with communication delays must also be resolved. Many works
on wide-area control incorporate a xed time delay in the open-loop system [11, 12].
An evaluation of how time delay affects wide-area controller performance was provided
in [13]. In [12], time delay was compensated in the controller using the Smith predictor
technique.
One important issue with the design of FACTS damping control is unwanted interactions with other power system controllers. A FACTS damping control circuit is intended
only to enhance damping of a few electromechanical oscillation modes; it is not desired
for the control loop to interact with other system modes. Unfortunately, high-frequency
interactions are common with many FACTS controllers [14]. The problem is further
complicated by the presence of time delay, as will be shown in this article. Therefore, an
ideal FACTS control loop should have good controllability/observability with the most
critical electromechanical oscillations while having very low controllability/observability
with other modes. Such an ideal control loop does not exist, and thus, the controller must
be designed in such a way as to reduce the interaction problem as much as possible.
In this article, a robust control design based on the -synthesis method, which takes
into account all of the above issues, is presented. One main contribution of the article
is the development of a time delay model for use with robust control synthesis and a
detailed analysis of how time delay affect the interaction between a FACTS controller
and other system controllers. In addition, common knowledge in power system damping
control design is used throughout the -synthesis process; thus, the design parameters
can be done in manner other than trial and error.
This article is organized as follows. Section 2 provides a background on power system damping control design and the framework for robust control synthesis in a power
system. Section 3 presents a detailed analysis of the Kundur power system [15], where
the drawbacks of conventional approaches to damping control are revealed. Section 4
presents a robust control approach using -synthesis. Section 5 gives some discussions
and conclusions.

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Robust Power System Damping Controller

2. Background
2.1.

Conventional Approach to Damping Control Design

Most power system damping controllers are synthesised based on a linearized model of
an open-loop power system. Among many linear control approaches, the residue-based
phase compensation technique is probably the most widely used in power system damping
control synthesis.

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256

H. Nguyen-Duc et al.

Given the open-loop power system between measurement y and reference input
u, denoted by G.s/, where the system exhibits a weakly damped mode i . Let Ri
be the residue associated with mode i ; a small change in the eigenvalue i caused by
the feedback gain K is given by
i

D Ri K:

(1)

To have a damping effect on mode i , the controller should move the pole i to the
left half of the complex plane. This can be done by shaping the phase of the controller
transfer function with a phase lead compensation. The compensation angle needed to
move mode i to the left (parallel with the real axis) is
i D 180

Ri :

(2)

The phase lead required in (2) is implemented by a controller with the transfer
function
Tw s
1 C T1 s 1 C T3 s
K.s/ D K
:
:
;
(3)
Tw s C 1 1 C T2 s 1 C T4 s
which consists of two lead-lag blocks and a high-pass (wash-out) lter to prevent the
controller from reacting to changes in steady states. The phase characteristic of the openloop transfer function can be derived from the linearized model of the power system. For
PSS designs, it can also be measured with appropriate eld test procedures [16, 17]. This
explains the popularity of the phase compensation technique among the many approaches
to designing power system damping controllers.
The phase compensation technique can also be used to design FACTS damping
controllers. However, FACTS damping controllers are often less robust than PSSs [3].
The main reason for this is that a PSS acts through a generator with generally known
parameters, whereas a FACTS controller is closer to the transmission system, which
can change considerably with load ow conditions. Therefore, many robust control
approaches have been studied to enhance FACTS controller performance.
2.2.

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Control Scheme for Static Var Compensator (SVC)

For the study of electromechanical oscillations, the generator stator and network transient
can be safely neglected. As a result, the power system dynamics can be represented by
a system of differential-algebraic equations [15]. The differential equation represents
the dynamics of generator rotors, excitation, and speed-regulator systems. The very fast
network transient can be represented by algebraic equations. Likewise, in the FACTS
control model used for electromechanical oscillation study, it is not essential to model
in detail the electronics circuit dynamics, such as the gate pulse units. The simplied
voltage control scheme for the SVC is depicted in Figure 1 [18].
In Figure 1, the main control loop is a voltage control loop, with local input
signal VSV C and input lter Hm . The voltage controller is represented by a gain KR
and a time constant TR . The dynamics of electronic circuits and gate pulse units are
represented by a time constant Tb and a small delay Td . For the purpose of damping
electromechanical oscillations, a supplementary control loop is added to the main control
loop. To effectively improve the oscillation damping, the input signal u should be chosen
so that it predominantly contains the electromechanical modes of concern. The control
structure of Figure 1 is indeed similar for various type of FACTS controllers [14].

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257

Figure 1. Block diagram of SVC voltage control.

2.3.

Linear Fractional Transformation (LFT) and Structured


Singular Value (SSV)

The general framework for many robust control studies is based on an LFT, which
is depicted in Figure 2, which conveniently represents how the uncertainty affects the
input/output relationship of the system under study.
In Figure 2, M is a complex transfer matrix, partitionned as
"
#
M11 M12
M D
2 C.p1 Cp2 / .q1 Cq2 / ;
(4)
M21 M22
and 2 Cq1

p1

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Robust Power System Damping Controller

is another complex matrix. The upper LFT with respect to is dened as


Fu .M; / M22 C M21 .I

M11 / 1 M12 :

(5)

The LFT structure has a useful intepretation: M22 represents the nominal, unperturbed
system and is perturbed by . The transfer matrices M12 , M21 , and M11 reect a prior
knowledge as to how the perturbation affects the nominal tranfer matrix.

Figure 2. Interconnection structure for robust stability analysis.

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H. Nguyen-Duc et al.

The transfer matrix represents all sources of uncertainties, which could be real
parametric uncertainties or neglected dynamics. The structured uncertainty thus may
contain blocks of repeated real scalars or full complex blocks [19]. Hence, it can be
assumed that takes the form of
where i .s/ 2 R;

j 2 Cmj

mj

; (6)

which means there are rs repeated real scalar blocks and F full complex blocks.
Given the interconnection system, as depicted in Figure 2, the SSV (or ) is dened
as the smallest structured uncertainty , measured in terms of its maximum singular
value ./, which makes det.I M/ D 0:
.M /

WD minf ./ W 2 ; det.I

If no such structure exists, then


2.4.

M/ D 0g:

(7)

.M / D 0.

Power System Parametric Uncertainty

Power systems experience constant changes in load level and generation level at different
buses. Besides, the system conguration can also change during operation. These changes
can be represented as parametric uncertainties and should be considered in power system
robustness analysis. One method that has been used successfully to treat these uncertainties as real perturbation blocks is based on the linear state space uncertainty model. A
linear state space uncertainty model is described as follows:
2
3
m
m
X
X
i Ai B0 C
i B i 7 "
"
# 6A0 C
#
6
7 x.t/
x.t/
P
i D1
i D1
6
7
D6
7
m
m
6
7 u.t/
y.t/
4C C X C D C X C 5
0
i i
0
i i
"
D

i D1

A0
C0

"

i D1

X
Ai
B0
C
i
D0
Ci
i D1
m

Bi
Di

#! "

#
x.t/
:
u.t/

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D fdiag1 Ir1 ; : : : ; s Irs ; 1 ; : : : ; F g;

(8)

Each i in Eq. (8) represents a specic parameter variation. The matrices A0 , B0 , C0 ,


and D0 are state space matrices of the linearized power system at a nominal operating
point, which consists of n states, nu inputs, and ny outputs. The state space matrices for
other operating points are described as a linear approximation of those of the nominal
operating point and the variables i . The linear state space uncertainty in Eq. (8) can
then be transformed into an LFT representation. Details of this transformation will be
presented in Appendix A. Readers can refer to [8, 20] for more details of this approach.
With the model uncertainty being represented by a matrix of structured real blocks, the
general framework for robustness analysis of power systems is as depicted in Figure 3.
In Figure 3, M is the structured uncertainty derived from Eq. (8). The block T
will be described in the next section. The main advantage of using a linear state space
uncertainty model to describe the change in operating conditions is that one can achieve a
robustness evaluation with little conservativeness [8]. This LFT framework has been used
successfully with large-scale system models [20]. In addition, order reduction approaches
can be applied to reduce the dimension of Eq. (8) [21]. However, the resulting LFT

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259

Figure 3. Robust stability analysis framework with time delay and real parameter uncertainty.

structure from this approach is normally of very high dimension, even when the order
reduction method has been applied [8, 21]. Therefore, it is not suitable for robust control
synthesis, since the computation burden would be very heavy (e.g.., with D-K iteration
methods). In this work, this framework is used only to evaluate the robust stability of the
closed-loop system. For control synthesis, a simpler uncertainty model is adopted.
2.5.

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Robust Power System Damping Controller

Time Delay Representation

For linear analysis purposes, a time delay T is often conveniently represented by a


rst-order Pad approximation:
e

Ts

Ts C 1
:
Ts C 1

(9)

Thus, a varying time delay can be represented by a transfer function as in Eq. (9), with
the term T being perturbed by a real parameter , with 2 1I 1, as follows:
T D

Tmin C Tmax
Tmax Tmin
C
:
2
2

(10)

This approach has been used in some previous studies [22, 23]. The problem with this
approach is that the transfer function Eq. (9) has a pole at 1=T , which crosses the
imaginary axis as reaches 1. This will be interpreted by the Analysis and Synthesis
Tool Box [24] as a stability border. The problem can be avoided by using a higher value
for Tmin , but it would, in turn, create some conservativeness in the robustness evaluation.
In this work, a slightly different representation of the varying time delay is proposed
for use, as follows:
T D Tmin C .Tmax

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Tmin / 2 ;

(11)

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H. Nguyen-Duc et al.

so that T is always positive for every . It is quite easy to derive the LFT model of varying
time delay in Eq. (11). The varying time delay block is represented by the structure in
Figure 4.
In Figure 4, the LFT representation of 1=T is as follows:
2
3 2
3
3 2
z1
b=a 1
b=a 1
!1
6
7 6
7
7 6
1
1 5 : 4 !2 5 ;
(12)
4 z2 5 D 4 0
y1=T
and T D

1=a

; a D Tmin ; b D Tmax

1=a

x1=T

Tmin .

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Figure 4. LFT structure for rst-order Pad approximation.

3. A Case Study
In this work, an SVC controller is designed for the Kundur power system [15]. The system
consists of four generators, located in two areas, as depicted in Figure 5. This small system
retains many properties of large power system dynamics regarding electromechanical
oscillations. It exhibits one weakly damped inter-area mode at 3.81 rad/s.
The control design purpose is to improve the stability of this inter-area mode by
using additional damping control for an SVC at bus 8. This bus is situated at the middle
of a long interconnection line, where an SVC would be needed for better control of
voltage prole. If an additional damping controller can be successfully designed here,

Figure 5. Kundur power system.

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261

bus 8 would be a very good place to install an SVC, considering both voltage support
and damping enhancement.
The active loads at two important busesP7 and P9 vary from 867 MW to
1267 MW and from 1267 MW to 1567 MW, respectively. The values of P7 and P9
are combined to obtain 25 different operating conditions. The pole-zero map of this
system in various operating conditions is plotted in Figure 6.
Figure 6 reveals that for damping enhancement of the inter-area mode, the chosen
control loop is, in fact, a less than ideal choice. The inter-area mode is quite close to zero,
which would limit maximum achievable damping effect. In addition, there is another zero
that moves to the right half-plane (RHP) in some operating conditions. This could have
a destabilizing effect to the nearby generator local modes. There are two exciter modes
at 16 rad/s and 18 rad/s, which appear to be well damped.
A conventional SVC controller at bus 8 is designed based on the phase compensation
technique. For the chosen control loop, the open-loop system residue angle varies from
72 to 92 throughout the operating modes. Figure 7 presents the root locus analysis of
the conventional SVC controller for the nominal system in two scenarios: without a time
delay and with a delay of 200 ms. For the root locus analysis, time delay is approximated
by a second-order Pad approximation.
It can be observed that the time delay has a similar effect as an RHP zero. Without
a time delay, the exciter mode at 18 rad/s is affected but not destabilized by feedback
control. However, when there is a delay, the RHP zeros make this mode move toward the
RHP as control gain increases. Adverse interactions have been observed between the SVC
and other power system controllers [14], but it is interesting to nd that these interactions
can be worsened by time delay. The increase of high-frequency mode activity in the

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Robust Power System Damping Controller

Figure 6. Pole zero map for various operating conditions.

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H. Nguyen-Duc et al.

Figure 7. Root locus of the SVC damping controller: (a) without delay and (b) with 200-ms delay.

Kundur system, due to the delay, was also observed but not explained in [22]. This result
shows that model order reduction for robust control synthesis of wide-area controllers
should be done more judiciously; one may assume it is safe to ignore the 18 rad/s mode
in Figure 6, while, in fact, it is not if time delay is considered.
Damping performance of the inter-area mode is also affected. Without delay, a
damping factor of 0.3 can be achieved, whereas with a 200-ms delay, the best attainable damping factor is 0.1. The above analysis shows that bus 8 is not a good place for
an SVC damping controller. The damping performance is limited due to the open-loop
system zero location and high-frequency interaction. To improve the system stability with
an SVC at this bus, a robust control approach is needed.

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262

4. Design of a Robust SVC Damping Controller


4.1.

The Design Scheme

As discussed in the previous section, the interconnection model in Figure 3 allows a


robustness evaluation with very little conservativeness. However, such a model is not
suited for robust control synthesis due to the dimension of M being too high. Thus, for
robust control synthesis, a more simple structure of model uncertainty, as in Figure 8, is
adopted.
In this control design scheme, the model uncertainty due to a change in operating
condition is represented by an additive perturbation a , shaped by a weighting function
Wa . Time delay uncertainty is represented by the model described in Section 2.5. An
additional perturbation is the measurement noise, denoted by . Wu ; Wp , and W are,
respectively, the weighting lters for the input, output and the measurement noise.
The analysis in Section 3 leads to the following observations:
Damping performance of the inter-area mode is affected by both changes in operating condition and time delay. As can be seen in Figure 8, enhancing the robust

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263

Figure 8. Robust control design setup.

performance of this mode with respect to these two perturbations is translated to


solving the measurement noise and disturbance rejection at the same frequency.
In robust control theory, these two objectives are in conict [25]. Therefore a
trade-off must be made here: one should accept a certain degradation of inter-area
mode due to either time delay or change in operating condition.
Time delay causes some phase lag at all frequencies. Regarding the inter-area
mode, this phase lag changes the angle of departure of this mode in the root locus.
When there is no delay, the controller moves the inter-area mode pole to the left
plane, almost in parallel with the real axis (Figure 7(a)). The delay has made the
inter-area mode frequency increase, and the damping effect is reduced considerably
(Figure 7(b)). Thus, a robust controller should have some additional phase lead so
that it can compensate for the time delay. However, this additional phase lead could
not be too large, as it would compromise the nominal performance.
4.2.

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Robust Power System Damping Controller

Robust Control Synthesis

The MATLAB Analysis and Synthesis Toolbox [24] is used to design a


for the SVC at bus 8. Weighting functions are chosen as follows:
Wa D 0:2

(13)

Wu D 0:06

sC4
;
9s C 1

(14)

W D 0:03

10s C 1
;
s C 10

(15)

Wp D 3

B mn H thng in - i hc Bch Khoa H Ni

sC3
;
3s C 1

controller

s 2 C 0:1s C 0:1 s C 0:1


:
s 2 C 0:2s C 14:3 0:1s C 1

(16)

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The performance weighting function Wp is chosen so that high-frequency terms will


be penalized; hence, the controller must have a low gain at high frequencies. The
magnitude of Wp is tuned by modifying the rst term in Eq. (16) so that the controller has
reasonable gain at the inter-area mode and no undesirable pole-zero cancellation occurs.
The measurement noise weighting function is chosen such that the noise will mainly be
present at high frequency.
After four D-K iterations, a 74th-order controller is obtained. This controller can
be effectively reduced to a fourth-order, as shown in Figure 9. The controller frequency
response satises the criteria discussed in Section 4.1it has low gain at high frequencies,
and at the inter-area mode, its phase lead is around 100 , which can compensate for the
possible time delay.
The robust stability analysis, based on the framework in Figure 3, is now carried
out to evaluate the closed-loop system performance. The SSVs of closed-loop systems,
without and with delay, are shown in Figures 10 and 11, respectively.
The open-loop system is not robustly stable for the chosen operating modes, as its
peak is higher than 1 (Figure 10). Without a time delay, both controllers manage to
stabilize the Kundur system. The conventional controller, however, is less stable at highfrequency modes. With a time delay, robust stability is deteriorated with both controllers.
However, the controller can still guarantee robust stability. The conventional controller
fails to do so, and the high-frequency mode also becomes much less stable. The highfrequency mode has a peak near 18 rad/s, although it does not appear as sharp as does
the inter-area mode peak (at 3.8 rad/s) and the local mode peak (at 7 rad/s). In fact, the
frequency of this mode changes considerably with the operating condition and the actual
value of the time delay.

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264

Figure 9. Frequency response of the full-order and reduced-order controller.

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Robust Power System Damping Controller

Figure 10. Robust stability analysis.

Figure 11. Robust stability analysis with delay.

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266
Simulation Results

To conrm the above analyses, non-linear simulations are carried out for several operating
modes, with a 100-ms three-phase fault at bus 8. The two most representative results are
shown in Figures 12 and 13. The power rating of the SVC is 100 MW. In operating
mode I, where the active power transfer level is 370 MW, the controller performance is
much better than the conventional controller. It can also be observed that the conventional
controller performance has reached its limits, as the high-frequency mode starts to appear
at a 200-ms delay.
Operating mode II represents a worst case scenario, where the open-loop system
becomes unstable, as the power transfer level is high. In mode II, the performance of

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4.3.

H. Nguyen-Duc et al.

(a)

(b)
Figure 12. System responses at operating mode I: (a)

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controller and (b) conventional controller.

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(a)

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Robust Power System Damping Controller

(b)
Figure 13. System responses at operating mode II: (a)

controller and (b) conventional controller.

both controllers has degraded. The controller, however, can still stabilize the system,
even with a time delay of 200 ms, while the conventional controller failed.

5. Discussions and Conclusion


Designing FACTS damping controller can be a challenging task due to various constraints,
such as robustness to changes in operating condition and high-frequency interactions. The
conventional approach using lead-lag control often results in high gain at high frequencies,
which makes the interactions worse. In certain cases, such as the system studied in this
article, a robust control design approach is needed.
In this work, it has been shown that a time delay can make a high-frequency interaction between the SVC and another system controller become much more visible. This

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problem can be revealed by both


analysis and root locus analysis, which shows a
strong coherence between these two approaches.
Combining robust control approach with engineering insights on the electromechanical oscillation problem, one can successfully design a robust controller with less trial and
error. The obtained controller is of low order and shows good performance throughout
many test cases.

This work was supported by the Hydro-Qubec Transnergie Chair on Simulation and
Control of Power Systems.

References
1. Larsen, E., and Swann, D., Applying power system stabilizerpart I, II, III, IEEE Trans.
Power Apparatus Syst., Vol. 100, No. 6, pp. 30173041, 1981.
2. Larsen, E., Sanchez-Gasca, J., and Chow, J., Concepts for design of FACTS controllers to
damp power swings, IEEE Trans. Power Syst., Vol. 10, No. 2, pp. 948956, May 1995.
3. Rogers, G., Power System Oscillations, Norwell, MA: Kluwer Academic Publishers, 2000.
4. Zhao, Q., and Jiang, J., Robust SVC controller design for improving power system damping,
IEEE Trans. Power Syst., Vol. 10, No. 4, pp. 19271932, November 1995.
5. Klein, M., Le, L., Rogers, G., Farrokhpay, S., and Balu, N., H1 damping controller design in
large power systems, IEEE Trans. Power Syst., Vol. 10, No. 1, pp. 158166, February 1995.
6. Pal, B. C., Coonick, A., Jaimoukha, I., and El-zobaidi, H., A linear matrix inequality approach
to robust damping control design in power systems with superconducting magnetic energy
storage device, IEEE Trans. Power Syst., Vol. 15, pp. 356362, 2000.
7. Zhu, C., Robustness Analysis for Power System Based on the Structured Singular Value and
the Gap Metric, Ph.D. Dissertation, Iowa State University, Ames, IA, 2001.
8. Djukanovic, M., Khammash, M., and Vittal, V., Application of the structured singular value
theory for robust stability and control analysis in multimachine power systems, I. Framework
development, IEEE Trans. Power Syst., Vol. 13, No. 4, pp. 13111316, 1998.
9. Ramanathan, B., and Vittal, V., Small-disturbance angle stability enhancement through direct
load control part Iframework development, IEEE Trans. Power Syst., Vol. 12, No. 2,
pp. 773781, 2006.
10. Ramanathan, B., and Vittal, V., Small-disturbance angle stability enhancement through direct
load control part IInumerical simulations and results, IEEE Trans. Power Syst., Vol. 12,
No. 2, pp. 782790, 2006.
11. Dotta, D., Silva, A. S., and Decker, I. C., Wide-area measurement-based two-level control
design considering signal transmission delay, IEEE Trans. Power Syst., Vol. 24, pp. 208216,
2009.
12. Chaudhuri, B., Majumder, R., and Pal, B. C., Wide-area measurement based stabilizing control
of power system considering signal transmission delay, IEEE Trans. Power Syst., Vol. 19,
No. 4, pp. 19711979, 2004.
13. Wu, H., Tsakalis, K. S., and Heydt, G. T., Evaluation of time delay effects to wide-area power
system stabilizer design, IEEE Trans. Power Syst., Vol. 19, pp. 19351941, 2004.
14. Mathur, R. M., and Varma, R. K., Thyristor-based FACTS Controllers for Electrical Transmission systems, EPRI Power Systems Engineering Series, Piscataway, NJ: Wiley-IEEE Press,
2002.
15. Kundur, P., Power System Stability and Control, EPRI Power Systems Engineering Series,
New York: McGraw Hill Professional, 1994.
16. Murdoch, A., Venkataraman, S., and Lawson, W. P. R. A., Integral of accelerating power
type PSS, part 1theory, design, and tuning methodology, IEEE Trans. Energy Conversion,
Vol. 14, No. 4, pp. 16581663, 1999.

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Acknowledgment

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269

17. Murdoch, A., Venkataraman, S., Lawson, R., and Pearson, W., Integral of accelerating power
type PSS, part 2eld testing and performance verication, IEEE Trans. Energy Conversion,
Vol. 14, No. 4, pp. 16641672, 1999.
18. Pai, M. A., Sen-Gupta, D. P., and Padiyar, K., Small Signal Analysis of Power Systems, Harrow,
Middlesex, UK: Alpha Science International, 2005.
19. Skogestad, S., and Postlethwaite, I., Multivariable Feedback ControlAnalysis and Design,
Bafn Lane, Chichester, West Sussex, England: John Wiley & Sons Ltd, 1996.
20. Castellanos, R., Messina, A., and Sarmiento, H., Robust stability analysis of large power
systems using the structured singular value theory, Intl. J. Elect. Power Energy Syst., Vol. 27,
pp. 389397, 2005.
21. Nguyen-Duc, H., Dessaint, L., and Okou, A., Power system robust stability analysis using
structured singular value theory and model reduction method, Proceedings of the IEEE PES
General Meeting, Calgary, AB, Canada, 2529 July 2009.
22. Wu, H., Robust Control Design Considering Time Delay for Wide Area Power Systems, Ph.D.
Dissertation, Arizona State University, Tempe, AZ, 2004.
23. Zhang, Y., Design of Wide-area Damping Control Systems for Power System Low-frequency
Inter-area Oscillations, Ph.D. Dissertation, Washington State University, Pullman, WA, 2007.
24. The MathWorks, -Analysis and Synthesis Toolbox, Natick, MA: Author, 2001.
25. Zhou, K., Doyle, J., and Glover, K., Robust and Optimal Control, Englewood Cliffs, NJ:
Prentice Hall, 1996.

Appendix A. Formulation of LFT Structure from Linear


State Space Uncertainty
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Robust Power System Damping Controller

Suppose a linear uncertain state space model of a power system has been obtained, as
in
i The system in Eq. (8) has n hstates, niy outputs, and nu inputs. Therefore,
h Eq. (8).
Bi
Ai
Bi
i
.nCny / .nCnu /
. Let ri WD rank A
Ci
Di . Each matrix will be factored, using
Ci
Di 2 <
singular values decomposition, as
"
# " #
Ai Bi
Ei
D
Gi Hi ;
(A1)
Fi
Ci Di
where

"

Ei
Fi

#
2 <.nCnu /

ri

Gi

Hi 2 <ri

.nCny /

The singular values decomposition helps to eliminate the weak inuences of parametric
uncertainties to the system states. The system in Eq. (8) can then be represented by
2
32 3
3 2
x
A0 B0 E1
x.t/
P
Em
6
76 7
7 6
Fm 7 6 u 7
6 y 7 6 C0 D0 F1
6
76 7
7 6
6 7
6 z1 7 6 G1 H1 0
0 7
(A2)
6
7 6 w1 7 ;
7D6
6 : 7 6 :
7
:: 7 6
::
::
:: 7
::
6
6 : 7 6 :
7
:
: 54 : 5
:
:
4 : 5 4 :
Gm Hm 0
zm
wm
0
where the perturbation has a structure as follows:
D fdiag1 Ir1 ; : : : ; m Irm W i 2 <g:

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(A3)

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H. Nguyen-Duc et al.

Appendix B. Controller Parameters


The parameters for the controllers in this work are
the reduced order
G .s/ D 0:08

-controller:
10s
10s C 1

0:00354s 4 C 0:5027s 3 47:62s 2 110:1s 53:9


I
s 4 C 7:004s 3 C 28:47s 2 C 67:86s C 74:19
(B1)

Gc .s/ D 0:076

10s
10s C 1

s C 2:11
s C5

s C 2:11
:
s C 0:1

(B2)

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the conventional controller:

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Power System Losses Minimization with


Transient Stability Constraints

Abstract This paper presents a study of Optimal Power


Flow calculation, coupled with additional transient stability
constraints (TSC-OPF). Besides, with some modifications to the
formulation of the transient stability constraint, a better
convergence property can be achieved. The framework is applied
to the cases of two standard test power systems, with the
objective of minimizing total active power loss. It is shown that
the current TSC-OPF framework can be used for loss
minimization TSC-OPF.
Index TermsOptimal power flow, power system transient
stability, single machine equivalent method.

I. INTRODUCTION

he power systems nowadays are operating closer to their


stability limits. As consequence, the risk of various
instability phenomena is now higher. The power system
stability requires more attention during the production
planning and optimization procedures, such as optimal power
flow (OPF) calculation. A stability constrained optimal power
flow is essentially a traditional OPF formulation, coupled with
additional constraints to take into account various stability
constraints [1].
Transient stability constraint optimal power flow (TCSOPF) is one research subject that has received increasing
attention [2]-[6]. The basic objective of TSC-OPF is to
determine an optimal operating condition, in which the system
can survive some large transient disturbances.
The first attempts to dealing with TSC-OPF problem are
based on simple expression of transient stability constraint, i.e.
the transient energy function [7]. The transient energy
function is based on Lyapunov stability theory and gives a
quantitative stability margin. The major drawback of this
approach is that transient stability functions are developed
based on very simple power system models. It cannot take into
account generator control devices (e.g. AVR) and therefore
may give conservative results.
Another solution to include transient stability constraints
into an OPF problem is to use system dynamic equations as
constraints. With this approach, the OPF problem is
augmented with additional constraints which are derived from
the differential equations of the power system [1]. The main
H. Nguyen-Duc, A. Zerigui, L-A. Dessaint, X.Tu and C. Apraez are with
the electrical engineering department, cole de Technologie suprieure,
Montreal, QC, H3C1K3 (e-mail: huy.nguyen-duc.1@ens.etsmtl.ca,
amel.zerigui.1@ ens.etsmtl.ca, Louis.dessaint@ens.etsmtl.ca)

978-1-4577-1002-5/11/$26.00
2011
B mn H thng in - i hc Bch
KhoaIEEE
H Ni

disadvantage of this approach is that the number of constraints


of TSC-OPF problem is very large, which results in a huge
increase of computation burden. However, with the rapid
development of computing power, computational burden
becomes less problematic. Hence the stability constrained
power flow with differential and algebraic constraints is
currently a favored approach.
An issue related with the TSC-OPF based on differential
algebraic constraints is the choice of a stability index. In early
studies, the stability index is based on the angle separation of
system generators, compared to the COI angle [2]. A large
angle separation is an indication of rotor angle instability. A
more accurate assessment of transient stability for multimachine systems can be obtained with the Extended Equal
Area (EEAC) method [8][9]. The EEAC method consists of a
two-step aggregation procedure, which converts a multimachine system to an equivalent One Machine Infinite Bus
(OMIB) system. For the aggregated OMIB system, the
traditional equal area criterion can be used to assess the
transient stability condition. Based on the EEAC method, a
hybrid method (SIME - SIngle Machine Equivalent) for
transient stability assessment is proposed in [10][11]. The
main difference between SIME and EEAC is that, the EEAC
method uses an analytical expression of the P-G relationship,
while in the SIME approach, this curve is obtained from
nonlinear simulations.
The transient stability condition based on the SIME model
was proposed recently for TSC-OPF formulation. Based on
generator responses (speed, angle and power), the
corresponding equivalent OMIB model can be derived. An
advantage of this approach is that the time frame for stability
analysis can be substantially reduced. A complete study of
TSC-OPF with SIME-based stability index is presented in [6].
In this reference, the objective function for OPF is cost
minimization.
In this paper, we follow the same framework that is
presented in [6], but with a new objective function of OPF,
which is loss minimization. The paper is organized as follows:
the general formulation of TSC-OPF is presented in section II.
In section III, the basic principles of SIME algorithm and
SIME-based stability constraints are presented. Numerical
results are shown in section IV.

250

eBook for You

Huy Nguyen-Duc, Member, IEEE, Amel Zerigui, Louis-A. Dessaint, Senior Member, IEEE, Xiaoping
Tu, Member, IEEE, and Camilo Apraez

Tng hp cc bi bo khoa hc giai on 2007-2012

II. GENERAL FORMULATION OF TSC-OPF


The aim of a TSC-OPF problem consists of minimizing
an objective function by generation scheduling, as follows:
min f ( P )
(1)
g
The objective function in (1) must be minimized, with
steady state and dynamic constraints. The steady state
constraints are essentially power flow equations at system
buses, and their physical limits:
PG  PL  P(V , T ) 0
(2)

Vmin d V d Vmax

(3)

G (t ) M C1 M k G k (t )  M C1 M jG j (t )
kC

where C and C are the sets of critical and non critical

(5)

Qg min d Qg d Qg max

(6)

kC

dZi
dt

1
( Pgi  Pei )
Mi

; MC

jC

Z (t ) M C1 M k Zk (t )  M C1 M jZ j (t )
kC

(13)

jC

c) Electric power of OMIB generator:

If we use the classical model for synchronous machines


and the loads are considered as constant impedances, then the
dynamic constraints are the swing equations, written as
follows:

Zi

b) Speed of OMIB generator:

Pe (t )

dG i
dt

generators; M C

(4)

Pg min d Pg d Pg max

(12)

jC

(7)

M M C1 M k Pek (t )  M C1 M j Pej (t ) (14)


kC
jC

and similarly, the mechanical power of OMIB generator:

Pm (t )

M M C1 M k Pmk (t )  M C1 M j Pmj (t ) (15)


kC
jC

where :

(8)

where:

MCMC

(16)

MC  MC

Pei

Eic E cj ( Bij sin(G i  G j )  Gij cos(G i  G j )) (9)


j

In the TSC-OPF formulation, the differential equation


system (7), (8) is described in its discretized form, based on
the implicit trapezoidal integration method, as follows:

'T t 1
(10)
(Zi  Zit  2) 0
2
'T
Zit 1  Zit 
(2 Pgi  Peit 1  Peit ) 0 (11)
2M i
where 'T is the integration time step. The constraints

The stability condition stated in [10] is verified at the post


fault instant (denoted by tu) when Pe Pm (point B in Fig.1).
At this time, if the OMIB speed is positive (accelerating), the
system will become unstable, and vice versa.

G it 1  G it 

III. TRANSIENT STABILITY CONDITION BASED ON SIME MODEL


The SIME algorithm, proposed in [10], is a simple yet very
effective tool to determine transient stability condition. The
algorithm runs in parallel with a power system simulation
routine, extracts generator angle, speed and power to establish
the equivalent parameter of a One Machine Infinite Bus
(OMIB) system. The first step of SIME algorithm consists of
determining the group of critical generators (which go out of
step during contingency) and non critical generators (the rest).
B mn H thng in - i hc Bch Khoa H Ni

Elec. power
Mech. power

120
100
B

80
60
Power

(10)-(11) are established for t d tu. The value of tu will be


dicussed in section III. The system loads are considered as
constant impedances in this model. At each point of operation,
the equivalent impedances of loads are calculated and updated
to the system admittance matrices ( [ Bij ] and [Gij ] ).

140

40
20
0
-20
-40
20

40

60

80

100
Delta

120

140

160

180

Figure 1 Transient stability evaluation based on SIME algorithm.

As noted in section I, we use the TSC-OPF algorithm


proposed in [6]. The basic assumption of this algorithm is:
given any operating condition, all stable OMIB angle
responses are bounded by the critical OMIB angle response,
when the fault duration is equal to the critical clearing time
251

eBook for You

QG  QL  Q(V ,T )

The parameters of the equivalent OMIB system are


determined as follows:
a) Angle of OMIB generator:

Tng hp cc bi bo khoa hc giai on 2007-2012

1.0dVgd1.06 for generation buses and 0.97dVld1.05 for load


buses. Results of initial OPF are listed in the table I. With this
generation scheduling, the active power loss is 2.55 MW,
compared to 4.46 MW for the original system.
As for transient stability constraint, a three-phase fault is
considered at bus 7, followed by the tripping of line 7-5. The
CCT for this contingency is 512ms, and the critical generator
for this contingency is generator 2. When the fault duration is
512ms, the corresponding values for tu and Gtu-cct are 640ms
and 1640, respectively.
Suppose we want to increase the system CCT to 570ms.
An initial simulation (Fig. 2) shows that the system is unstable
with this fault duration. A TSC-OPF procedure in section III
is carried out. The time frame considered for TSC-OPF is 640
ms (tu-cct) and the bound for equivalent OMIB angle is given in
Eq. (17), where Gtu-cct = 1640, and ] is chosen at 200.
TABLE I
INITIAL OPERATING CONDITION, 3 MACHINE SYSTEM
Bus

Voltage

Angle

Pg

Qg

1.06

-0.000

158.2

22.2

1.05

-3.19

87.9

1.3

1.04

-3.44

71.5

-17.7

1.05

-4.70

1.02

-8.77

1.03

-7.85

1.05

-6.05

1.04

-8.05

1.05

-5.64

where ] is a desired margin. In [6], the authors imposed that


is as close to G tu cct as possible (] = 10-4). During

G (tu cct )

this study it is found that ] can be used as a safety margin (up


to 200), to ensure the stability condition of the new operating
point.
Step 4: After the TSC-OPF, a new operating condition is
obtained. Again, all considered contingencies in Step 1 are
verified. If there are unstable contingencies, the procedures
are repeated from Step 3.
The algorithm will stop when the obtained generation
schedule is stable for all contingencies.
Although the procedure described so far is based on the
classical generator model, the SIME algorithm does not
depend on the generator model. Hence, this TSC-OPF
algorithm can be used with more detailed generator models,
including generator control, such as AVR/PSS.

CCT: 512ms

1.1
Gen1
1.08

Gen2
Gen3

1.06
Speeds

IV. NUMERICAL RESULTS

Total loss: 2.55 MW

eBook for You

(CCT). Thus, to determine a bound for G(t) in Eq. (12), we


determine the CCT of the initial operating condition and its
corresponding time tu-cct and angle Gtu-cct. The stability
constraint is formulated such that during OPF calculation, all
angle responses at time instant tu-cct must be bounded by Gtu-cct
The algorithm for TSC-OPF with SIME based stability
condition can be summarized as follows:
Step 1: Given a power system model. Carry out a contingency
analysis and create a list of critical contingencies.
Step 2: Carry out the initial OPF calculation. The obtained
optimal operating condition will be tested with contingencies
in step 1, by time domain simulations.
Step 3: If there exist unstable contingencies, the
corresponding CCT and bounds for angle and simulation time
are determined. Then the TSC-OPF will be carried out. The
TSC-OPF minimizes an objective function in (1), subjected to
the static constraints (2)-(6) and dynamic constraints (10)(11). Besides, the OMIB angle at time instant tu-cct must satisfy
the last following constraint:
(17)
'G G tu cct  G (tu cct )  ]

1.04

1.02

This section briefly presents our initial results obtained


with the three-machine, nine- bus system and the New
England system (10-machine, 39- bus system) when the OPF
objective function is loss minimization. As the total loss can
be considered as the difference between total generated power
and total active load, the loss minimization problem can be
expressed as minimization of total generated power, therefore
the objective function is:
N
min f ( P ) min P
(18)
gi
g
i 1
The simulation time step for the formulation of stability
constraints is 10ms.
A. Three machine, nine-bus system
The original data of this system can be found in [7]. The
steady state voltage magnitude limits in per unit (p.u) is
B mn H thng in - i hc Bch Khoa H Ni

0.98

0.2

0.4

0.6

0.8

1
Time (sec)

1.2

1.4

1.6

1.8

Figure 2 System response after first OPF.

After the first TSC-OPF iteration we obtain the operating


condition in table II. The CCT for this operating condition is
576ms.
As the system has become stable and the difference
between actual CCT and fault duration is smaller than the
simulation time step, the TSC-OPF procedures end here,
successfully. However, compared to the first operating
condition, the system losses have been increased.

252

Tng hp cc bi bo khoa hc giai on 2007-2012

TABLE II
OPERATING CONDITION AFTER FIRST TSC-OPF ITERATION

Bus

Voltage

Angle

Pg

Qg

1
2

1.06

0.00

157.51

23.17

1.05

-4.08

73.22

-0.04

86.86

-16.85

1.04

-2.37

1.05

-4.68

1.02

-9.90

1.04

-7.62

1.05

-7.47

1.04

-8.04

1.05

-5.04

B. New England system


The TSC-OPF framework is now applied to the New
England system with 10 machines and 39 buses. The first OPF
calculation with the objective of loss minimization yields the
operating condition shown in table III (only generator buses
are shown). The total system loss is 27.52 MW, compared to
42.74 MW for the original system [7].
TABLE III
INITIAL OPF RESULT FOR NEW ENGLAND SYSTEM

Total loss: 2.59 MW

Bus

Voltage

Angle

1.02

-14.67

350

-25.8

1.06

1145.52

501.31

1.04

-10.48

458.33

263.11

1.00

-14.12

468.79

81.59

1.01

-14.18

504.94

137.08

1.06

-8.91

749.99

206.99

1.06

-10.13

375.9

33.69

1.03

-12.63

435.93

20.36

1.03

-14.16

588.63

-31.95

1.05

-18.44

1100

45.46

CCT: 576ms

The simulation results for the post TSC-OPF operating


condition is shown in Fig.3. The P-G curve of this operating
condition is also shown in Fig. 4, which clearly shows the
stability of the system.
1.08

Qg

Gen1

1.07

Gen2
1.06

Gen3

10

1.05
1.04
Speeds

Pg

Total loss: 27.52 MW

CCT: 208ms

1.03

1.01
1
0.99
0.98

0.2

0.4

0.6

0.8

1
Time (sec)

1.2

1.4

1.6

1.8

Figure 3 System response after TSC-OPF.


12

10

For this system, the contingency is defined as a three phase


fault at bus 29, near the generator 9, followed by the tripping
of line 29-28. With this contingency, the CCT of the initial
operating condition is 208ms. The corresponding values for tu
and Gtu-cct are 510ms and 1400, respectively.
We impose a desired CCT value of 240ms for this system.
After a non linear simulation, the P-G curve of the equivalent
OMIB system is obtained, as shown in Fig. 5. The instability
of the system is observed, as the electric power has crossed
the unstable equilibrium point B.

150
Elec. power
Mech. power

Power

100
B

Power

Elec. power
0
Mech. power
-2
-20

20

40

60

80

100

120

140

50

160

Delta

Figure 4 P-G curve of the 3 machine system after the initial OPF.

It should be noted that imposing a CCT value of 570ms is


quite impractical. The result is due to the unrealistic machine
model of the three-machine, nine-bus system: Generator 1 has
a very large inertia, thus when active power generation is
shifted to this generator, the system become very stable. A
more realistic CCT constraint will be used for the case of New
England system.

B mn H thng in - i hc Bch Khoa H Ni

-50

20

40

60

80

100
Delta

120

140

160

180

200

Figure 5 P-G curve of New England system after the initial OPF

The same TSC-OPF procedure described in section III is


carried out. The safety margin ] is 100. After the first
iteration, we obtain the operating condition in table IV.
253

eBook for You

1.02

Tng hp cc bi bo khoa hc giai on 2007-2012

Bus

Voltage

Angle

Pg

Qg

1.02

-14.73

350

-27.39

1.06

1145.55

501.68

1.04

-10.33

469.11

267.05

1.00

-14

476.71

83.97

1.01

-14.04

509.98

137.69

1.06

-8.89

750

210.36

1.06

-9.9

389.07

35.15

1.03

-11.99

488.62

22.51

1.03

-17.23

499.37

-36

10

1.05

-18.48

1100

48.97

Total loss: 27.93 MW

CCT: 245ms

Similar to the case of the three-machine, nine-bus


system, the CCT value has reached the desired value, within
error tolerance. The P-G curve of the equivalent OMIB
system for the operating condition in table IV is shown in Fig.
6.
It can be easily observed that this operating condition is
stable, as the post fault equivalent OMIB angle reaches
maximal value at 1300 and returns.
140
120
100
80

Power

60
40
20

cases, we reached convergence after the first iteration, while


3-4 iterations are needed in [6].
Future developments of this research include the analysis
of new stability constraints, such as the speed of OMIB
system, or the difference between accelerating and
decelerating areas as stability index. The development of the
current framework with detailed generator models is also
under study.

REFERENCES
[1]

D. Gan, R. Thomas, and R. Zimmerman, Stability constrained optimal


power flow, vol. 15, pp. 535540, 2000.
[2] Y. Yuan and H. Sasaki, A solution of optimal power flow with
multicontingency transient stability constraints, vol. 18, pp. 10941102,
2003.
[3] V. Gutierrez-Mrtinez, C. Canizares, C. Fuerte-Esquivel, A. PizannoMartinez, and X. Gu, Neural network security boundary constrained
optimal power flow, p. Accepted for publication, 2010.
[4] H. Xin, D. Gan, Z. Huang, K. Zhuang, and L. Cao, Application of
stability constrained optimal power flow in the East China system, vol.
25, pp. 14231433, 2010.
[5] R. Zarate-Milano, T. Cutsem, F.Milano, and A. Conejo, Securing
transient stability using time domain simulations within an optimal
power flow, vol. 25, pp. 243253, 2010.
[6] A. Pizano-Martinez, C. Fuerte-Esquivel, and D. Ruiz-Vega, Global
transient stability constrained optimal power flow using and OMIB
reference trajectory, vol. 25, pp. 392403, 2010.
[7] M. Pai, Energy Function Analysis for Power System Stability. Kluwer,
1989.
[8] Y. Xue and M. Pavella, Extended Equal Area Criterion: an analytical
ultra fast method for transient stability assessment and preventive control
of power system, Electrical Power and Energy systems, vol 11(2), pp
131-149, 1989
[9] Y. Xue, L. Wehenkel, R. Belhomme, P. Rousseaux, M. Pavella, E.
Euxibie, B. Heilbronn and J.F. Lesigne, Extended equal area criterion
revisited, IEEE Transactions on Power systems, vol 7(3), pp 1012-1022,
1992.
[10] M. Pavella, D. Ernst, and D. Ruiz-Vega, Transient Stability of Power
System, a Unified Approach to Assessement and Control. Kluwers
Power Electronics and Power System Series, 2000.
[11] Y. Zhang, L. Wehenkel, P. Rousseaux and M. Pavella, SIME: A hybrid
approach to fast transient stability assessment and contingency selection,
Electrical Power and Energy System, Vol 19(3), pp 195-208, 1997

-20
Elec. power
-40

-60

Mech. power

20

40

60

80

100

120

140

Delta

Figure 6 P-G curve of New England system after first TSC-OPF iteration

V. CONCLUSION
The problem of Transient Stability Constrained Optimal
Power Flow is studied in this work. The TSC-OPF algorithm
is based on the framework in [6], with a slight modification of
the transient stability constraint. Besides, the loss
minimization is considered as the objective function. The
TSC-OPF framework can successfully tackle both cost
minimization and loss minimization problems, with good
convergence property.
It is found that a slight modification of transient stability
constraint can give a better convergence property. In both test
B mn H thng in - i hc Bch Khoa H Ni

Huy Nguyen-Duc (S06) received the B.S. degree in electrical


engineering from Hanoi University of Technology, Vietnam, in 2001, the
M.S. degree from Sherbrooke University, QC, Canada, in 2003, and PhD
degree from cole de Technologie suprieure, QC, Canada in 2011. His areas
of research interest are simulation and control of power system dynamics.
Amel Zerigui is a PhD student at electrical engineering department in
cole de Technologie suprieure, Quebec, Canada. She received her B.S form
ENSET in Algeria 2001 and master from Harbin Institute of Technology in
China.
Xiaoping Tu received the B.S. degree from Harbin Institute of
Technology, Harbin, China, in 1990, the M.S. degree from Hubei Polytechnic
University, Wuhan, China, in 1995, and the Ph.D. degree from cole de
Technologie suprieure (ETS), Montral, Canada, in 2005, all in electrical
engineering. From 1990 to 1999, he was an Engineer in China Research
Institute of Aero-Accessories (CRIAA), Xiangfan, China. From 2005 to 2006,
he was an assistant professor in Southeast University, Nanjing, China. Now he
is with the TransEnergie Chair on Power Systems Simulation and Control as
research fellow. His research interests include modeling and simulation of
electrical machinery and power system.
Louis-A. Dessaint (M88SM91) received the B.Ing., M.Sc.A., and
Ph.D. degrees in electrical engineering from the cole Polytechnique de
254

eBook for You

TABLE IV
OPERATING CONDITION FOR NEW ENGLAND SYSTEM, FIRST TSC-OPF

Tng hp cc bi bo khoa hc giai on 2007-2012

Montral, Montral, QC, Canada, in 1978, 1980, and 1985, respectively.


Currently, he is a Professor of electrical engineering at the cole de
Technologie suprieure, Montral. From 1992 to 2001, he was the Director of
the Groupe de Recherche en lectronique de Puissance et Commande
Industrielle (GREPCI), a research group on power electronics and digital
control. Since 2002, he has held the TransEnergie (Hydro-Qubec) Chair on
Power Systems Simulation and Control. He is an author of the
SimPowerSystems simulation software.
Dr. Dessaint received the Outstanding Engineer Award from IEEE-Canada
in 1997. He is also an associate editor for the IEEE TRANSACTIONS ON
CONTROL SYSTEMS TECHNOLOGY.

eBook for You

Camilo Apraez received his B.S. degree from de Los Andes university in
Colombia. Currently he is a master student at cole de Technologie
suprieure, Quebec, Canada.

B mn H thng in - i hc Bch Khoa H Ni

255

Tng hp cc bi bo khoa hc giai on 2007-2012

Selection of Input/output Signals for Wide Area


Control Loops

AbstractThis paper studies the various aspects of input/output selection for wide-area damping controllers, targeted
at the power system inter-area oscillation modes. The objectives is
to choose a control loop which has large impact to a few selected
modes, while does not affect the other system modes, hence the
interactions problem can be greatly reduced. For this purpose, a
new modal interaction index is proposed. Non linear simulations
are also carried out to validate the modal analysis results.
Index TermsPower system control, inter-area oscillations,
Hankel Singular Value.

I. I NTRODUCTION
LECTROMECHANICAL oscillation is a common problem in large electric power sytems. These oscillations
limit the power transfer capacity, and at times, may cause
severe grid failures [1]. Damping of these oscillations is therefore important for a secure operation of power systems. The
conventional damping device is the Power system Stabilizer
[2]. Emerging electronic based devices (FACTS) can also be
equipped with auxiliary control mode to provide oscillation
damping [3][4].
With the advent of synchronized phasor measurement units,
power system controllers can now utilize input signals from
many different locations of the grid. This provides a much
greater possibility for choosing control loops. A wide-area
control loop is inherently more effective than a local loop
to damp inter-area modes of oscillations. Many works have
been directed towards designing wide-area controllers [5][6].
Throughout many studies in the litterature, a common approach is to use wide area control loop as an additional
loop that works in parallel with the local loop [7][8]. This
approach allows to improve damping of inter-area modes,
while still maintains local modes damping performance in case
of communication failures.
One important problem in designing the wide-are control
loop is the selection of input/output signals. Ideally, a widearea loop should have good controllability/observability to
the inter-area modes of concern, while does not affect other
system modes. Although there are numerous works on the

This work was supported by the Hydro-Qubec Transnergie Chair on


Simulation and Control of Power Systems and the National Science and
Engineering Research Council, Canada.
H. Nguyen-Duc and L-.A. Dessaint are with the Dpartement de gnie
lectrique, cole de Technologie suprieure, Montral, QC H3C 1K3 Canada
(email: huy.nguyen-duc.1@ens.etsmtl.ca; dessaint@ele.etsmtl.ca).
A.F. Okou is with the Department of Electrical and Computer Engineering,
Royal Military College of Canada, Kingston, ON K7K 7B4 Canada.
I. Kamwa is with the Institut de recherche dHydro-Qubec (IREQ),
Varennes, QC J3X1S1, Canada (email: kamwa@ireq.ca).
B mn H thng in - i hc Bch Khoa H Ni
978-1-4244-6551-4/10/$26.00
2010 IEEE

selection of power system control loops [9][10][11][12], few


have addressed specically the problem of choosing signals for
wide-area loops. A fundemental feature of a good wide-area
control loop is that it only needs good controllability to a few
modes, therefore some measures for conventional control loop
selection are not applicable. For example, a large minimum
singular value can be used as a criterion for control loop
selection [13]. However a good wide-area control loop would
have no controllability to many local modes, and therefore its
minimum singular value should be close to zero.
Usually, every control loop has signicant effect to a number
of oscillation modes. Therefore choosing a good wide area
control loop essentially involves dealing with one compromise:
maximizing controllability/observability to the critical modes,
while reducing interaction effects to other modes. The many
challenging and at times conicting control objectives may still
be overcome, by careful controller tuning or by using advanced
control structures (H , controllers). However a quick and
effective method to select a sufciently small number of
candidates for wide-area control loops is still neccessary. On
one hand it reduces considerably the possibilities that one has
to examine. On the other hand, a properly chosen input/output
pair will allow control objectives to be met much more easily.
The aim of this work is to analyze different modal indexes
that are commonly used in control loop selection. A set of
modal indexes, established specically for wide-area control
loops, is proposed. The main objectives of wide-area control
loop selection in this work are:
The control loop should have good controllability/observability to the inter-area mode of concern.
The control loop should have minimal effect to all other
system modes. These includes inter-area modes whose
damping dont need more improvement.
The paper is organized as follows: Section II provides
some background on control loop selection criteria, section
III presents the proposed modal indexes for wide-area control
loops. Some case studies are presented in section IV. Section
V gives some conclusions.
II. BACKGROUND
A. Controllability and observability measures
Let us consider the linear state space representation of an
open loop single input-single output system, as follows:
x = Ax + Bu
y = Cx

(1)
256

eBook for You

Huy Nguyen-Duc, Student Member, IEEE, Louis-A Dessaint, Senior Member, IEEE,
Aim Francis Okou, Member, IEEE and Innocent Kamwa, Fellow, IEEE

Tng hp cc bi bo khoa hc giai on 2007-2012

The matrix A has n eigenvalues i , i = 1, ..n. These


eigenvalues are associated with right and left eigenvectors:
E = [e1 e2 ..en ] and F = [f1 f2 ..fn ]. The eigenvectors
are normalized, i.e. EF H = 1. The geometric measures of
controllability (mci ) and observability (moi ) associated with
mode i are dened as [14]:

moi = cos((C, ei )) =

|B T .fi |
||fi ||.||B||
|ei .C|
||ei ||.||C||

C. Measures of interactions
(2)

The joint controllability/observability measure of loop (1)


to mode i is determined by:
mcoi = mci .moi

y(s) = G(s).u(s)

(8)

(3)

A large value of mcoi implies that the control loop is


effective to control mode i. An alternative approach to the joint
controllability/observability measure is the transfer function
residue. System (1) can be expressed by:
y(s)
= C(sI A)1 B =
u(s)

For control loop selection, one common measure for interactions is the Relative Gain Array (RGA). Given a power
system with m input and n output, denoted by:

n
i=1

Ri
s i

(4)
ij =

where Ri is the residue associated with mode i :


Ri = Cei fiH B

(5)

The residue Ri gives two informations: Its magnitudes


indicates how effective the loop is in controlling mode i. Its
phase indicates the required phase compensation at frequency
i to provide a pure damping effect [5]. The required phase
compensation for mode i is:
i = 1800 Ri

(6)

The damping controller is designed such that it has the


required phase compensation for the critical modes. Its phase
characteristic for other modes can lead to either stabilizing
or destabilizing effect. This issue has been addressed in
[12], where the authors propose a loop selection method that
minimizes the phase conict between the critical mode and
other system modes.
B. Hankel singular values
The system (1) can be transformed to a balanced realization,
in which each state is "just as controllable as it is observable"
[13]. In a balanced realization, the solutions of the following
equations:
AP + P AT + BBT = 0
(7)
AT Q + QA + C T C = 0
are such that P = Q = diag(1 , 2 , .., n ), and 1 > 2 >
.. > n .
The i are the Hankel singular values (HSV) of (1). Hankel
singular values are very useful measures to determine a
minimally realizable system [15], because they show which
states have important contribution to the input/output, and
which states can be effectively eliminated.
In choosing input-output pairs, a control loop with large
HSV is generally prefered [13][9] because it has better
B mn H thng in - i hc Bch Khoa H Ni

where G(s)(n m) is a complex transfer matrix. Assume


that we want to control an output yi from an input uj . The
corresponding relative gain is dened as the ratio between
the uncontrolled gain (when all other loops are open) and the
controlled gain (when all other loops are closed).
yi
uj
yi
uj

uk =0,k=j

1
= gij (s).gij
(s)

(9)

yk =0,k=j

The RGA is the matrix of all relative gains


= [ij ] = G(s) (G(s)1 )T

(10)

where denotes an element by element multiplication (Shur


product). RGA is thus a frequency-dependent measure which
can be used to identify interaction problems between control
loops [13]. If a RGA element is close to unity, the corresponding input/output pair will have minimal interaction with other
control loops. Thorough studies in [16] also showed that there
is a correlation between RGA values and damping ratio.
The RGA, however, is not directly applicable to determine
a good wide-area control loop: It is not clear which loops will
have to be included in RGA analysis to determine possible
control interaction problems. If all existing control loops are
to be included in the analysis, a very extensive calculation task
would have to be done.
Another modal interaction index, namely the total interaction measure, is proposed in [11]. Like the RGA measures,
the total interaction measure also relies on a pre-dened set
of input/output signals. Therefore, in order to analyze a new
control loop, all existing loops need to be considered.

III. P ROPOSED CONTROL LOOP SELECTION METHOD


The aim of this work is to develop a loop selection method
for a power system wide-area controller, targeted at some
critical inter-area modes. For this purpose, the wide-area loop
should have good controllability to the mode of interest,
and minimal interaction with all other system modes. The
comparison between different loops candidate is made, based
on the following criteria:
257

eBook for You

mci = cos((fi , B)) =

controllability/observability to system states. However, when


choosing a wide-area loop, this is no longer true, since what
is needed in a wide-area loop is large joint controllability/observability measures to some inter-area modes and minimal controllability/observability measures to all other modes.

Tng hp cc bi bo khoa hc giai on 2007-2012

Large joint controllability/observability measure are essential for an effective control loop. In some works [17], it is
the single modal index being used to evaluate control loops.
However, a loop with weaker joint controllability/observability
measure may be better, in terms of interaction measure, to
loops having large joint controllability/observability. Therefore, the joint controllability/observability measure should be
used in conjunction with other criteria, and not as a preliminary selection step.
B. Interaction measure
As presented in section II, interactions measures in the
litterature are mostly "loop based", i.e these measures are
used to determine control interactions between different control loops. A new interaction measure which determines the
relative contribution of the critical inter-area mode, compared
to the total contribution of all system modes to the loops, is
proposed in this work. The proposed interaction measure is
determined by the following steps:
Given a candidate loop, the state matrix A, B, C, D
of the open loop system are determined. The balanced
realization of this system, denoted by state matrices
Ab , Bb , Cb , Db is determined. In this realization, the
rst state has the most contribution to the input/output
relation, followed by the second state, and so on. The
HSV of the balanced system {i : i = 1, .., N } are also
obtained.
Suppose the wide-area loop is designed to improve damping of an inter-area mode k . The contribution of this
mode to the input/output relation ship of the candidate
loop can be determined based on the participation factor
of each balanced state to mode k [18]. Denote pi (k )
the participation factor of the state variable i (in the
balanced realization) to mode k . The contribution of
each state i to the input/output relationship is weighted
by the corresponding HSV, i.e. i . Therefore the total
contribution of mode k to the input/output relationship
of the candidate loop is:

with other system modes. Throughout this work, it is found out


that in some cases it is better to eliminate some non relevant
modes in the set , so as to make comparison between control
loops easier. The following modes are considered non-relevant
and can be ignored in the interaction analysis:
Mode for which the control loop has very small controllability/observability measures
Mode of very low, or very high frequencies. Even though
the control loop may have good control joint controllability/observability measure to the mode, its effect can
be signicantly reduced with appropriate ltering. For
example, damping controllers are often used with washout lter, hence the very low frequency modes can be
ignored in the analysis.
The modied mode interaction measure is dened as:

k r

Ck =

Ik =

Ck
j

Cj

N
i=1
j

i2 .pi (k )
N
i=1

i2 .pi (j )

(12)

where is the set of all system modes.


From Eq. (12), it can be seen that Ik determines how the
other modes would be affected if one tries to control mode
k from the current loop. Therefore it is a "loop-to-modes"
measure, as opposed to the "loop-to-loop" measures, such as
the RGA, or the total interaction index in [11]. For wide-area
control loop selection, a loop whose Ik for the targeted mode
is close to 1 will be prefered, since it has little interactions
B mn H thng in - i hc Bch Khoa H Ni

(13)

i2 .pi (k )

1 sin( mk )

1 + sin( mk )
1

T1 =
k
T2 = T1

(11)

The modal interaction measure of mode k is dened as


the ratio between its contribution to the loop and the total
contribution from all modes:

N
i=1

C. Phase compensation conict


For each electromechanical oscillation mode, there is an
associated phase compensation required to achieve pure damping effect. If a control loop has large controllability measures
to two oscillation modes, it is desirable that one can achieve
damping effect for both modes with a simple control structure.
To reect this criteria, we introduce the index of phase
compensation conict which is determined by the following
steps:
Assume a simple lead-lag structure is used for the controller. The controller transfer function is thus:
m
T1 s + 1
Tw s
(14)
K=
Tw s + 1 T2 s + 1
where Tw is the wash-out time constant, T1 , T2 are
controller time constants and m is the number of leadlag blocks. To achieve pure damping effect for the most
critical mode k with a required phase lead k , the time
constants T1 , T2 can be determined by [5]:

i=1

i2 .pi (k )

where r is the set of relevant modes.

i2 .pi (k )

N
i=1

Ikm =

(15)

Given a secondary inter-area mode at frequency j and


its required phase lead is j . The mismatch between the
required phase lead and the actual phase compensation
for mode j , denoted as kj can be easily determined as:
kj = m.(arctan(T1 j ) arctan(T2 j )) j . (16)

For simplicitys sake the effect of the washout lter has


been omited in Eq. (16). It should be noted that the phase
compensation conict may be overcome by using high order
control structures. Hence this measure should not be used as
a deciding factor. However, a control loop with little phase
compensation conict would facilitate the design of a robust,
low order controller [12].
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eBook for You

A. Joint controllability/observability measure

Tng hp cc bi bo khoa hc giai on 2007-2012

In this section, some control loops for the New England


power system [19] are analyzed. The system comprises of 16
generators and 68 buses. The electromechanical modes of the
system are shown in Table I. The mode 2.55 rad/s has weakest
damping ratio, thus a global control loop is needed to stabilize
this mode. Wide-area loop candidates are considered for three
different FACTS location: SVC at bus 17, SVC at bus 21, and
TCSC on line 1-47, and speed signals from generators 1, 5,
7, 8, 9, 10, 11, 13, 16. For ease of viewing the analysis will
be shown seperately for each controller.

is Fig. 2. The 2.55 rad/s mode is dominant, and can be seen


in all generator speeds.
a) Open loop system response, New England power system
1
5
11
16

1.003
1.002
1.001
Speed (pu)

IV. C ASE STUDIES

1
0.999
0.998
0.997

Fig. 2.

15

10

20

30

25

Open loop system response.

The analysis for the SVC at bus 17 is shown in Fig. 3.


Fig. 3a shows the joint controllability/observability measures
of modes for which the SVC has large controllability measure.
The joint measures are normalized so that the largest element
is equal to 1. Fig. 3b shows the total interaction measures
of the critical 2.55 rad/s mode for each control loop. Fig. 3c
shows the phase mismatch for each mode, when a conventional
controller (Eq. (14)) is designed for the 2.55 rad/s mode.
The controller is designed so that the phase mismatch for the
critical mode (2.55 rad/s) is zero. It should be noted that a
large phase mismatch for a mode could be a problem only if
the loop has strong enough controllability to that mode.
Mode
Mode
Mode
Mode

a) Joint con/obs measures


1

Fig. 1.

New England power system.

0.5
0

8
9
10
b) Interaction index

11

13

16

9
8
10
c) Phase mismatch

11

13

16

11

13

16

Table I
E LECTROMECHANICAL MODES OF N EW E NGLAND SYSTEM
Modes (rad/s)
0.035
2.55
3.2
3.95
4.97
6.06
6.59
7.36
7.87
7.88
8.31
9.44
9.55
9.55
11.34

Participating generators
1-16
1-16
14,16
1-9,12,13
14,15,16
4,5,6,9
2,3,4,5,6,7
4,5,6,7
1,2,3
1,2,3,8,9,10,12
1,8,10
4,5,6,7,8
4,5,6,7
1,8
10,11,12

In order to excite many system modes, three-phase faults


are applied at bus 42 and 16 simultaneously. This otherwise
unlikely scenario allows to examine various system dynamics
with less simulations. The open loop system response is shown
B mn H thng in - i hc Bch Khoa H Ni

-0.559+9.55i
-0.45+7.36i
-0.172+3.95i
-0.0653+2.55i

1
0.5
0
200
100
0

10

Input signal

Fig. 3.

Choosing input signal for SV C17 .

As can be seen in Fig. 3, all loops have relatively large joint


measures to the 3.9 rad/s mode, which represents a potential
interaction problem. Since the 2.55 rad/s mode is very weakly
damped, interaction measures show that this mode is dominant
in all loops. It is interesting to note that for many loops, joint
controllability/observability measures of the 3.9 rad/s mode
are greater than that of the 2.55 rad/s mode. Considering
259

eBook for You

A. SVC at bus 17

Tng hp cc bi bo khoa hc giai on 2007-2012

the interaction measures, speed measurements from generator


1, 10, 16 are the best intput signals. The speed signal from
generator 13 is probably the worst, due to its low interaction
measure.
If one takes into account of phase mismatches, speed signals
from generator 10, 11, 13 will likely to cause destabilizing
effect to the 3.9 rad/s mode, since the phase mismatches with
these input signals are close to 1800 . Taking into account
of both interaction measure and phase compensation conict,
only speed signals from generator 1 and 16 are adequate.
To validate the above analysis, we design feedback controlers for several input signals, using the standard procedures
(based on lead-lag compensation) in [5]. Non linear simulation
are tested for controllers using 10 and 16 as input. Prony
analysis [20] is used to verify the frequency content of the
speed responses. The system responses are shown in Fig. 4.

Mode
Mode
Mode
Mode
Mode
Mode

a) Joint con/obs measures


1

-0.559+9.55i
-0.277+6.6i
-0.287+6.06i
-0.45+7.36i
-0.172+3.95i
-0.0653+2.55i

0.5

10

11

13

16

11

13

16

11

13

16

b) Interaction index
1

0.5

10

c) Phase mismatch
200
150

a) SV C17 , with 10 as input signal

1
5
11
16

100
50

Speed (pu)

10

Input signal

Choosing input signal for SV C21 .

Fig. 5.
0

10
15
20
b) SV C17 , with 16 as input signal

25

30

a) SV C21 , with 5 as input signal

1
5
11
16

1.002
Speed (pu)

Speed (pu)

1.002
1.0015
1.001
1.0005
1
0.9995
0.999
0.9985
0.998

10

15
Time (sec)

20

25

1.001
1
0.999
0.998

30

10
6
8
12
14
b) SV C21 , with 1 as input signal

16

18

20

16

18

20

Generator speed response with SVC at bus 17

As can be seen in Fig. 4, the controller using input 16


stabilizes the system very well. The loop with 10 as input
also stabilizes the 2.55 rad/s mode, but makes the 3.9 rad/s
mode become visible.

Speed (pu)

1.002

Fig. 4.

1.001
1
0.999
0.998

Fig. 6.

10
12
Time (sec)

14

Generator speed response with SVC at bus 21

B. SVC at bus 21
The SVC 21 is electrically not very far from bus 17, but this
is enough to make a difference. With this SVC location many
loops now have large joint measures for the 7.36 rad/s mode
(Fig. 5). For this SVC location, 16 is still the best input, in
terms of interaction measure. Speed signals from generator 1,
5, 7, 8 have the largest joint measures to the 2.55 rad/s mode,
but signal 5 should not be used because of its large phase
mismatch with mode 7.36 rad/s.
The above analysis is tested by non linear simulations.
Fig 6a shows some speed signals when 5 is used as input.
Speed responses with 1 as input signal are shown in Fig.
6b. The results clearly show that using 5 as input signal will
destabilize the 7.36 rad/s mode. This mode can be easily seen
in Fig. 6a, and Prony analysis is also carried out to verify its
frequency. The control loop with input 1 does not interact
with this mode, therefore 1 is a better input signal to pair
with SV C21 .
B mn H thng in - i hc Bch Khoa H Ni

C. TCSC on line 1-47


The analysis for the TCSC on line 1-47 is shown in Fig. 5.
Compared to the SVC at bus 17 and 21, the TCSC seems to
be a much worse location for a global controller. Every loop
has low joint controllability/observability measure for the 2.55
rad/s mode. This is also reected in the interaction measures,
which are now considerably lower than the previous cases.
Besides, many loops have bad interaction with the 11.34 rad/s
mode. This mode will likely be destabilized with input signal
10 .
Feedback controllers are designed for input signal 8 and
10 . Non linear simulations results are shown in Fig. 8. As
expected, the loop with 10 destabilize the 11.34 rad/s mode.
Using 8 however, one obtains very good response, despite
the weak controllability of TCSC 1-47 to the critical mode.
260

eBook for You

1.002
1.0015
1.001
1.0005
1
0.9995
0.999
0.9985
0.998

Tng hp cc bi bo khoa hc giai on 2007-2012

Mode
Mode
Mode
Mode
Mode
Mode

a) Joint con/obs measures

0.2

-0.422+11.3i
-0.277+6.6i
-0.287+6.06i
-0.45+7.36i
-0.172+3.95i
-0.0653+2.55i

0.1
0

8
9
10
b) Interaction index

11

13

16

11

13

16

0.5

10

the wide-area controller, the phase mismatch is a very useful


measure. Even if a high order control structure is used, this
measure reveals which control loops would result in a simpler,
lower order controller. The phase mismatch problem is further
complicated, however, if one takes into account the communication delay. As the effect of time delay is quite similar to
that of a Right-Half-Plane zero [13], the two issues should
be studied together. This aspect of control loop selection is
now being studied, and further results will be reported in the
future.

c) Phase mismatch
200

10

11

13

16

Input signal

Choosing input signal for T CSC147 .

Fig. 7.

a) T CSC147 , with 10 as input signal

1
5
11
16

Speed (pu)

1.002
1.001
1
0.999
0.998

20
10
15
b) T CSC147 , with 8 as input signal

25

30

25

30

Speed (pu)

1.002
1.001
1
0.999
0.998

Fig. 8.

10

15
Time (sec)

20

Generator speed response with TCSC on line 1-47

V. D ISCUSSIONS AND CONCLUSION


Throughout the examples presented in the section IV, the
speed signal from generator 16 is among the best inputs for
SVCs at buses 17 and 21. The speed signal from generator
8 is best for the TCSC on line 1-47. It is interesting to
note that control loops with those inputs have small joint
controllability/observability measures to the critical mode 2.55
rad/s. In fact, joint controllability/observability measure (and
similarly, the residue magnitude) does not fully reect the
control loop potential to damp an oscillation mode. Hence this
measure should not be used as a unique index for choosing
wide-area control loop.
On the other hand, the proposed modal interaction index
in this work (Eq. (13)) gives more consistent results: For all
cases studied, the best control loop always has good modal
interaction measure (close to 1). Therefore, this new modal
interaction measure could be useful in choosing input/output
signals for wide-area control loops, with the purpose of
minimizing interaction.
If the conventional lead-lag control structure is used for
B mn H thng in - i hc Bch Khoa H Ni

[1] D. Kosterev, C. Taylor, and W. Mittelstadt, Model validation for the


august 10th, 1996 WSCC system outage, IEEE Transactions on Power
system, vol. 14, no. 3, pp. 967979, 1999.
[2] E. Larsen and D. Swann, Applying power system stabilizer - part
I,II,III, IEEE Trans. Power App. Syst., vol. 100, no. 6, pp. 30173041,
1981.
[3] E. Larsen, J. Sanchez-Gasca, and J. Chow, Concepts for design of
FACTS controllers to damp power swings, IEEE Trans. Power Syst.,
vol. 10, no. 2, pp. 948956, May 1995.
[4] R. M. Mathur and R. K. Varma, Thyristor-Based FACTS Controllers
for Electrical Transmission systems. EPRI Power Systems Engineering
Series, 2002.
[5] M. About-Ela, A. Salam, J. . McCalley, and A. Fouad, Damping
controller design for power system oscillations using global signals,
IEEE Trans. Power Syst., vol. 11, no. 2, pp. 767773, 1996.
[6] X. Yang and A. Feliachi, Stabilization of inter-area oscillation modes
through excitation systems, IEEE Trans. Power Syst., vol. 9, no. 1, pp.
494502, 1994.
[7] I. Kamwa, R. Grondin, and Y. Hbert, Wide-area measurement based
stabilizing control of large power systems-a decentralized/hierarchical
approach, IEEE Trans. Power Syst., vol. 16, no. 1, pp. 136153, 2001.
[8] F. Okou, L.-A. Dessaint, and O. Akhrif, Power systems stability
enhancement using a wide-area signals based hierarchical controller,
IEEE Trans. Power Syst., vol. 20, no. 3, pp. 14651477, 2005.
[9] M. Farsangi, Y. Song, and K. Lee, Choice of FACTS device control
inputs for damping interarea oscillations, IEEE Trans. Power Syst.,
vol. 19, no. 2, pp. 11351143, May 2004.
[10] Y.-H. S. S. M. I. Malihe M. Farsangi, Hossein Nezamabadi-pour
and I. Kwang Y. Lee, Fellow, Placement of SVCs and selection of
stabilizing signals in power systems, IEEE Trans. Power Syst., vol. 22,
no. 3, pp. 10611071, 2007.
[11] A. Heniche and I. Kamwa, Control loops selection to damp inter-area
oscillations of electrical networks, IEEE Trans. Power Syst., vol. 17,
no. 2, pp. 378384, 2002.
[12] S. Ray, B. Chaudhuri, and R. Majumder, Appropriate signal selection
for damping multi-modal oscillations using low order controllers, in
Proc. IEEE PES General meeting conference, 2008.
[13] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control Analysis and design. John wiley & son, 1996.
[14] A. Hamda and A. Elabdalla, Geometric measures of modal controllability and observability of power system models, Electric Power Systems
Research, vol. 15, pp. 147155, 1988.
[15] B. Pal and B. Chaudhuri, Robust control in power systems. Springer,
2005.
[16] J. Milanovic and A. S. Duque, Identication of electromechanical
modes and placement of psss using relative gain array, IEEE Trans.
Power Syst., vol. 19, pp. 410417, 2004.
[17] N. Martins and L. Lima, Determination of suitable locations for power
system stabilizers and static var compensator for damping electromechanical oscillations in large scale power systems, IEEE Trans. Power
Syst., vol. 5, no. 4, pp. 14551469, 1990.
[18] P. Kundur, Power System Stability and Control. EPRI Power Systems
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[19] G. Rogers, Power system oscillations. Kluwer Academic Publishers,
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[20] J. Hauer, C. Demeure, and I. Scharf, Initial results in Prony analysis of
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pp. 8089, 1990.
261

eBook for You

R EFERENCES

100

Tng hp cc bi bo khoa hc giai on 2007-2012

Huy Nguyen-Duc received the B.S degree in Electrical Engineering from


Ha noi university of Technology, Viet nam, in 2001 and M.S degree in
Sherbrooke University, QC, Canada in 2003. He is currently a graduate
student in the Electrical Engineering department in cole de Technologie
suprieure, Montral, QC, Canada, working towards his Ph.D. degree. His
areas of research interest are simulation and robust control of power systems.

eBook for You

Louis-A Dessaint (M88-SM91) received the B.Ing., M.Sc.A., and Ph.D.


degrees in electrical engineering from the cole Polytechnique de Montral,
Montral, QC, Canada, in 1978, 1980, and 1985, respectively. Currently, he is
a Professor of electrical engineering at the cole de Technologie Suprieure,
Montral. From 1992 to 2001, he was the Director of the Groupe de Recherche
en lectronique de Puissance et Commande Industrielle (GREPCI), a research
group on power electronics and digital control. Since 2002, he has held the
TransEnergie Chair on Power Systems Simulation and Control. He is an
author of the SimPowerSystems simulation software. Dr. Dessaint received
the Outstanding Engineer Award from IEEE-Canada in 1997.

Aim Francis Okou (M04) received the Dipl.Ing. degree in electrical engineering from cole Suprieure Interafricaine de llectricit, Cte dIvoire,
in 1993, the M.Eng. degree and the Ph.D. in electrical engineering from
cole de Technologie Suprieure (TS), Montreal, QC, Canada, in 1996 and
2001, respectively. During 2002-2005, he was a Postdoctoral Researcher in
the Department of Electrical Engineering at TS. Since 2005, he joined The
Royal Military College of Canada where he is currently an Assistant Professor
in the Electrical and Computer Engineering Department. His research interests
include the application of robust and nonlinear control techniques to largescale systems

Innocent Kamwa (S83-SM98-F05) received the B. Ing. degree and the


Ph.D degree in electrical engineering from Universit de Laval, Qubec city,
QC, Canada, in 1984 and 1988, respectively.
Since then, he has been with the Hydro-Qubec Research Institute, where
at present, he is a Principal Researcher with interests broadly in bulk system
dynamic performance. Since 1990, he has held an Associate Professor position
in electrical engineering at Universit de Laval.
Dr. Kamwa is a recipient of the 1998 and 2003 PES Prize Paper Awards
and is currently serving on the System Dynamic Performance Committee.
AdCom. He is also the acting Standards Coordinator of the PES Electric
Machinery Committee and an associate editor for the IEEE TRANSACTIONS
ON POWER SYSTEMS. He is a member of CIGR.

B mn H thng in - i hc Bch Khoa H Ni

262

Tng hp cc bi bo khoa hc giai on 2007-2012


1918

IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 25, NO. 4, NOVEMBER 2010

A Power Oscillation Damping Control Scheme Based


on Bang-Bang Modulation of FACTS Signals

AbstractIn this paper, we develop a new damping control


scheme for FACTS devices, using bang-bang modulation of
FACTS signals. The scheme is used to attenuate quickly the
systems most dominant mode which is identied using online
Prony analysis. An analysis framework to evaluate the robustness
of the control schemes to changes in operating conditions and to
time-delay is also proposed. Simulation results on various test
systems show that following large disturbances, the proposed
control scheme is very effective to mitigate the power system
critical modes of oscillation. Furthermore, the problem of control
interactions is completely avoided with the proposed control
scheme.
Index Terms -analysis, damping controller, interarea oscillations, robust control, structured singular values, wide-area control.

I. INTRODUCTION

ACTS devices have become more and more popular in


power systems. Their primary application is to enhance
power transfer capabilities, allow more exible control of power
ows, as well as provide reactive power support. Besides, they
can also provide additional oscillation damping control, which
improves power system small signal stability. The use of FACTS
devices to improve power system stability has long been recognized. The concept of how an SVC adds damping to electromechanical oscillations was presented in some early publications [1][3] for single machineinnite bus systems. For multimachine systems, modal analysis of the linearized power system
model is mostly used to analyze the system modes of oscillations. One important concept in designing FACTS based controllers to enhance small signal stability is the Controller Phase
Index (CPI) [4], which is the level of phase compensation required to move the open loop poles associated with power oscillations to a desired location. This is in fact very similar to the
traditional concept of designing power system stabilizers (PSS)
[5].
Manuscript received December 08, 2009; revised February 04, 2010. First
published April 26, 2010; current version published October 20, 2010. This
work was supported by the Hydro-Qubec Transnergie Chair on Simulation
and Control of Power Systems and the National Science and Engineering Research Council, Canada. Paper no. TPWRS-00949-2009.
H. Nguyen-Duc and L.-A. Dessaint are with the Dpartement de gnielectrique, cole de Technologie suprieure, Montral, QC H3C 1K3, Canada
(e-mail: huy.nguyen-duc.1@ens.etsmtl.ca; dessaint@ele.etsmtl.ca).
A.F. Okou is with the Department of Electrical and Computer Engineering,
Royal Military College of Canada, Kingston, ON K7K 7B4, Canada.
I. Kamwa is with the Institut de recherche dHydro-Qubec (IREQ),
Varennes, QC J3X1S1, Canada (e-mail: kamwa@ireq.ca).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TPWRS.2010.2046504
B mn H thng in - i hc Bch Khoa H Ni

The design of FACTS controllers, however, can be quite


more complicated than that of the PSS. A FACTS controller is
generally less robust than a PSS and it is difcult to achieve
robustness over a wide range of operating conditions [6]. The
location of FACTS and the input signals are chosen in order
to have maximum controllability/observability of oscillation
modes. Besides, the residues of critical modes should not
vary too much in different operating conditions, so that a low
order, robust controller can be achieved [7]. Another aspect
of control synthesis is avoiding interactions. An ideal control
loop should only have minimum effect on other systems
noncritical modes [8], [9]. Such demands are often hard to
meet using conventional control approach; therefore, a great
deal of research efforts have been made to improve the FACTS
controller performance, using robust control theories, i.e.,
[10], -analysis [11], etc. FACTS controllers designed using
robust control theory should have better robust performance,
but since quite many constraints are often used in the design
to ensure good performance of the nominal as well as of the
perturbed systems [10], their damping performance may be
limited. Moreover, a robust controller is normally of very high
order, which complicates its implementation.
Besides conventional continuous control methods, there exists a rather simple approach to damping of electromechanical
oscillations, based on bang-bang modulation (or reactive power
switching) of FACTS input signal. This approach was rst used
to reduce transient oscillation in power systems [1][3]. Reference [12] further discussed how this control method could
reduce the critical oscillation mode during a large transient.
In fact, an appropriate reactive power switching sequence can
produce an oscillation in anti-phase with the observed oscillation (output cancellation strategy). This can be a very effective strategy, since it only deals with the most critical oscillation, and the maximum power rating of FACTS can be used.
The effectiveness of this discontinuous control method has long
been recognized [13], and can also be applied for active load
modulation [14], [15]. The problem of optimal switching time
has been studied for simple systems, using nonlinear optimization methods [16], [17]. However, the application of this control
method, especially for large, multi-machine power systems, is
still an open problem. The main issue that needs to be studied is
the robustness of such control scheme to changes in operating
condition and other perturbations.
This paper is the continuation of our previous work on a
bang-bang control scheme based on identication of the critical
oscillation [18]. A new control scheme to efciently dampen
electromechanical oscillations is proposed. It is based on identied information of the system critical mode and bang-bang
modulation of FACTS input signal. Since control interactions

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Huy Nguyen-Duc, Student Member, IEEE, Louis-A Dessaint, Senior Member, IEEE,
Aim Francis Okou, Member, IEEE, and Innocent Kamwa, Fellow, IEEE

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II. BACKGROUND
A. Transfer Function Residue and Location of Zeros
To effectively control an oscillation mode using feedback, the
chosen input and output signal must have, respectively, large
controllability and observability of the mode. These two measures can be combined to give the transfer function residue associated with the mode of oscillation [19]. Let
be the residue
of a control loop with respect to a mode
, a sufciently small proportional feedback control causes a change
in , as follows:

Fig. 1. Interconnection structure for robust stability analysis.

many robust control design approaches, the analysis using structured singular value theory [21] is an effective method to evaluate the robustness of power system controllers.
The general framework for many robust control studies is
based on a linear fractional transformation (LFT), depicted in
Fig. 1. It represents how the uncertainty affects the input/output
relationship of the system under study.
In Fig. 1,
is a complex transfer matrix, partitioned as follows:
(2)

respect to

is another complex matrix. The upper LFT with


is dened as

(1)

(3)

is an important criterion in selecting conThe magnitude of


trol loop. A large magnitude of
implies that small control
efforts would be required to achieve better damping. The supplementary angle of
is the phase compensation required at
frequency
to achieve a pure damping inuence, assuming
positive feedback. This phase compensation is mentioned in
[4] where the authors introduced the term CPI, which actually
equals to
.
The change of CPI with respect to changes in operating conditions is an important aspect of FACTS control design. For a
control loop whose CPI does not vary much in different operating conditions, it is easier to design a robust, low order controller [7]. Roughly speaking, a CPI that remains in the same
quadrant in different operating modes implies that a robust controller can be achieved with a simple lead-lag feedback control
[4], [20].
Another issue related to FACTS control design is avoiding
interactions. While having a positive damping effect on the critical mode, the controller can deteriorate other electromechanical
modes, or other system modes. This problem should also be addressed while designing FACTS controllers.

represents
The LFT structure has a useful interpretation:
the nominal, unperturbed system, and is perturbed by . The
transfer matrices
,
, and
reect a prior knowledge
as to how the perturbation affects the nominal transfer matrix.
The transfer matrix represents all sources of uncertainties,
which could be real parametric uncertainties or neglected dynamics. The structured uncertainty thus may contain blocks
of repeated real scalars, or full complex blocks [21]. Hence, we
can assume that takes the following form:

(4)
Given the interconnection system, as depicted in Fig. 1, the
structured singular value (s.s.v. or ) is dened as the smallest
structured uncertainty , measured in terms of its maximum
singular value
which makes
:

(5)
B. Robustness Evaluation Using -Analysis
Conventional power system control designs are based on linearized models of the system about some selected operating
points. As a consequence, the performance of the controller may
not be robust over a wide range of operating conditions. In recent
years, several researches have studied the application of robust
controlBtechniques
to design power system controllers. Among
mn H thng in - i hc Bch Khoa H Ni

.
If no such structure exists, then
Since
is the size of the smallest structured perturbation
that makes the system
singular, it can be used as a measure
of robust stability. For power system application, -analysis can
be used to evaluate the system robustness with uncertainty in
operating conditions. As the operating condition changes, the
state space matrices of the linearized power system also264
change.

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are inherently avoided, the control scheme is easily expandable


which allows different FACTS devices to act simultaneously, to
further improve the overall damping. The paper also provides an
analysis framework to evaluate the control scheme performance
in large interconnected systems. The robustness is evaluated for
a wide range of operating conditions, with varying time delay.
The paper is organized as follows: Section II provides some
background information on the design of FACTS controllers
as well as the control scheme based on bang-bang modulation. Section III presents the structure of the proposed control
scheme. A description of the framework for robustness analysis is also presented. Section IV presents some application
examples. Section V gives some discussions and conclusions.

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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 25, NO. 4, NOVEMBER 2010

as follows: If there is a critical oscillation in the measured power


transfer in the interconnection line of Fig. 2, such that
(8)
then the modulation signal for the SVC controller is
Fig. 2. Single machineinnite bus system.

The dependency of the state matrix coefcients on the parameter variations can be captured to formulate a structured perturbation model. The linear state space model of a power system,
subjected to parameter changes
, can be written
as follows:

(6)
where
,
, , and
are the state space matrices of the
nominal system. Matrices , , , and
are determined by
solving a set of overdetermined linear equations. In robust stability studies, the perturbations are normalized so that
. The parameter uncertainty representation in (6) can be transformed to an LFT form, suitable for robust analysis. More details on this framework are reported in [22] and [23].
With this framework, changes in system operating conditions
are treated as parameter uncertainties. Besides, time delay can
be considered as a varying quantity, rather than a xed value,
which is used in many studies [24], [25].
C. Control Using Bang-Bang Modulation
For a simple power system model, the concept of FACTS control to improve power swing damping can be derived, without
using complicated modal analysis tools. Consider the single machineinnite bus system, depicted in Fig. 2, where an SVC is
placed at the midpoint of the interconnection line. For this power
system, the system damping can be enhanced if the midpoint
voltage is modulated as a function of
[8], as follows:
(7)
where is a constant. An intuitive explanation of (7) is that it
reduces the kinetic energy built up in the rotor during transient
[8]. To improve damping of an oscillation , (7) suggests that
the modulated SVC voltage should lead the observed oscillation in by 90 degrees at frequency . Alternative signals for
can also be used, e.g.,
or machine speed [2], [3].
Control of
is done by reactive power modulation.
To achieve maximum damping, a bang-bang control method
can be used, in which the SVC reactance is switched to its
maximum capacitive/inductive value in synchronization with
the rate of change of . In our previous work [18], we have successfully implemented a bang-bang control scheme based on the
control rule (7), where the switching time is determined based
on the identied frequency and phase of critical power oscillations. B
The
proposed control scheme in [18] can be summarized
mn H thng in - i hc Bch Khoa H Ni

which means the switching time is in phase with the rate of


change of the power transfer
associated with the critical
component.
In multi-machine systems, large transients may contain several modes. As stated in [18], we propose to use an online identication method to pick up the mode critical oscillation. The
controller should react to damp this component only. If there is
more than one mode in a transient oscillation, a bang-bang control scheme based solely on derivation of active power transfer
[2] would give inaccurate switching time.
Online identication gives the frequency
and the phase
of the most critical component. The only parameter that
remains to be determined is the required phase lead. The best
phase lead is determined from the residue angle of the open loop
transfer function with respect to the critical mode [12]. For the
simple power system in Fig. 2, and in fact, for some FACTS
control loops using local signal, this angle of residue is close
to 90 . This has been proved in [26], by using classical generator model and neglecting transmission line resistance. However, for a large multi-machine system, the control loops are not
restricted to using local signals. Thus, it is best to use rigorous
modal analysis to determine the required phase lead. Moreover,
one must determine if a xed phase lead can provide damping
effect in different operating conditions. The effect of communication delay must also be examined.
III. PROPOSED CONTROL SCHEME
A. Proposed Control Scheme
The proposed control scheme essentially comprises of a special control mode, based on bang-bang modulation of FACTS
signal. When a large oscillation is detected in the system, this
control mode will be activated to maximize damping effect.
When the oscillation amplitude has been reduced signicantly,
the control scheme will switch back to using a conventional continuous controller.
The motivation of this work comes from the fact that critical
oscillations in power system often involve one critical mode.
To stabilize the system, it is important that this critical mode is
effectively damped. When a controller reacts only to this mode,
a bang-bang type of control, as discussed in Section II-C, is an
effective method, since it utilizes the maximum power rating of
FACTS devices. The proposed approach is thus similar to a gain
scheduling control scheme, which combines a high gain, narrow
bandwidth controller with a small gain, continuous controller to
maximize damping, while avoiding control interactions.
The bang-bang control mode is demonstrated in Fig. 3. Upon
detection of a critical signal, a FACTS device will generate a
bang-bang type control signal as follows:
265

(10)

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(9)

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Fig. 3. Proposed control scheme.

The operation principles of the central control unit and local


controllers in Fig. 3 are described as follows.
Central controller: The central control unit continuously
monitors some input signals and use Prony-analysis [27]
to identify the presence of a critical oscillation. The central
controller works in two modes: the supervision mode and
the active control mode. In the supervision mode, the
identication algorithm monitors real parts of oscillation
modes ( ) and their amplitudes
. If a critical mode
(large amplitude and bad damping coefcient) is detected
consistently during a specied period, then the active control mode is activated. In the active control mode, Prony
analysis is still used to determine oscillation frequencies
and damping factors. However, with the presence of a
control action, the damping coefcient is modied and
is no longer a good critical oscillation index. Therefore
the amplitude of the critical component, whose frequency
was identied in the supervision mode, is now monitored.
When this amplitude is reduced below a certain threshold,
the active control mode is disabled, and all FACTS controllers return to their normal working mode.
Local FACTS controllers: Once a dangerous oscillation is
detected, the central controller will activate the special control mode and send the critical oscillation information (frequency
and phase
) to local controllers. These informations are associated with the central controllers reference time. Thus, local controllers can compare the received time tag with their own local clocks to generate
precise control signals. With this conguration, the control scheme is less affected by communication delay. The
output of each local controller is as described in (10), where
is appropriately determined based
the xed phase lead
on modal analysis.
The control scheme in Fig. 3 assumes a generic FACTS
model, and thus can be used for any type of FACTS (SVC,
STATCOM, TCSC, etc.). For multi-parametric FACTS devices,
the control scheme can also be used, simply by modulating
one independent component. For example, with the UPFC, the
controlBscheme
will only modulate the active component of the
mn H thng in - i hc Bch Khoa H Ni

series branch voltage. The shunt voltage controller may still


work in its normal working mode.
The novelty of this control scheme is that it is a true closed
loop identication-control method, as opposed to [28] and [29],
where Prony identication is only used to trigger a power swing
damping controller. An identication based system protection
was also studied in [30], in which a high-resolution Fourier analysis is used to detect generators oscillation coherency. To avoid
identication error due to the presences of modes of similar frequency, Prony identication using multiple input signals can be
used. The grouping of these signals are based on ofine modal
analysis, as in [28].
B. Robustness Analysis
The performance of this proposed control scheme depends
on the identication accuracy of the critical oscillation and the
value of the phase lead for each FACTS.
To make the control scheme simple, it is desired to use one
single value of
for all operating modes. As discussed in
Section II-C, the best value for
is the supplementary angle
of the open loop system residue angle at the mode of interest.
This phase lead is chosen for the system nominal operating
point, and robustness test should be done to verify the control
performance in other modes.
Since Prony identication is used to pick up the critical oscillation, it is possible for the control scheme to operate in a very
narrow bandwidth which would contain only the critical oscillation frequency. In this bandwidth, the controller provides a
constant phase lead to the observed oscillation, so as to provide
positive damping. Fig. 4 depicts the frequency response of the
damping controller for the Kundur power system (which will
be presented in Section IV-A), and that of a hypothetical xed
phase controller which represents the bang-bang controller.
In the frequency range of the critical oscillation, the two controller responses are essentially similar: both controllers provide a phase lead of 23 at the inter-area mode frequency (3.81
rad/s). On the other hand, the xed phase controller has a narrow
bandwidth, which prevents it from interacting with other system
modes. This bandwidth is a design parameter, determined based
on the variation of the critical mode frequency in different operating conditions.
To evaluate the robustness of the proposed control scheme as
well as the possible interactions with other modes, we266
use the

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Fig. 4. Fixed phase controller.

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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 25, NO. 4, NOVEMBER 2010

Fig. 6. Kundur power system.

structured singular value theory framework. Both variations in


operating condition and communication delay are considered.
The proposed framework for the robustness evaluation is depicted in Fig. 5.
Apart from the nominal unperturbed system in Fig. 5, there
are three components in this analysis.
1) Structured Uncertainty : The uncertainty block represents the perturbations due to changes in system parameters
(e.g., load and generation levels). In order to determine the structure of , one needs to create a grid of operating conditions from
the combination of the varying parameters. The construction of
has been presented in Section II-B.
2) Time Delay Block: The delay block in Fig. 5 takes into
account the possible time lag between the central controller and
local controllers, as well as the time lag between the central
controller and remote measurement devices. A time lag is
represented by the transfer function
. The uncertainty block
for robustness analysis, which takes into account both parameter
uncertainty and communication delay, is
(11)
(varying time delay )
In this work, the uncertainty
is represented this by an input multiplicative uncertainty [31],
[32]. The details are presented in Appendix A2.
3) Fixed-Phase Controller: The xed phase controller has
been described at the beginning of this section. The phase lead
is an important parameter of this controller, which is determined based on the CPI of the open loop system. In the estimated frequency range of the critical mode, the gain and phase
of
is strictly constant. For all other frequencies,
has zero
gain. It is very difcult to nd an analytical transfer function
for . However, the Analysis and Synthesis Tool Box [33]
does not require such an explicit analytical expression. It allows
the controller to be represented as complex transfer matrices in
function of frequency.
It should be noted that the robustness analysis in this work
is only used to evaluate the possibility of using a xed phase
lead value for the proposed controller. If the hypothetical xed
phase B
controller
achieves robust stability, then it is possible to
mn H thng in - i hc Bch Khoa H Ni

IV. CASE STUDIES


A. Kundur System
The proposed controller is designed for the Kundur power
system [5], as shown in Fig. 6. The system has four machines
located in two areas. Without PSS installed, the system exhibits
one unstable inter-area mode at 3.81 rad/s. A grid of operating
conditions is created by varying active load at bus 7 (from 767
MW to 1267 MW) and 9 (from 1167 MW to 1767 MW).
We rst design a conventional continuous damping controller
for SVC at bus 9, with power rating of
. The continuous controller comprises a wash-out lter and two lead-lag
blocks, and is optimized using phase compensation and root
locus analysis. Active power measured at bus 7 is chosen as
input signal. For this control loop, the required phase compensation at the inter-area mode is 23 .
As presented in the previous section, in robust stability study,
the bang-bang controller is represented by a xed phase controller, which has a constant phase lead of 23 for all frequency
ranging from 3.5 to 4.2 rad/s (i.e., frequency range of the interarea mode). Fig. 7 shows -analysis results for three systems:
1) the open loop system; 2) the closed loop system with xedphase controller; and 3) the closed loop system with conventional controller. The communication delay is assumed to vary
from 0 to 150 ms.
The -analysis shows two distinctive peaks, corresponding to
the inter-area mode (near 3.8 rad/s) and the local mode at generator 3 (near 7.5 rad/s). The open loop system is not robustly
stable with given uncertainty ranges, as the inter-area mode peak
is greater than 1. Both the xed-phase controller and the conventional controller are able to stabilize the system. The closed
loop system singular values with both controllers are similar in
the range 3.5 to 4.2 rad/s. On the other hand, the xed phase controller does not affect the system at other frequencies. The continuous controller tends to make higher frequency modes less
stable.
Fig. 8 presents simulation results for the worst-case scenario:
The system is operating at high power transfer level (450 MW)
when a three-phase fault occurs at
and clears at
at bus 8. The communication delay is 150 ms. The
Prony
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Fig. 5. Uncertainty structure for robustness evaluation of the xed-phase controller.

use a xed value for , with given parameter and time delay
uncertainties. On the other hand, the damping performance of
the hypothetic xed-phase controller, as in Fig. 4, does not represent the performance of the proposed controller which uses
bang-bang control action. The latter should have better damping
effect, since maximum power rating of FACTS is used at each
switching instance.

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Fig. 7. Robust stability analysis for Kundur power system.

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Fig. 9. System response with a high gain conventional controller.

Fig. 10. System response with SVC and PSS. (a) Tie line power, PSS or SVC
alone. (b) Tie line power, with PSS and SVC.
Fig. 8. System response to a three-phase fault at bus 8.

identication uses a window length of 6 s, with sampling time


.
The bang-bang control mode is activated at
and
disconnected at
. As can be seen in Fig. 8, better performance is achieved when the bang-bang control mode is used.
In order to evaluate if the continuous controller alone can
achieve the same performance, its gain is increased by a factor
of three. The simulation result for this case is presented in
Fig. 9. While the damping of the inter-area mode is improved,
this gain increase also makes a exciter mode near 18 rad/s much
more visible. This result conrms the -analysis presented
in Fig. 7.
In general, the PSS is often more effective than FACTS controllers to damp power oscillations. In this particular system,
however, the proposed control scheme using SVC has better
performance than a single PSS at generator 1. Fig. 10a compares the damping performance of the PSS at generator 1 and
the proposed controller. PSS parameters for the Kundur power
systemBwere
obtained from [34]. It can be seen that at the rst
mn H thng in - i hc Bch Khoa H Ni

swings, the PSS has better damping effect. However when the
bang-bang mode is activated, the proposed controller catches up
with the PSS and nally has better settling time. On the other
hand, the two controllers can be used simultaneously to give a
much better response [see Fig. 10(b)].
The proposed control scheme also works well in the case of
reversed power ow. Simulation results for this case were presented in [18].
B. New England System
The proposed control scheme is now applied to the New England power system, depicted in Fig. 11. Complete system description and data can be found in [6]. This system has a weakly
damped mode at 2.39 rad/s, in which generators 113 oscillate
against generators 1416. The proposed control scheme is thus
designed for this mode. All other electromechanical modes of
this system are presented in Table I.
Mode shape analysis reveals that generators 113 are virtually in phase for the 2.39 rad/s mode. For the proposed control
scheme, this means any speed signal
can be268
used as

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Fig. 11. New England power system.

TABLE I
ELECTROMECHANICAL MODES OF NEW ENGLAND SYSTEM

TABLE II
PARAMETER VARIATION RANGES

input signal, without having to change the control parameters.


This exibility may also apply to a continuous control scheme,
if the chosen loop has no interaction with other system modes.
Several control loops have been examined, and for each loop,
a continuous controller is derived using standard procedures
in [35]. Robust stability analysis for these control loops is
performed using the proposed framework in Section II-B. The
eigenvalue sensitivity study shows that active loads at bus 9,
33, and 47 have the greatest inuence on the system dominant
modes. The chosen uncertain ranges for these loads are shown
in Table II.
For robust stability studies, the time delay is assumed to vary
from 0300
ms. Fig. 12 presents the robust stability analysis
B mn H thng in - i hc Bch Khoa H Ni

for the open loop system, and for the closed loop systems with
several different control loops. The open loop only shows two
peaks at 2.39 rad/s and 3.9 rad/s. All closed loop systems have
a lower peak at 2.39 rad/s, since the controller is designed to
damp this mode. However, the controllers have excited various
modes at different frequencies. It can be seen that only the loop
(SVC at bus 21, with as input signal) is free from
interaction problems. Using different input signals for the SVC
results in exciting the inter-area modes at 3.9 and 7.3 rad/s. The
TCSC on line 147 tends to excite the inter-area modes at 11.34
rad/s and 8.34 rad/s. It should be noted that the large -peaks in
Fig. 12 are largely due to the time delay. The peaks for closed
loop systems without time delay (not shown here for the sake of
brevity) are less pronounced than those in Fig. 12.
This result suggests that with a continuous control scheme,
it is not possible to change the input signal without having to
redesign the controller: Control interactions occur at various
frequencies, depending on the input signal. On the contrary, if
the proposed control scheme is used, the identication based
bang-bang control action will maximize the damping effect.
When the oscillation has been reduced considerably, a continuous controller with low feedback gain will be used. This kind
of gain scheduling control allows to achieve better damping
performance while avoiding interaction issues.
To validate the above analysis, closed loop performances of
these control loops are analyzed with nonlinear simulations,
with time delay varying from 0300 ms. High feedback gains
are used with the continuous controllers, in order to match the
proposed control scheme damping performance.
Fig. 13 presents damping performances of three control
loops:
in Fig. 13(a) and (b),
in
Fig. 13(e) and (f), and
in Fig. 13(c) and (d),
when a three-phase fault at bus 42 is applied at
for
200 ms. With each control loop, damping performances of
the continuous controller and the proposed control scheme are
compared. The continuous controllers parameters are given in
Appendix B.
It can be seen that with the loop
, the continuous control scheme achieves a fairly similar damping performance to the proposed control scheme. In fact, in this
large
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Fig. 12. Robust stability for various control loops, New England system.

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NGUYEN-DUC et al.: POWER OSCILLATION DAMPING CONTROL SCHEME

Fig. 13. Generator speed responses with various control loops. (a) SV C
! , continuous control. b) SV C ! , proposed control scheme. (c) T CSC
, continuous control. (d) T CSC
! , proposed control scheme. (e) SV C
! , continuous control. (f) SV C
! , proposed control scheme.

power system, a single controller could not have as large controllability as in the Kundur system. Therefore, the difference in
damping performance between two controllers is smaller. For
all other control loops, however, the interaction problems predicted by the -analysis can be easily observed. Using continuous feedback control, the TCSC destabilizes the 11.34 rad/s
mode in Fig. 13(c), while the SVC destabilizes the 3.9 rad/s
mode in Fig. 13(e).
On the other hand, the damping performance of the proposed
control scheme is consistent with different control loops in
Fig. 13(b), (d), and (f). Therefore, it is possible to change
the input signal (e.g., in case of a communication failure/bad
measurement), while still maintaining the damping performance. Besides, the damping performance can be further
improved if several controllers are activated simultaneously.
Fig. 14 presents the system response when three controllers are
used simultaneously: the SVC at bus 21, with power rating of
, the TCSC on line 147, and a UPFC on line 127.
For damping purpose, the series voltage for UPFC is modulated
at a magnitude of
. The maximum compensation ratio
for the TCSC on line 147 is
. For the 2.39 rad/s mode,
the required phase leads for the two controllers are 5 and
30 , respectively. Compared to the system response with one
controller, the system damping has been clearly improved.
The performance of the proposed control scheme is also
examined for more severe contingencies. Fig. 15 shows the
system response with three controllers, with the same fault at
bus 42,Band
lines 4748 and 30-9-36 tripped out. Compared to
mn H thng in - i hc Bch Khoa H Ni

Fig. 14. Damping performance with three controllers.

the system response in Fig. 14, the generators speed tend to


increase slightly at steady state. On the other hand, damping
performance with respect to the global mode at 2.39 rad/s is
still maintained.
V. DISCUSSION AND CONCLUSION
The proposed controller uses several FACTS controllers to
damp one single mode of oscillation. It is thus well suited
to
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1925

Tng hp cc bi bo khoa hc giai on 2007-2012


1926

IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 25, NO. 4, NOVEMBER 2010

It has been shown in [15] that the switchings of a small percentage of system load, if well synchronized with the disturbing
event, could have highly stabilizing effects. The same conclusion is drawn from this work: In all test cases, the FACTS power
ratings required are very small, compared to the system total active power. A large power rating means the scheme can damp
the oscillation faster, but also means that it cannot be used when
there is a small oscillations (e.g., in smaller contingencies). It
would be better to use a small value for FACTS power rating
for this type of control, so that it can be used in many contingencies, without violating physical constraints.
APPENDIX A
MODELING OF VARYING TIME DELAY UNCERTAINTY

damp inter-area oscillations, or ideally the global mode of oscillation (where all machines in the system participate), since the
number of FACTS that can be used is maximized. The proposed
scheme damps one oscillation at a time, but it can be designed
for more than one mode. For each mode, there is an associated
group of FACTS that can be used.
One advantage of the control scheme is the lack of interactions with other system dynamics. As can be seen in all
test cases, the proposed control scheme can achieve very
good damping performance while a conventional controller
using the same input-output signals only achieves moderate
damping, due to interactions with other system modes, which
can be either another electromechanical mode (New England
system), or a exciter mode (Kundur system). A high order
controller, designed using a robust control synthesis method,
might achieve the same performance as the proposed control
scheme. The proposed control scheme, however, presents a
simple alternative to various robust control design approaches.
It requires knowledge of only the open loop residue angle for
the mode of interest. Besides, it has the exibility of switching
easily between different input signals. A controller can also be
added or removed from the control scheme without having to
change any control parameter.
This work reveals that communication delay in the control
loop can have a drastic effect on control interactions. Time delay
has a similar effect as RHP zeros [21], so that when a mode is
stabilized by the control action, another mode will be destabilized. The proposed analysis method in this paper, using structured singular value theory, can reect very well this problem.
More detailed comparative studies between the proposed robust
stability analysis framework and conventional modal analysis
will be presented in a future publication.
One drawback of the proposed approach is that it is not
possible to quantify the improvement in damping, since the
bang-bang control mode is not a continuous feedback controller. However, the hypothetical xed-phase controller
introduced in Section III-B can be used to evaluate the robustness of the proposed control scheme. The xed phase controller
can also provide a lower bound of obtainable performance for
the proposed
control scheme.
B mn H thng in - i hc Bch Khoa H Ni

(12)
where

,
(nominal transfer function). Since
, the relative uncertainty should satisfy

(13)
Since
have

, and

, we

(14)
By varying from
to
and in the range of frequencies of interest, we can obtain the upper bounds for the lefthand side of (14), in function of frequency. Then a weighting
function for
can be derived by approximation, using a least
square curve tting routine.
APPENDIX B
CONTINUOUS CONTROLLER PARAMETERS
The structure of the conventional continuous controller in this
work is as follows:

(15)
Parameters for the New England system controllers:
:
,
,
,
:
,
,
.

;
,

REFERENCES
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[2] A. Hammad, Analysis of power system stability enhancement by static
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Nov. 1986.
271

eBook for You

Fig. 15. Damping performance with three controllers, lines 4748, 3036 out
of service.

The problem of representing a time delay by an input multiplicative uncertainty is to nd an uncertainty weighting function
, so that the time delay can be represented as

Tng hp cc bi bo khoa hc giai on 2007-2012


NGUYEN-DUC et al.: POWER OSCILLATION DAMPING CONTROL SCHEME

B mn H thng in - i hc Bch Khoa H Ni

[29] J. Quintero and V. Venkatasubramanian, Oscillation monitoring


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Huy Nguyen-Duc (S06) received the B.S. degree in electrical engineering from
Hanoi University of Technology, Hai Ba Trung, Vietnam, in 2001 and the M.S.
degree from Sherbrooke University, Sherbrooke, QC, Canada, in 2003. He is
currently pursuing the Ph.D. degree in the Electrical Engineering Department
of the cole de Technologie suprieure, Montral, QC, Canada.
His areas of research interest are simulation and control of power system dynamics.

Louis-A Dessaint (M88SM91) received the B.Ing., M.Sc.A., and Ph.D. degrees in electrical engineering from the cole Polytechnique de Montral, Montral, QC, Canada, in 1978, 1980, and 1985, respectively.
Currently, he is a Professor of electrical engineering at the cole de Technologie Suprieure, Montral. From 1992 to 2001, he was the Director of the
Groupe de Recherche en lectronique de Puissance et Commande Industrielle
(GREPCI), a research group on power electronics and digital control. Since
2002, he has held the TransEnergie (Hydro-Qubec) Chair on Power Systems
Simulation and Control. He is an author of the SimPowerSystems simulation
software.
Dr. Dessaint received the Outstanding Engineer Award from IEEE-Canada in
1997. He is also an associate editor for the IEEE TRANSACTIONS ON CONTROL
SYSTEMS TECHNOLOGY.

Aim Francis Okou (M04) received the Dipl.Ing. degree in electrical engineering from the cole Suprieure Interafricaine de llectricit, Cte dIvoire,
in 1993, and the M.Eng. degree and the Ph.D. in electrical engineering from the
cole de Technologie Suprieure (TS), Montreal, QC, Canada, in 1996 and
2001, respectively.
Since 2005, he joined The Royal Military College of Canada where he is currently an Assistant Professor in the Electrical and Computer Engineering Department. His research interests include the application of robust and nonlinear
control techniques to large-scale systems.

Innocent Kamwa (S83SM98F05) received the B.Ing. degree and the Ph.D
degree in electrical engineering from Universit de Laval, Qubec city, QC,
Canada, in 1984 and 1988, respectively.
Since then, he has been with the Hydro-Qubec Research Institute, where
at present, he is a Principal Researcher with interests broadly in bulk system
dynamic performance. Since 1990, he has held an Associate Professor position
in electrical engineering at Universit de Laval.
Dr. Kamwa is a recipient of the 1998 and 2003 PES Prize Paper Awards and is
currently serving on the System Dynamic Performance Committee, AdCom. He
is also the acting Standards Coordinator of the PES Electric Machinery Committee and an associate editor for the IEEE TRANSACTIONS ON POWER SYSTEMS.
He is a member of CIGR.
272

eBook for You

[3] E. Lerch, D. Povh, and L. Xu, Advanced SVC control for damping
power system oscillations, IEEE Trans. Power Syst., vol. 6, no. 2, pp.
524535, May 1991.
[4] E. Larsen, J. Sanchez-Gasca, and J. Chow, Concepts for design of
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vol. 10, no. 2, pp. 948956, May 1995.
[5] P. Kundur, Power System Stability and Control, ser. EPRI Power Systems Engineering. New York: McGraw-Hill, 1994.
[6] G. Rogers, Power System Oscillations. Norwell, MA: Kluwer, 2000.
[7] S. Ray, B. Chaudhuri, and R. Majumder, Appropriate signal selection
for damping multi-modal oscillations using low order controllers, in
Proc. IEEE PES General Meeting, 2008.
[8] R. M. Mathur and R. K. Varma, Thyristor-Based FACTS Controllers
for Electrical Transmission Systems, ser. EPRI Power Systems Engineering. New York: Wiley, 2002.
[9] A. Heniche and I. Kamwa, Control loops selection to damp inter-area
oscillations of electrical networks, IEEE Trans. Power Syst., vol. 17,
no. 2, pp. 378384, May 2002.
damping
[10] M. Klein, L. Le, G. Rogers, S. Farrokhpay, and N. Balu,
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[11] X. Yu, Robustness analysis and controller design for static var
compensators in power systems, Ph.D. dissertation, Iowa State Univ.,
Ames.
[12] J. F. Hauer, Robustness issues in stability control of large electric
power systems, in Proc. 32nd Conf. Decision and Control, 1994, vol.
3, pp. 23292334.
[13] S. C. Cigre, Task force 17, Advisory Group 02, Advance angle stability
control, 1999, CIGRE Technical Brochure.
[14] O. Samuelsson and M. Akke, On-off control of an active load for
power system dampingTheory and eld test, IEEE Trans. Power
Syst., vol. 14, no. 2, pp. 608613, May 1999.
[15] I. Kamwa, L. Grin-Lajoie, D. Asber, J. Gingras, and G. Trudel,
Large-scale active-load modulation for angle stability improvement,
IEEE Trans. Power Syst., vol. 14, no. 2, pp. 582590, May 1999.
[16] J. Chang and J. Chow, Time-optimal series capacitor control for
damping inter-area modes in interconnected power systems, IEEE
Trans. Power Syst., vol. 12, no. 1, pp. 215221, Feb. 1997.
[17] J. Chang and J. Chow, Time-optimal control of power systems requiring multiple switchings of series capacitors, IEEE Trans. Power
Syst., vol. 13, no. 2, pp. 367373, May 1998.
[18] H. Nguyen-Duc, L. Dessaint, and A. Okou, A power system damping
controller based on identication of critical oscillations, in Proc. IEEE
PES General Meeting, Jun. 2007.
[19] N. Martins and L. Lima, Determination of suitable locations for
power system stabilizers and static var compensator for damping
electromechanical oscillations in large scale power systems, IEEE
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[20] X. Yang and A. Feliachi, Stabilization of inter-area oscillation modes
through excitation systems, IEEE Trans. Power Syst., vol. 9, no. 1, pp.
494502, Feb. 1994.
[21] S. Skogestad and I. Postlethwaite, Multivariable Feedback ControlAnalysis and Design. New York: Wiley, 1996.
[22] M. Djukanovic, M. Khammash, and V. Vittal, Application of the structured singular value theory for robust stability and control analysis in
multimachine power systems. I. framework development, IEEE Trans.
Power Syst., vol. 13, no. 4, pp. 13111316, Nov. 1998.
[23] H. Nguyen-Duc, L. Dessaint, and A. Okou, Power system robust stability analysis using structured singular value theory and model reduction method, in Proc. IEEE PES General Meeting, 2009.
[24] D. Dotta, A. S. Silva, and I. C. Decker, Wide-area measurement-based
two-level control design considering signal transmission delay, IEEE
Trans. Power Syst., vol. 24, no. 1, pp. 208216, Feb. 2009.
[25] F. Okou, L.-A. Dessaint, and O. Akhrif, Power systems stability enhancement using a wide-area signals based hierarchical controller,
IEEE Trans. Power Syst., vol. 20, no. 3, pp. 14651477, Aug. 2005.
[26] U. Mhaskar and A. Kulkarni, Power oscillation damping using FACTS
devices: Modal controllability, observability in local signals and location of transfer function zeros, IEEE Trans. Power Syst., vol. 21, no.
1, pp. 285294, May 2006.
[27] J. Hauer, C. Demeure, and I. Scharf, Initial results in Prony analysis
of power system response signals, IEEE Trans. Power Syst., vol. 5, no.
1, pp. 8089, Feb. 1990.
[28] J. Quintero and V. Venkatasubramanian, A real-time wide-area control framework for mitigating small signal instability in large electric
power systems, in Proc. IEEE 38th Hawaii Int. Conf. System Sciences,
2005.

1927

Tng hp cc bi bo khoa hc giai on 2007-2012

Power System Robust Stability Analysis Using


Structured Singular Value Theory And Model
Reduction Method

LECTROMECHANICAL oscillation is a common problem in large electric power systems. This problem involves many groups of large generators oscillating against each
other. As the level of power transfer increases, the damping
factors of electromechanical oscillations tend to decrease.
Thus, as nowadays power systems are operating closer to
their limits, the improvement of power oscillations damping
is becoming more and more important.
The conventional approach in the design of power system
damping controllers is based on linearization of power system
model around a nominal operating point. The controller is
tested at different operating points to evaluate its performances. Even though this assessment procedure is simple, it
doesnt guarantee the controller robustness [1]. Real power
systems continuously experience several different perturbations and changes of operating conditions. Moreover, there
is always some uncertainty in the power system model due
to inaccurate knowledge of its parameters, or neglected dynamics. It is therefore essential to rely on a robust method
when analyzing the closed loop performance of a real power
system. This is particularly true for the emerging power
system controllers, such as FACTS controllers using wide area
signals. FACTCS controllers are in general less robust than
Power System Stabilizer (PSS) [2]. Moreover, the utilization
of wide area signals introduces additional uncertainties, in
communication delays for instance.
In recent years, several researches have been directed towards the application of robust control theory for the design of
power system controllers. Many of them include the utilization

of H [3], -synthesis [4]. The rst step in the design of


a robust controller is to choose a nominal model for the
system to be controlled and to provide a description of the
uncertainties. All possible sources of uncertainties (i.e parameter variations, neglected dynamics, etc.) should be taken into
account. However, a largely conservative uncertainty model
should be avoided, since this would affect the obtainable
damping performance of the robust controller. Representation of parameter variations as structured perturbations is an
effective approach to derive an uncertain model of power
system, since the uncertainties are characterized with less
conservativeness. This approach has been studied in several
papers [5][6].
Another issue with many robust control methods is that
they require a lot of computation. The computation burden
increases when the order of the system increases. As a
consequence, the application of robust control methods to large
power systems can be very challenging. One solution to cope
with this problem is to use an order reduction technique to
obtain a smaller model that still preserves the systems most
important properties.
The purpose of this paper is twofold: First, we study the use
of the structured singular value theory for the analysis of power
system robustness, in which the power system with parameter
uncertainties is described as a Linear Fractional Transformation (LFT) structure. Second, we examine the possibility of
using an order reduction method to nd a reduced order open
loop uncertain model for the system under study. The reduced
order system should retain the original system most important
properties, regarding poorly damped modes and how these
modes are affected by parameter variations.
The rest of this paper is organized as follows: Section
II provides a background on the structured singular value
theory and the Linear Fractional Transformation (LFT). The
formulation of LFT model for robustness analysis of power
systems is also presented. Section III presents the proposed
method to obtain a reduced order LFT model of open loop
power systems. Two case study results are presented in section
IV. Some conclusions are given in section V.

This work was supported by the Natural Sciences and Engineering Research
Council (NSERC).
H. Nguyen-Duc and L-.A. Dessaint are with the Dpartement de gnie
lectrique, cole de Technologie suprieure, Montral, QC H3C 1K3 Canada
(email: huy.nguyen-duc.1@ens.etsmtl.ca; dessaint@ele.etsmtl.ca).
A.F. Okou is with the Department of Electrical and Computer Engineering,
Royal Military College of Canada, Kingston, ON K7K 7B4 Canada.

II. BACKGROUND
A. Linear Fractional Transformation and Structured Singular
Value
The general frame work for many robust control studies
is based on a Linear Fractional Transformation (LFT), de-

AbstractRobust stability analysis of power systems using


structured singular value theory is studied in this paper. A
method to reduce the order of the open loop uncertain model for
power systems is also proposed. Two cases studies are performed
and they show that the reduced order uncertain model keeps the
most important modes of the system. The system behaviour with
respect to parameter variations is also preserved.
Index TermsSmall-disturbance angle stability, -analysis,

I. I NTRODUCTION

978-1-4244-4241-6/09/$25.00
B mn H thng in - i 2009
hc Bch IEEE
Khoa H Ni

273

eBook for You

Huy Nguyen-Duc, Student Member, IEEE, Louis-A Dessaint, Senior Member, IEEE,
and Aim Francis Okou, Member, IEEE

Tng hp cc bi bo khoa hc giai on 2007-2012

picted in Fig. 1. It represents how the uncertainty affects the


input/output relationship of the system under study.

structured uncertainty , measured in terms of its maximum


singular value () which makes det(I M ) = 0.
(M )1 := min{() : , det(I M ) = 0}. (4)
If no such structure exists, then (M ) = 0.
B. Power System Parametric Uncertainty

Interconnection structure for robust stability analysis.

In the Fig. 1, M is a complex transfer matrix, partitioned


as:
M11 M12
C(p1 +p2 )(q1 +q2 )
(1)
M=
M21 M22
and u Cq1 p1 is another complex matrix. The upper LFT
with respect to is dened as:
Fu (M, u ) := M22 + M21 u (I M11 u )1 M12 .

(2)

The LFT structure has a useful interpretation: M22 represents


the nominal, unperturbed system, and is perturbed by u . The
transfer matrices M12 , M21 , M11 reect a prior knowledge
as to how the perturbation affects the nominal transfer matrix.
For control synthesis, the general framework is shown in
Fig. 2 where P is the nominal plant, and K is the stabilizing
controller. The interconnection of Fig. 2 can be viewed as a
M structure, where M represents a lower LFT of P and
K.

m
i=1 i Ai
m
i=1 i Ci

m
i=1 i Bi
m
i=1 i Ci

x(t)
u(t)
A Bi
x(t)
B0
m
=
+ i=1 i i
.
u(t)
D0
Ci Di
(5)
In Eq (5), each i represents a specic parameter variation.
The matrices A0 , B0 , C0 , D0 are state space matrices of the
linearized power system at the nominal operating point, which
consists of n states, nu inputs, and ny outputs. The state space
matrices for other operating points are described as a linear
approximation of those obtained at the nominal operating point
and the variables i . The linear state space uncertainty can then
be transformed into a LFT representation. We rst decompose
Ai Bi
, using singular value decomposition.
the matrices
Ci Di
A Bi
Let ri := rank i
, then
Ci Di
x(t)

=
y(t)

A0 +
C0 +
A0
C0

Ai
Ci

Ei
Bi
=
Di
Fi

B0 +
D0 +

Gi Hi ,

(6)

where:
Ei
R(n+nu )ri ,
Fi

Fig. 2.

Interconnection structure for robust performance analysis.

The transfer matrix represents all sources of uncertainties,


which could be real parametric uncertainties or neglected
dynamics. The structured uncertainty thus may contain
blocks of repeated real scalars, or full complex blocks [7].
Hence we can assume that takes the form of:
= {diag[1 Ir1 , .., s Irs , 1 , .., F ]}
(3)
where i R, j Cmj mj ,
which means there are rs repeated real scalar blocks and F
full complex blocks.
Given the interconnection system, as depicted in Fig. 1, the
structured singular value (s.s.v or ) is dened as the smallest
B mn H thng in - i hc Bch Khoa H Ni

Gi Hi Rri (n+ny ) .

The singular values decomposition helps removing the weak


inuences of parametric uncertainties to the system states. The
system (5) can then be represented by:

A0 B0 E1 Em
x
x(t)

y C0 D0 F1 Fm u


z1 G1 H1
0
0
w1 , (7)
=

.. ..
.
..
..
.
.
..
..
..
. .
.
.
zm
wm
0
G m Hm 0
where the perturbation has the following structure:
= {diag[1 Ir1 , .., m Irm ] : i R}.

(8)

Although a higher order approximation with respect to


could be used and transformed in to a LFT form, previous
studies on power system robustness analysis have shown that
a rst order approximation is sufcient to accurately estimate
the power system stability margin [5][6].
274

eBook for You

Fig. 1.

Power systems experience constant change in load level


and generation level at different buses. Moreover, the system
conguration can also change during operation. These changes
can be represented as parametric uncertainties and should be
considered in power system robustness analysis. One method
that has been used successfully to treat these uncertainties
as real perturbation blocks is based on the linear state space
uncertainty model. The linear state space uncertainty model is
described as follows:

Tng hp cc bi bo khoa hc giai on 2007-2012

pi =

pmax pmin
pmax
+ pmin
i
i
i
+ i
i ,
2
2

(9)

so that when i varies within [1; 1], pi will vary within


; pmax
].
[pmin
i
i
A power system representation, as in Eq. (7) gives information on the nominal power system model, and also shows how
parametric uncertainties affect the system. Such a representation is very convenient for robust control synthesis. Another
advantage of using the state space uncertainty model is that the
uncertainties are modeled with less conservativeness, contrary
to the perturbation model where all uncertainties are lumped
into a single (additive or input/output multiplicative) complex
uncertainty [7].
However, the use of parametric uncertainty model for robust
control synthesis results in a very computationally expensive
process, since the dimensions of uncertainty blocks are large.
A study in [5] has shown that for a n-machine system where
the 2-axis model is used to represent generators, there are
(4n) (3n 1) elements of the A matrix that vary with the
change in operating condition. A second order approximation
of uncertainty results in a perturbation block of 9 (3n 1)
9 (3n 1) dimension, when only one parameter varies. In
this paper a slightly different method is used, in which the
dimension of the perturbation blocks depends on the rank ri
Ai Bi
. Our studies show that for a single
of each matrix
Ci Di
parameter variation, the resulted perturbation block (with rst
order approximation) is normally of the same dimension with
the A0 matrix (which is (6n 1) (6n 1) if one uses 2-axis
generator model and a simplied DC1A excitation model [8]).
For large power system studies, with many different parameter
variations, this could become a serious problem.
III. R EDUCED ORDER LFT MODEL
A. -Analysis Framework
One can easily see that the complexity of the uncertain
open loop system structure illustrated at Fig. 1 depends on the
dimension of M and . For robustness analysis and control
synthesis, the computation cost can be reduced if either the
structure of M or is reduced. For models with high degree
of non linearity and many parameter variations, the structure
of is very complicated. Flight control design represents one
such case, for which tremendous efforts have been made to
reduce the complexity of [9][10].
For power system applications, the complexity of both M
and needs to be reduced. For large power system, the
order of the transfer matrix M is very high, and results in
a high dimension block. Fortunately, for the purpose of
designing damping controllers for inter-area oscillations, there
are some simplications that can help reduce drastically the
model order:
B mn H thng in - i hc Bch Khoa H Ni

For the analysis of power system robustness, the linear


state space uncertainty model as in Eq. (5) (which is in
fact a rst order approximation) is sufcient to obtain an
accurate estimation of robustness margin [11].
In designing a controller for inter-area modes, there
is a large number of modes that are not controllable/observable from the chosen input/output pair. These
are the electrical modes, and several generator local
modes (depending on the controller location). It is therefore possible to neglect these modes, via an appropriate model reduction method. The size of M (and
consequently, the size of structure) can be reduced
drastically.
The process of formulating an LFT representation for power
system robustness analysis can be summarized as follows:
1) Identify the critical oscillation modes of the system,
based on the nominal operating point.
2) Select the parameters that have signicant inuence on
the critical modes. Determine upper and lower limits for
each of these parameters.
3) Create a grid of operating points corresponding to these
parameter variations. At each operating point, solve
the load ow problem. Linearize the system about this
operating point to obtain the state space matrices.
4) Capture the dependence of the system state matrices as
function of the varying variables i , by using a least
square tool, to obtain Eq. (5).
5) Transform the linear state space uncertainty to a LFT
form, as presented in the section II-B, to obtain (7).
This paper investigates a model reduction method based on
the -analysis framework. The result of the -analysis when it
is applied on the reduced order model will be compared to that
of the full order system. For this purpose, one additional step
is added between steps 3 and 4 of the -analysis framework
presented above. The state space matrices of the power system
at each operating point are substituted by the state space
matrices of its reduced order model.
The balanced truncation method [12] is used to nd the
reduced order systems. This method consists of two steps: i)
Find a balanced realization of the linear system. In a balanced
realization, the controllability and observability Gramian for
each state are equal; ii) Truncate the states with low Gramian
controllability and observability to obtain a reduced order
system.

B. Rearranging the State Transition Matrix


The state variables of the original power system model are
physical variables, such as generator speed , generator e.m.f
Eq . The reduced order model should retain the most dominant
poles and zeros of the original model. However, its state variables no longer have any physical meaning. Since there is no
unique state space representation of linear systems, the order
reduction algorithm may give many different combinations of
state matrices, which represent the same transfer function. In
order to derive a reduced order state space uncertainty model,
we need a unique state space representation of the reduced
order systems.
275

eBook for You

In robust stability studies, the perturbations i are normalized so that |i | 1. Therefore, if we have m parameter
to pmax
,
variations p1 , .., pm , with each pi ranging from pmin
i
i
then each parameter pi is expressed as function of i as
follows:

Tng hp cc bi bo khoa hc giai on 2007-2012

Therefore, the modal canonical form is used to represent the


reduced order systems in this work. The MATLAB command
canon transforms a linear system into a modal canonical form.
For this form, the state transition matrix comprises 2-by-2
blocks of complex eigenvalues, and real eigenvalues on its
diagonal. The system is therefore decomposed into several
subsystems, as illustrated in Fig. 3. A subsystem can contain
complex conjugate eigenvalues - which has two states, or real
eigenvalues - which has only one state.

If we want ci to be equal [1 0], we need to modify bi so


that the subsystem gain and zeros are kept unchanged. Let
ci1 = 1, ci2 = 0 and replacing them in (10) we have
i

gsi (s) =

(b1 )s (b1 b2 )
.
(s )2 + 2

(11)

By comparing (10) and (11), the new values for bi must be:
i
i
b1 = ci1 bi1 + ci2 bi2 ; b2 = ci1 bi2 bi1 ci2 .
For a rst order subsystem, the transformation is simple: A
subsystem
x = i x + bi u
(12)
y = ci x
is replaced by:

x = i x + b u
y=x

(13)

where b = bi ci .
As an example, the state matrices of a reduced 5th order
Kundur power system [13], illustrated in Fig. 4, at its nominal
operating point are:

Fig. 3.

Modal decomposition of SISO system.

Moreover, the A matrices of all reduced order systems need


to be arranged in the same order. When a reduced system S1
is compared with a reduced system S2 , two subsystems in S1
and S2 whose eigenvalues are close to each other should be
placed in the same order. The following steps are needed:
The subsystems of the reduced order nominal system
are arranged in such a way that subsystems with lower
damping coefcients appear rst on the diagonal. The
subsytems are therefore placed on the diagonal in increasing order of their damping coefcients.
For other systems, the subsystems are arranged in reference to the nominal system.
C. Normalizing C Matrices
At this stage, we still havent established a unique state
space representation. In fact, given the same state transition
matrix A, there are many possible solutions for B and C
matrices to yield the same transfer function. For this reason,
a last step is needed to modify B and C to get a unique state
space representation. For a single output-single input system,
we select the C matrix of each subsystem equal to ci = [1 0]
(for a second order subsystem), and ci = 1 (for a rst order
subsystem).
The matrices bi and ci for a second order subsystem are

, bi = [bi1 bi2 ]T , ci =
modied as follows: Let ai =

[ci1 ci2 ], di = 0 be the state matrices of the subsystem. Its
transfer function is:
gsi (s) =

(ci1 bi1 + ci2 bi2 )s (ci1 bi1 ci1 bi2 + bi1 ci2 + ci2 bi2 )
.
(s )2 + 2
(10)

B mn H thng in - i hc Bch Khoa H Ni

0.0485
3.7054

a = 0.1086
0.1496
0.0075

3.7054
0.0122
0.0571
0.0740
0.0037

0.1086
0.0571
3.1087
16.4597
0.5830

0.1496
0.0740
16.4597
11.2099
0.7124

0.0075
0.0037

0.5830 ;
0.7124 .
0.0488

b = [0.4435 0.2209 0.5068 0.6773 0.0339]T ;


c = [0.4435 0.2209 0.5068 0.6773 0.0339]

The
reduced
system
has
ve
eigenvalues:
0.0113, 7.1790 15.9572i, 0.0294 3.7062i.
After being transformed to modal canonical form, rearranged
and normalized (for c), the state space matrices become:

0.0294
3.7062

0
a=

0
0

3.7062
0.0294
0
0
0

0
0
7.1790
15.9572
0

0
0
15.9572
7.1790
0

0
;

0
0.0113

b = [0.1378 0.1925 0.1926 0.9006 0.0003]T ;


c = [1 0 1 0 1].

The block associated with the inter-area mode (0.0294


3.7062i) thus appears in the rst element of the diagonal of
the matrix a. For all other operating modes, the arrangement
of the corresponding state transition matrix must respect the
same order.
It should be noted that the order reduction algorithm is based
on an open loop transfer function, i.e input and output signals
need to be selected before applying the algorithm. Since the
controllability and observability of each mode are different for
each pair of input/output signals, the result of the algorithm
will be dependent of the input/output pair selected.
IV. R ESULTS OF CASE STUDIES
In this section we present the study results of the Kundur
power system [13] and the New England power system [2]. For
each system, the structured uncertainty model is constructed,
based on the framework presented in previous section. Robust
stability analyses are performed on the original system, as well
276

eBook for You

Tng hp cc bi bo khoa hc giai on 2007-2012

1.4

0.8

0.6

0.4

0.2

A. Kundur Power System

100.3

Fig. 5.

100.4

100.5
100.6
100.7
Frequency(rads/s)

100.8

100.9

Robust stability of open loop Kundur system.

1
Full order system
7th order system

0.9
0.8
0.7
0.6
0.5

eBook for You

upper bound

We rst study the robust stability of the Kundur power


system [13], as depicted in Fig. 4. It is composed of 4
generators in 2 areas, and exhibits a weakly damped inter-area
mode (3.8 rad/s) at its normal operating condition. Besides,
when there is no PSS installed, the local mode at generator
3 (7.6 rad/s) is quite poorly damped. A grid of operating
condition is created by varying active power loads at bus 7
and 9, from 867 MW to 1267MW, and from 1267MW to
1567MW, respectively. The full system order is 23.

Full order system


7th order system

1.2

upper bound

as on the reduced order systems. At the next step, a controller


is designed for the linear system at nominal operating point,
and we repeat the above robust stability tests with the closed
loop systems.
In closed loop system analysis, the perturbation structure
is often augmented with additional performance perturbation
blocks [7]. In such case the -analysis of the closed loop
system is a robust performance test. Since robust control
synthesis is not the purpose of this paper, we do not introduce
additional performance perturbation blocks in closed loop
analyses. Therefore, the analyses in this paper are essentially
robust stability analyses of open loop and closed loop systems.

0.4
0.3
0.2
0.1
100.3

Fig. 4.

Kundur system

1) Open loop system robust stability: The order reduction


procedures, presented in section III are based on the loop
Bref 8 P78 (SVC controller at bus 8, with active power
transfer on the tie-line as input signal). The robust stability
analysis of the open loop system is presented in Fig. 5.
The -plot shows two peaks, which correspond to the interarea mode, and the gen. 3 local mode. The 7th reduced order
and the full order models have the same peak at the inter-area
mode frequency. At this mode, the value is greater than 1,
which indicates that the open loop system is not robustly stable
with the chosen parameter variation ranges. The gen. 3 local
mode is however not very accurately approximated, because
the chosen control loop has little controllability/observability
to this mode.
2) Closed loop system robust stability: Now, we analyze
the robust stability of the closed-loop system, when a SVC
is placed at bus 8. The SVC transfer function is designed to
dampen the inter-area mode. The -plot of the closed loop
system is depicted in Fig. 6
Comparison of the inter-area mode peaks in Fig. 6 and Fig.
5 shows that the SVC stabilizes the system. The peak at the
inter-area mode is now smaller than 1. The local mode at gen.
3 is also slightly affected by the SVC.
B mn H thng in - i hc Bch Khoa H Ni

Fig. 6.

100.5
100.7
Frequency(rads/s)

100.9

Robust stability of closed loop Kundur system.

Fig. 7 presents the root locus of the SVC 8, at nominal


operating condition. With appropriately tuned parameters, the
SVC stabilizes the inter-area mode, whereas it has little effect
on the local mode at gen. 3, due to a zero located close to
this mode. This zero is very close to the imaginary axis, and
may move to the right half plane in some operating conditions.
Therefore the SVC can still destabilize the gen. 3 mode, albeit
having very low controllability to it. Consequently the local
mode of the generator 3 cannot be ignored in designing a
robust SVC controller at bus 8.
3) Closed loop stability with Power System Stabilizer: As
discussed in section III, the reduced LFT structure depends
on the chosen input/output pair, as each pair has different
controllability/observability to system state variables. It is seen
that for the open loop Bref 8 P78 , the reduced LFT structure
retains both the inter-area mode and the gen. 3 local mode.
If we choose the pair Vref 1 1 (PSS at gen. 1) to formulate
the open loop system, the reduced order LFT structure behaves
quite differently. Fig. 8 presents robust stability analysis of
closed loop systems with a PSS connected to the generator 1.

277

Tng hp cc bi bo khoa hc giai on 2007-2012

Mode 3.3 rad/sec, in which generator 14,15 oscillate


against generator 16.
The eigenvalue sensitivity study (not presented here for the
sake of brevity) shows that active loads at bus 9, 33 and 47
have the greatest inuence on the system dominant modes.
The chosen variation range for each parameter is shown in
table I.

7 0.33

0.26

0.19

0.13

0.06

6.5
6

Gen. 3 mode

6
5.5 0.41

Table I
PARAMETER VARIATION RANGES

Parameter
P9
P33
P47

4.5
0.5

Inter-area mode

4
0.59

3
-2

Fig. 7.

-1.5

-1

-0.5

Root locus of SVC at bus 8, at nominal operating condition.

The 7th order reduced system accurately reproduces the


peak of the inter-area mode, but not that of the gen. 3 local
mode. For this control loop, the peak at gen. 3 local mode
does not appear until we use a 12th order approximation. In
fact, for the purpose of designing a robust PSS at generator 1,
the gen. 3 mode can be ignored, since the PSS has very little
controllability to this mode.

Order reduction procedures are based on the control loop


SV C17 P12 . The SVC at bus 17 is used to enhance the
damping of the 2.3 rad/sec mode. Since the studied system is
of very high order, it is impossible to do -analysis with the
original system with high frequency resolution. To validate
the proposed reduced order algorithm, we compare the analysis results obtained from several reduced order systems,
as depicted in Fig. 9. There are two peaks in the -plot, which
correspond to the two weakly damped modes. Analyses for
different reduced order models give almost identical results.

0.3
0.9
Full order system
7th order system

0.8

15th order
18th order
29th order
32nd order

0.25
upper bound

12nd order system


0.7
0.6
upper bound

eBook for You

3.5

Range
40MW-1240MW
31MW-1303MW
40MW-1240MW

0.2

0.15

0.5
0.1
0.4
0.05
0.3
0

0.2
0.1
100.3

Fig. 8.

100.5
100.7
Frequency(rads/s)

100.9

Robust stability analysis of Kundur system with PSS at gen 1.

B. New England Power System


The proposed robustness analysis framework is used to
study the New England power system, depicted in Fig. 10.
Complete system description and parameters can be found
in [2]. The system consists of 16 generators and 68 buses.
The system order, with 2-axis generator model is 111. Modal
analysis shows that this power system has two critical interarea modes:
Mode 2.3 rad/sec, in which generators 1-13 oscillate
against generators 14-16.
B mn H thng in - i hc Bch Khoa H Ni

Fig. 9.

100.1

100.2

100.3
100.4
Frequency(rads/s)

100.5

100.6

100.7

Robust stability of New England system.

Fig. 11 presents the results of -analysis for the closed


loop system when a SVC is added at bus 17. By comparing
the peaks in Fig. 9 and Fig. 11, it can be seen that the
SVC has improved the robustness of the 2.3 rad/sec mode.
The improvement is however quite modest because this mode
involves all generators in the New England system. It is thus
difcult to enhance signicantly the robust stability of the 2.3
rad/s mode with one single SVC.
The s.s.v of the New England power system are calculated
at 300 frequency samples. The computation time is almost
proportional to the square of model order (as shown in Table
II). Thus order reduction has helped reduce greatly the s.s.v
computation burden. It should be noted that the control design
using -synthesis with reduced order models will also require
much less computation time.
278

Tng hp cc bi bo khoa hc giai on 2007-2012

eBook for You

Fig. 10.

New England power system.

Table II
S.S.V COMPUTATION TIME FOR N EW E NGLAND POWER SYSTEM MODELS
Comp. time (sec)
53
74
199
251

It can be seen that the New England power system model


can be signicantly reduced, contrary to the Kundur system.
Starting from the 15th order model, the behaviour of the
reduced system, both in open loop and closed loop analyses,
shows very little difference to those of higher order models.
This result also suggests that the chosen control loop has
virtually no interaction with other system modes, which makes
it a good candidate for designing a damping controller.

15th order
18th order
29th order
32nd order

0.25
upper bound

Model order
15
18
29
32

0.3

0.2

0.15

0.1

0.05

0
100.1

Fig. 11.

100.3
Frequency(rads/s)

100.5

100.7

Robust stability of New England system, with SVC.

V. C ONCLUSION
Robustness analysis of power systems with parameter uncertainties has been studied in this work. A method to obtain
a reduced order LFT structure is also proposed for SISO
systems, in order to reduce the high computation cost, which
is inherent to analysis. It has been shown that reduced LFT
models can accurately retain the behaviour of system most
dominant modes, with respect to parameter variations. The two
case studies also show a strong coherence between structured
B mn H thng in - i hc Bch Khoa H Ni

singular values and some important system properties, such as


controllability/observability, zero locations.
The proposed order reduction framework will be extended
for MIMO systems in our future work.
R EFERENCES
[1] M. Khammash, V. Vittal, and C. Pawloski, Analysis of control performance for stability robustness of power systems, IEEE Trans. Power
279

Tng hp cc bi bo khoa hc giai on 2007-2012

eBook for You

Syst., vol. 9, pp. 18611867, 1994.


[2] G. Rogers, Power system oscillations. Kluwer Academic Publishers,
2000.
[3] M. Klein, L. Le, G. Rogers, S. Farrokhpay, and N. Balu, H damping
controller design in large power systems, IEEE Trans. Power Syst.,
vol. 10, no. 1, pp. 158166, Feb. 1995.
[4] X. Yu, M. Khammash, and V. Vittal, Robust design of a damping
controller for static var compensators in power systems, in IEEE Trans.
Power Syst., vol. 16, no. 3, 2001, pp. 456462.
[5] M. Djukanovic, M. Khammash, and V. Vittal, Application of the
structured singular value theory for robust stability and control analysis
in multimachine power systems. I. Framework development, IEEE
Trans. Power Syst., vol. 13, no. 4, pp. 13111316, 1998.
[6] B. Ramanathan and V.Vittal, Small-disturbance angle stability enhancement through direct load control part I-framework development, IEEE
Trans. Power Syst., vol. 12, no. 2, pp. 773781, 2006.
[7] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control Analysis and design. John wiley & son, 1996.
[8] IEEE, IEEE recommended practice for excitation system model for
power system stability studies, IEEE Power Engineering Society, Tech.
Rep., 1992.
[9] D. G. Bates, R. Kureemun, and T. Mannchen, Improved clearance of
a ight control law using -analysis techniques, Journal of Guidance,
Control, and Dynamics, vol. 26, pp. 869884, 2003.
[10] S. Hecker, Improved -analysis results using low-order uncertainty
modelling techniques, Journal of Guidance, Control, and Dynamics,
vol. 31, pp. 962969, 2008.
[11] C. Zhu, Robustness analysis for power system based on the structured
singular value and the gap metric, Ph.D. dissertation, Iowa State
University, United States, 2001.
[12] B. Pal and B. Chaudhuri, Robust control in power systems. Springer,
2005.
[13] P. Kundur, Power System Stability and Control. EPRI Power Systems
Engineering Series, 1994.

Huy Nguyen-Duc received the B.S degree in Electrical Engineering from


Ha noi university of Technology, Viet nam, in 2001 and M.S degree in
Sherbrooke University, QC, Canada in 2003. He is currently a graduate
student in the Electrical Engineering department in cole de Technologie
suprieure, Montral, QC, Canada, working towards his Ph.D. degree. His
areas of research interest are simulation and robust control of power systems.

Louis-A Dessaint (M88-SM91) received the B.Ing., M.Sc.A., and Ph.D.


degrees in electrical engineering from the cole Polytechnique de Montral,
Montral, QC, Canada, in 1978, 1980, and 1985, respectively. Currently, he is
a Professor of electrical engineering at the cole de Technologie Suprieure,
Montral. From 1992 to 2001, he was the Director of the Groupe de Recherche
en lectronique de Puissance et Commande Industrielle (GREPCI), a research
group on power electronics and digital control. Since 2002, he has held the
TransEnergie Chair on Power Systems Simulation and Control. He is an
author of the SimPowerSystems simulation software. Dr. Dessaint received
the Outstanding Engineer Award from IEEE-Canada in 1997.

Aim Francis Okou (M04) received the Dipl.Ing. degree in electrical engineering from cole Suprieure Interafricaine de llectricit, Cte dIvoire,
in 1993, the M.Eng. degree and the Ph.D. in electrical engineering from
cole de Technologie Suprieure (TS), Montreal, QC, Canada, in 1996 and
2001, respectively. During 2002-2005, he was a Postdoctoral Researcher in
the Department of Electrical Engineering at TS. Since 2005, he joined The
Royal Military College of Canada where he is currently an Assistant Professor
in the Electrical and Computer Engineering Department. His research interests
include the application of robust and nonlinear control techniques to largescale systems
B mn H thng in - i hc Bch Khoa H Ni

280

Tng hp cc bi bo khoa hc giai on 2007-2012

Impacts of Inverter-based Distributed Generation


Control Modes on Short-circuit Currents in
Distribution Systems
Dao Van Tu

Surachai Chaitusaney

Department of Electrical Engineering


Chulalongkorn University
Bangkok, Thailand
tudv-htd@mail.hut.edu.vn

Department of Electrical Engineering


Chulalongkorn University
Bangkok, Thailand
surachai.C@chula.ac.th

Keywords- Inverter-based distributed generation; short-circuit


currents; inverter controller

I.

INTRODUCTION

The use of new/renewable (NRE) resources has been


increasing recently. For instance, the total power of power
plants using NRE is about 1000 (MW) in Thailand in 2011
and will be 6500 MW in the future [1]. Distributed Generation
(DG), a popular solution in using NRE, produces sustainable
electrical energy to power systems. Additionally, high
technology in power electronics (rectifiers, inverters...) can
improve the quality of DG as long as the generated electricity.
As one kind of this application, the Inverter-based Distributed
Generation (IBDG) converts the direct current (dc), which can
be directly or indirectly produced from NRE, to the alternative
current (ac) by an inverter. This DG type is flexible in control
with high efficiency [2]. However, the introduction of IBDG
requires some new solutions to solve the steady as long as the
transient state of the power systems. This paper concerns the
short-circuit current changes in the power systems during the
transient state due to the short-circuit problems.
Unlike the conventional synchronous generator, the
response of IBDG to a short-circuit is very fast and it may
depend on the control system [3]-[5]. However, model of
IBDG and algorithm for fault calculation still challenge
researchers. This paper first discusses about the control modes
of IBDG in Section II. Based on these modes, fault responses
of IBDG are analyzed in Section III. Then, an adaptive

978-1-4577-2119-9/12/$26.00 c 2012 IEEE


B mn H thng in - i hc Bch Khoa H Ni

algorithm is proposed for fault calculation. In Section IV, a


Matlab/ Simulink simulation is applied to a simple system for
analyzing the fault response of IBDG as well as verifying the
proposed algorithm.
II.

CONTROL MODES OF IBDG

This section discusses about two main control modes of


IBDG: power control and voltage control. The former is
usually used in grid-connected condition of IBDG and the latter
is used in islanding condition where IBDG is the unique source
supplying to all loads in the system.
A. Power control mode
In practice, new or renewable energy is used to produce dc
power directly (fuel cell, photovoltaic) or indirectly (wind
turbines, micro-turbines). The dc voltage is then converted via
an inverter to three-phase ac voltage. Generally, the dc voltage
is assumed to be constant during short transients. The
controller on the inverter regulates the output complex power
around a desired set point. Fig. 1 depicts the structure of a
controller implemented in the Natural Reference Frame (NRF)
for a three-phase three-leg inverter.
The output LC filter is there to filter out the undesired
switching frequency components from the output current
spectrum. The inclusion of the LC filter makes more difficult
the controller design and controller parameters adjustment.
However, empirical parameters are selected for the filter in
this research, since the design output LC filter is out of scope
of this paper.
The power injected in bus p is desired to be around a set
point (Pref, Qref). Thus, after transforming output currents
(Iinv,abc, Ip,abc) and voltage (Vp,abc) in abc coordinates into dqo
coordinates, they are used to perform the reference inverter
output current Idqinv,ref by the power controller. This current is
then transformed into abc coordinates. All transformations are
used the fundamental frequency generated by PLL (PhaseLocked Loop) from grid voltage to synchronize the inverter
outputs with the grid. Using (Iabcinv,ref, Iinv,abc, Vp,abc), the current
controller generates the reference input voltage UabcPWM,ref for
the PWM (Pulse Width Modulation) generator which controls

1642
281

eBook for You

AbstractWith the rapid increase in using New/Renewable


Energy Resources, Inverter-based Distributed Generations
(IBDG) are more and more widely installed in electric power
systems. However, the limited short-circuit current contributed
from these generators should be noted for the operation of the
protection systems. This paper analyzes the changes of shortcircuit currents in distribution system with the penetration of
IBDG and illustrates how the inverter control modes affect the
response of the IBDG. Then, an adaptive algorithm is proposed
for short-circuit currents calculation. A simulation in
Matlab/Simulink environment comprehensively compares the
changes of short-circuit current in the system before and after
installing IBDG as well as verifies the proposed algorithm.

Tng hp cc bi bo khoa hc giai on 2007-2012

I dp ,ref
d

1
V pq

2 Vp

3 V pq V pd

Pref

Qref

d
Iinv
, ref

d
Iinv

I dp

I qp ,ref

q
Iinv
, ref

q
Iinv

abc
U PWM
, ref

I qp

Fig. 2 Power controller structure


abc
Iinv
, ref

( Iinvd ,ref ) + ( Iinvq ,ref )


2

dq
I inv
, ref ,lim

dq
I inv
,ref

dq
I inv
, ref

dq
Iinv
,ref ,lim

dq
Iinv
, sat

Fig. 1 Power controlled mode of grid-connected IBDG

switching signals of inverter to create the desired output power


More details of the control system are discussed as follows.

Fig. 3 Current limiter in the SRF


abc
U PWM
, ref

abc
I inv
, ref

Power controller

In the SRF, the reference current is calculated from the


reference three-phase complex power by (1).

I dp ,ref

q
I p ,ref

2
=
3 Vd

V pd

q
V p

( ) ( )
2

+ V pq

V pq Pref

V pd Qref

(1)

Because the inner control loop (the current control loop) in


Fig. 1 uses the output current of inverter through the inductor
Iinv, the reference value Idqinv,ref is performed by (2).
d
I inv
, ref

q
I inv , ref

I pd , ref
=
I qp , ref

I d I dp
+ inv
q
I inv
I qp

2 f c
=
s
2 f c
+

I dp ,ref

q
I
p ,ref

I d I pd
+ inv
q
I inv
I qp

(3)

With this filter, components that have the frequency of 2 in


Idqinv,ref determined by (2) and caused by the negative-sequence
are filter out. Additionally, the zero-sequence components are
not considered here if three-phase three-leg inverter is used.
Thus, the output signals of power controller are clean dc
currents derived from positive-sequences of Vp,abc, Ip,abc, and
Iinv,abc.
Current limiter

V pabc

Fig. 4 Current controller structure

Inverters are usually designed to supply a maximum


current of typically only twice their nominal values in the
event of a network fault. This can be implemented by using
the current limiter as illustrated in Fig. 3.
Under normal condition, the switch is closed on position
N. When a fault occurs, as soon as one component of Idqinv,ref
reaches the limit Ithres in the saturation block, the switch is
closed on L by set/reset signal. It goes back to N after the
fault is cleared and the system goes back to the normal
operation.
Current controller

(2)

To limit the power controller bandwidth and to filter out


harmonic content from the voltage current spectrum (under
unbalanced conditions), a low-pass filter is applied. The filter
cut-off frequency fc must be satisfied for providing both
sufficient suppression of voltage harmonics and unbalance and
quick enough response of power control loop. Assuming that
the first order low-pass filter with fc is used, the reference
output of power controller is determined by (3) instead of (2).
d
I inv
, ref

q
I inv,ref

abc
I inv

The control in the NRF is straight forward for


understanding and implementing. Although it has poor control
performance with sinusoidal control signal in using with PI
controller, the zero steady-state error is still achieved in using
P+Resonant regulators [6]. The transfer function of this
regulator is defined as (4).

GPR = k p +

2ki

(4)

s + 2
2

The first term in (4) is a proportional gain which is in the


same way as in PI controller. The second term is a second
order generalized integrator which achieves very high gain in
a narrow band center around . Therefore, is usually called
resonant frequency. In this paper, it is the fundamental
frequency (250 rad/s). Then, the feed-forward voltage Vpabc is
applied to generate the reference voltage for the PWM
generator. The structure of the current controller is depicted in
Fig. 4.
B. Voltage control mode
In case of islanding operation, the inverter is the unique
source in the microgrid. Its primary role is to maintain the sup-

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By using the set point of output power and the feedback


voltage, the reference current is computed in the Synchronous
Reference Frame (SRF) as shown in Fig. 2.

Tng hp cc bi bo khoa hc giai on 2007-2012


abc
U PWM
, ref

V pabc
, ref

V pabc

I abc
p

abc
I inv
, ref

abc
I inv
, ref ,lim

Fig. 5 Voltage control mode


Ithres
Set

abc
Iinv
, sat

abc
Iinv
, ref

abc
I inv
, ref , lim

L
N

Reset

Fig. 6 Current limiter in the NRF

plied voltage and frequency in the system. Thus, the inverter


should be controlled as a slack bus. That is, its voltage is
constant in both magnitude and phase. The choice of multiloop control structure with an outer voltage loop and an inner
current loop has become popular and frequently adopted for
controlling the inverter [7]. Because both loops are controlled
in the NRF, it is simpler if the current is also limited in the
NRF instead of in SRF in Subsection II.A. Therefore, the
structure in Fig. 5 can be applied to control the inverter in the
NRF.
The current controller is the same as in Subsection II.A. A
portion of current Ip,abc is feed-forwarded though the factor F
(0 F 1) to improve the dynamic performance and the
stability of the inverter [8].
Current limiter in the NRF

The phase inductor currents are instantaneously limited


and the resultant distorted waveforms may contain third
harmonic component. However, an advantage of this method
is that there are no any transformations in need. The structure
of the current limiter in the NRF is depicted in Fig. 6.
III.

FAULT RESPONSE OF IBDG

When a fault occurs in the system side, bus voltages go


down and may be unbalanced. Thus, currents contributed by
the IBDG are changed to maintain the desired output (power
output or terminal voltage). The following sections will
discuss the fault response of the IBDG in corresponding to the
control mode of its inverter.
A. Fault response of IBDG in the PQ control mode
With the control system discussed in Subsection II.A,
under normal condition, IBDG can be represented as a PQ
source. When a fault occurs in the network, changes of the
voltage at the connected bus (Bus p in Fig. 1) mainly depend
on type, location, impedance of fault, and line parameters.
Despite the unbalance voltage and current, the inverter
responds to the positive-sequence component only. To remain
the power injected into Bus p, the current through the inductor
is controlled to achieve the reference current determined by
(5).
Phase currents of Iinv,ref include rich positive-sequence
components resulting in well balanced phase currents of Iinv
despite unsymmetrical faults in the network.

1644

Fig. 7 Model for IBDG under fault conditions

I inv,ref =

Pref jQref
3V p*

+ jC f

Vp

(5)

If the changes of Vp involving high Iinv,ref cause the dq


reference of Iinv to reach Ithres in Fig. 3, phase currents of Iinv
will have a fixed magnitude even that the output power is not
around the set point.
After all, IBDG can be represented as a constant PQ source
or a constant current source depending on the relation between
Iinv,ref and Iinv,thres as illustrated in Fig. 7.
Note that this model is used for only the positive-sequence
network. The IBDG does not support currents for negativesequence and zero-sequence network. Using this model, the
positive-sequence fault currents in the network can be
calculated by utilizing load flow algorithm as proposed in
Subsection III.C.
B. Fault response of IBDG in the voltage control mode
During faults, the inverter is controlled individually in each
phase because of the current limiter in the NRF. Thus there is
no overvoltage on healthy phases during unbalanced faults and
the healthy phase voltages are kept at the preset value. It will
bring about the higher quality to single phase customers.
On the other hand, if the instantaneous current in each
phase is limited, the distorted waveforms will be produced in
case of big voltage dips due to faults. Fig. 8 illustrates the
distorted waveform of current from IBDG due to a single line
to ground fault.
Recent academic studies have proposed models for IBDG
in case of voltage controlled mode [9]-[10] with a good
accuracy. For instance, in [10], the authors proposed to
represent IBDG as a constant current source in relation to the
transfer function of the control system in inverter-only
microgrid. Unfortunately, this method cannot be applied to PQ
controlled mode in case of grid-connected IBDG. However,
the model in Subsection III.A can be used to integrate IBDG
in fault calculation program by the proposed algorithm as
follows.
C. Algorithm for fault current calculation program
As proposed in Subsection III.A, grid-connected IBDG at
Bus p is represented as a constant PQ source or a constant
current source in corresponding to the changes of Vp. Thus, the
system equation in fault duration is illustrated in (6) with all
elements in per unit.

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-Ithres

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Single line to ground fault
Phase A

Va1

Va0

Va2

Phase B Phase C

Fig. 9 Sequence network connection for double line to ground fault

Fault
instant

Form bus admittance matrix Ybus


Assume bus voltages V(0)
p=1,2,...,n ps (slack bus)

Fig. 8 Response of IBDG to a single line to ground fault (voltage controlled in


NRF)

V p*

= V pYpp +

q =1, p q

YpqVq

Set iteration count k=0


and maximum voltage change maxVk=0

p = 1, n q p (6)

In (6), Ypp and Ypq are elements of the bus admittance


matrix Ybus. The formulation Ybus is based on the positivesequence network with extra impedances at the fault point.
These impedances depend on the fault types, negative and
zero-sequence networks [11]. All synchronous generators
must be represented by a constant voltage source in series with
the machine impedance; the slack bus is in series with the
short-circuit impedance of the system source and all loads
should be modelled as constant impedances. Fig. 9 represents
the sequence-network connection in case of double line to
ground fault.

k=k+1
Bus count p=1

PV bus?
Yes

Q kp +1 = imag V p*

( )

I abc = AI 012

(7)

a ,

a2

1
3
a= + j
2
2

n
k
k
V p Y pp + Y pqVq
q =1

p q

slack bus?
Yes

Current source bus?


No

I inv,ref I thres ?

Yes

n
1 Pp jQ p p 1

V pk +1 =
YpqVqk +1 YpqVqk
Y pp V * k
q =1
q = p +1

( )

Calculate change in
voltage of bus p?
V pk = V pk +1 V pk

V pk +1 =

V pk > max V k ?

p 1
n

1
I inv, sat YpqVqk +1 YpqVqk

Y pp
q =1
q = p +1

Yes

Set max V k = V pk

No
p=p+1
The end bus?
p > n?
Yes

No

Replace V pk by V pk +1
p = 1, n p s

Yes

Test for convergence

No

max V k > ?

Calculate positivesequence voltages at all


buses and sequence
currents at the fault point

Fig. 10 Algorithm for fault calculation (applied for sequence network


connection)

where A is the transformation matrix as shown in (8).

1 1

A = 1 a 2

1 a

Yes

Q p = Q kp +1

To solve (6), Gauss-Seidel method can be used. The


algorithm depicted in Fig. 10 is the same as a load flow
program except that the limit of supplied current from inverter
is considered.
At inverter bus (Bus p), the reference current Iinv,ref is
calculated at every iteration. Once it reaches the threshold,
Bus p is switched to a constant current source with the injected
current Iinv,sat. Then, all sequence components of current and
voltage are calculated. Phase currents and voltages are
calculated by (7).

PQ bus?

(8)

IV. CASE STUDY


In this section, a simulation in Matlab/Simulink
environment is first applied to show the changes of fault
currents due to interconnecting IBDG to a simple system
depicted in Fig. 11. Then, the algorithm proposed in
Subsection III.C is applied. Results from this application will
be compared with the time-variant results from the Simulink

simulation. The simple system has one IBDG connected to


Bus 4, which is the low voltage bus of a step up transformer.
More details of this system as well as the IBDG are listed in
Appendix.
A. Results from Matlab/Simulink simulation
In this simulation, load is represented by constant
impedance at the nominal voltage. At time t = 0.2 (s), a double
line to ground fault occurs at Bus 3 through an impedance ZF =
10 (). Fig. 12 illustrates faults current at the fault point
before and after installing the IBDG at Bus 4.
It can be seen that the fault currents are higher after install-

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TABLE I. RESULTS FROM THE PROGRAM USING THE PROPOSED ALGORITH


Bus 1

VApositive p.u.

Bus 2

0.820.02

Currents at Bus 3, p.u.

I Apositive

I Azero

0.472.99

Bus 3
rad

rad

4.48 0.98

Bus 4

0.42 0.06

rad

I Anegative
rad

4.182.08

0.81 0.39rad
IF

rad

1.412.99rad

ing IBDG. However, the increases are small (48.8 (A) in phase
B and 48.15 (A) in phase C) because the power of IBDG is
small and the contributed current is limited due to the current
limiter in the control system of the IBDGs inverter. The peak
values of fault currents after installing IBDG are 1090 (A) in
phase B and 945 (A) in phase C.

B. Results from using the proposed algorithm


The equivalent negative and zero-sequence impedances of
the system viewed from Bus 3 are identical to (0.05+j0.08)
p.u. According to the sequence network connection in Fig. 9,
these two impedances and three times of the fault impedance
(3ZF) can be replaced by an equivalent impedance of
(0.06+j0.07) p.u. It is connected to the faulted bus (Bus 3) in
the positive-sequence network for applying the algorithm in
Fig. 10. To easily compare with the results from the simulation
in Subsection IV.A, the load is also modeled as a constant
impedance with respect to the nominal voltage. Results
obtained from the program, that uses the proposed algorithm,
are tabulated in Table I.

Fig. 11 Simple system with the installation of IBDG

Fig. 12 Fault current changes due to installing IBDG

Voltages of phases B and C at Bus 3 are computed from


the current IF through the fault impedance ZF. That is, VB and
VC are identical to 1922 (V) in phase peak value. By using (7),
fault currents of phases B and C are 1094 and 948 (A) in peak
value, respectively.
The current from IBDG (through the filter inductance),
computed from the positive-sequence voltage at Bus 4 (in
Table I) by using (5), is 2216 (A) in peak value.
In comparing the results between Subsections IV.A and
IV.B, fault currents and currents contributed from IBDG
obtained by using the proposed algorithm are close to the
results from the simulation (Fig. 12 and 13).
V.

CONCLUSION

Simulation results show that fault responses of IBDG


depend on their control modes. Generally, fault currents
contributed from a small IBDG may be not significant and can
be neglected in fault calculation. However, in case of high
penetration of these generators, the difference of fault currents
before and after installing IBDGs should be taken into
consideration. In case of the power control mode, IBDG is
modeled as a PQ source or a constant current source and the

1646

Fig. 13 Currents from IBDG during double line to ground fault

proposed algorithm can be applied to calculate fault current in


the system with a good accuracy.

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It is noted that during the unbalanced fault, phase currents


contributed by IBDG are still symmetrical with the peak phase
value of 2300 (A) as shown in Fig. 13. This is because the
inverter responses to only the positive-sequence component of
the voltage at Bus 4. Additionally, the inverter current is
limited in the SRF.

Tng hp cc bi bo khoa hc giai on 2007-2012

APPENDIX
Parameters of the simple system in Section 4:

Grid: V1 = 6 kV, Zsc,grid = 0, Zline1= 0.75 + j1.26 (),


Zline2 = 2Zline1, Pload + jQload = 1 + j0.5 (MVA).
Transformer: 0.80 (MVA), 6kV/315V, Yn/D11, R
= 0.002 p.u, X = 0.08 p.u (in transformer rating).
IBDG: Pref = 0.75 (MW), Qref = 0 (MVAr), Iinv,thres
= 2 p.u., Iinv,sat = 2 p.u., (in IBDG rating), Cf = 200
(F), Lf = 0.1(mH).
ACKNOWLEDGEMENTS

This work was supported by the Higher Education


Research Promotion and National Research University
Project of Thailand, Office of the Higher Education
Commission (EN262A).
REFERENCES
Provincial Electricity Authority and Metropolitan Electricity
Authority 2010 reports.
[2] F. Blaabjerg, Zhe Chen, S.B. Kjaer, Power Electronics as Efficient
Interface in Dispersed Power Generation Systems, IEEE Trans. On
Power Electronics, vol. 19, pp. 11841194, 2004.
[3] R.A.N. Nimpitiwan, G.T. Heydt, and Suryanarayanan, Fault Current
Contribution from Synchronous Machine and Inverter based
Distributed Generators, IEEE Trans. Power Delivery, vol. 22, pp.
634-641, 2007.
[4] M. Brucoli, Tim C. Green, Fault Behaviour in islanded Microgrid,
in 19th International Conference on Electricity Distribution, Vienna,
May 2007.
[5] D. Turcotte, F. Katiraei, Fault contribution of grid-connected
inverters, in Proc. 2009 IEEE Electrical Power & Energy
Conference (EPEC), Canada, 2009.
[6] R. Teodorescu, F. Blaabjerg, M. Liserre, and P.C. Loh, ProportionalResonant Controllers and Filters for Grid-connected Voltage-source
Converters, Electric Power Applications, vol. 153, no. 5, pp. 750762, 2006.
[7] M. Prodanovic, Tim C. Green, High-quality power generation
through distributed control of a power park microgrid, IEEE Trans.
On Industrial Electronics, vol. 53, pp. 1471-1482, 2006.
[8] P.C. Loh, M.J. Newman, D.N. Zmood, and D.G. Holmes, Improved
transient and steady state voltage regulation for single and three phase
uninterruptible power supplies, in Proc. IEEE 32nd Annual Power
Electronics Specialists Conference, vol. 2, pp.498-503, 2001.
[9] M.E. Baran, I.L El-Markaby, Fault Analysis on Distribution Feeders
with Distributed Generators, IEEE Trans. Power Systems, vol. 20,
no. 4, pp. 1757-1764, 2005.
[10] M. Brucoli, Tim C. Green, J.D.F McDonald, Modelling and Analysis
of Fault Behaviour of Inverter Microgrids to Aid Future Fault
Detection, in Proc. IEEE International Conference on System of
Systems Engineering, 2007.
[11] Hadi Saadat, Power System Analysis, McGraw-Hill Primis, 2002.

eBook for You

[1]

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Relay Sensitivity Approach for Maximizing


Distributed Generation
Dao Van Tu and S. Chaitusaney, Department of Electrical Engineering, Chulalongkorn University, Thailand

I. INTRODUCTION
Along with benefits such as renewable energy usage and
power quality improvement, installing DG in distribution
systems causes some detrimental impacts. Many of them are
concerned with protection system operations. These impacts,
which can limit DG, comprise reach reduction, miscoordination of protective devices, false tripping, and reclosing [1]-[3].
Therefore, a number of researchers have tried to prevent them
so that DG owners can install the maximum DG without any
troubles to utility systems [4]-[5]. However, the reach
reduction or the relay sensitivity degradation problem,
which definitely happens at any added DG, still has not
received much concern. Most of discussions are based on the
bolted three-phase fault and use descriptive analyses [2]-[3].
This paper not only mathematically analyzes the protection
reach reduction problem with all fault types, but also presents
an applicable algorithm to obtain the maximum DG.
Distribution systems are usually grounded and protected by
overcurrent protection schemes. Normally, all utility relays are
set to detect a fault occurring inside a required area with one
source supplying, e.g. the utility substation. Adding a new
source such as DG can decrease the fault current flowing from
the substation through utility relays, causing their sensitivity to
degrade [6]. When the fault current is decreased too much and
less than the relay pick-up value, the required protected area
becomes smaller and electric elements in unprotected section
of the system may be damaged. The larger the DG, the more
possibilities for this issue occurs.
To analyze the effects of DG in the protection reach
reduction problem, both phase and ground faults must be
included. This involves the consideration of DG transformer
connection. Section II will analyze this issue, and then an
appropriate connection type will be proposed. After analyzing
impacts of DG on the reach of relay in Section III, a practical
and robust algorithm for maximizing DG can be achieved in
Section IV using sensitivity-based method. This method
gradually increases DG until the constraints of system
operating limits and protection reach reduction are reached. It
is then applied to the IEEE 34 Node Test Feeder in Section V.
B
mn H thng in - i hc2011
Bch Khoa
978-1-4577-0255-6/11/$26.00
IEEEH Ni

II. TYPES OF DG TRANSFORMER CONNECTION


There are various transformer winding connections to fulfill
various needs such as to handle single phase loads, to simplify
ground relaying, to save the insulation cost, and to minimize
ferroresonance and harmonic problems [7]. To interconnect DG
to utility systems, many transformer connection types have
been discussed [8]-[10]. Each of them has advantages and
disadvantages. However, any connection type can be used
extensively for interconnecting DG, if their disadvantages can
be eliminated or mitigated. The grounded wye (utility)-delta
(DG) transformer is one of the interesting types. Its advantages
and eliminable disadvantages are analyzed as follows.
Advantages:
The delta winding blocks triplen harmonics from
generator and prevents the sensing of utility relay regarding to
the internal generator ground fault.
Protection at DG side can detect ground faults on utility
system side.
Effectively grounded system condition may be provided
during unintentional islanding modes.
Disadvantages:
The transformer is considered as a grounded source. Thus,
ground fault current through utility relay may be reduced and
cause its sensitivity degradation. Furthermore, the transformer
may encounter the high fault current due to bolted ground
faults.
Although triplen harmonic currents in the utility system
from harmonic sources cannot pass through the transformer,
they tend to circulate through the wye winding with the
grounded neutral point, contributing to transformer heating.
To eliminate disadvantages, a reactor is normally proposed
to be added in the neutral of grounded wye winding. It can
limit ground fault currents, unbalance currents, and harmonic
currents. If its reactance is sized properly, the respective
transformer can provide an effectively grounded source.
However, the ground overcurrent function of DG relay should
be remained the ability of detecting ground faults on the utility
side [6]. Thus, a careful research on the proper size of
grounding reactance along with the increasing of DG is taken
in the following section.
III. IMPACTS OF DG ON RELAY SENSITIVITY
3.1 Reach reduction of phase overcurrent function (POF)
(three-phase and line-to-line faults)
As mentioned ealier, installing DG into system may cause
the reduction in fault current flowing from utility substation
through utility relay. However, if the DG impedance is large
enough, the reduction amount will be small so that utility relay

1010

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TENCON 2011

eBook for You

Abstract -- For exploiting renewable energy resources and


obtaining the maximum profit, Distributed Generation (DG) is
expected to be as large as possible. However, the DG detrimental
impacts on the connecting systems, which are proportional to DG,
should be prevented. This paper proposes an algorithm to
maximize DG along with an assistance of grounding reactance to
keep the sensitivity of corresponding protective relaying at
acceptable grades. To illustrate the application of this algorithm,
a case study is done through the IEEE 34 Node Test Feeder.
Index Terms -- Distributed generation, relay reach reduction,
relay sensitivity, sensitivity-based method, system grounding.

Tng hp cc bi bo khoa hc giai on 2007-2012

3.2 Reach reduction of ground overcurrent function (GOF)


(single line to ground and line-to-line to ground faults)
The analysis of DG impacts on GOF is based on changes of
residual current, which is equal to three times of zero-sequence
current in each phase. Thus, DG transformer connection type
and its grounding type should be taken into account. The
grounded wye (utility)-delta (DG) transformer is assumed to be
used as discussed in Section II. Generally, this impact is the
same as the one analyzed in Subsection 3.1. However, in the
case of ground faults, the zero-sequence impedance at DG side
plays an important role. It can be varied by adjusting the value
of grounding reactance (or neutral reactance) at the wye
winding of the interconnecting transformer. The larger the
grounding reactance, the smaller the residual current through
the interconnecting transformer neutral point is. Similar to the
POF, as the residual fault current from DG is smaller, the
reduction amount of utility residual current is smaller.
Consequently, this may help transformer and other devices not
encounter a high fault current. However, if the residual current
through DG relay is lower than the pick-up current, the fault
will not be detected.
3.3 Temporary overvoltage problem
In case of effectively grounded system, the coefficient of
grounding (COG), which is the ratio of line-to-ground powerfrequency voltage on a healthy phase, at a selected location
during a line-to-ground fault, to the line-to-line powerfrequency voltage at that selected position with the fault
removed, is less than or equal to 80% [11]. As a result, the
B mn H thng in - i hc Bch Khoa H Ni

IV. THE SENSITIVITY-BASED METHOD FOR MAXIMIZING DG


As mentioned earlier, adding DG may cause the protection
system to be confused in operation. In addition, system
operating limits and the TOV limit due to ground faults should
be considered. The following Subsection 4.1 will first
formulate the maximization problem. In Subsections 4.2, 4.3,
4.4, and 4.5 constraints of system operating limits, POF, GOF,
and TOV are integrated, respectively, to build up a maximizing
algorithm, which increases the DG step by step (sensitivitybased). Finally, the algorithm for determining PDGmax will be
summarized in Subsection 4.6.
4.1 Maximization problem formation
Objective function: Max: PDG ......... (1)
Subject to:
g ( PDG ) = 0 ...................................................................... (2)

h ( PDG , X N ) > 0 ............................................................... (3)


The equality constraints (2) are the power flow equations,
whereas the inequality constraints (3) comprise system
operating limits and protection reach reduction of relay as
mentioned in the following subsections.

4.2 Constraints of system operating limits


Adding DG will change power flows in the utility system. It
may cause some distribution lines and the substation
transformer to be overloaded or bus voltages to exceed the
limits. Constraints of system operating limits include all
equalities and inequalities from (4) to (8).
DG capacity: SDGmin SDG SDGmax ............................... (4)
Power flow equation:

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Fig. 1. Impact of DG on POF

is still able to sense the fault. This means the relay sensitivity,
represented by the ratio of fault current through the relay to the
corresponding relay pick-up current, is quick enough (larger
than 1) for the relay to operate. This can be achieved by
limiting DG because of the inverse relationship between DG
capacity and its transient reactance.
In practice, the POF of utility relay is set based on the
current under maximum load condition. Before adding DG,
this current can be estimated from the load flow program with
maximum system load condition. For the DG relay at the point
of common coupling (PCC), the POF is set based on the
current generated at nominal DG power. Thus, the pick-up
current of DG relay will increase if the DG increases. Fig. 1
illustrates the relation between DG and the pick-up current.
To detect the fault successfully, the sensitivity of utility
relay must be larger than one. This is done if DG is smaller
than DGmax as shown in Fig. 1.

insulation cost may be saved with phase-to-ground voltage


level.
If the ground fault is contributed by only utility system or
both utility system and DG, the overvoltage may be not
significant because of the effective grounding effect. However,
in some cases, the unintentional islanding occurs when a
portion of the distribution system becomes electrically isolated
from the remainder of the system. Under this condition, the
isolated system is still energized by the DG [12]. With a wye
winding grounded through a reactance, the overvoltage may be
significantly high. Unfortunately, the minimum operating time
of protection system and circuit breakers is typically longer
than the overvoltage withstanding capability of devices which
are designed for the effectively grounded system. Although
Subsection 3.2 needs a grounding reactance, here, it must be
limited. However, as long as the fault calculation program has
been done, the line-to-ground overvoltage under fault condition
is easily achieved. In most cases, the fault is de-energized and
this overvoltage is temporary. Suppose that the line-to-ground
voltage with the fault removed is 1 p.u., and the maximum
acceptable COG is 80%, the respective temporary overvoltage
(TOV) will be 1.39 p.u.
In summary, the impacts of DG on protection reach
reduction from Subsections 3.1 to 3.2 and the TOV problem
from Subsection 3.3 must be considered when a DG is about to
be installed in a power system.

Tng hp cc bi bo khoa hc giai on 2007-2012

[P

... Q

]T

J1
J 2

J3

J 4

... V

T
....... (5)

Substation capacity: Ssub S sub,max ........................... (6)

Line capacity: S mn S mn ,max ...................................... (7)


Bus voltage: Vmin Vi Vmax .......................................... (8)
4.3 Constraints of POF
Regarding Subsection 3.1, these constraints comprise the
normal operation of both utility and DG relays for POF:
relay
relay
Utility relay: I utility
.......................... (9)
> I utility
fault
pick up
relay
DG relay
DG relay: I DG
> I pick
fault
up ................................... (10)

4.4 Constraints of GOF


With the PDGmax from Subsections 4.2 and 4.3, the GOF of
utility may still not sense ground faults inside the required
protected area. As mentioned in Subsection 3.2, a grounding
reactance should be installed at the DG transformer neutral
point. It acts as a parallel impedance with the existing zerosequence impedance at DG side. Consequently, the relay at DG
side will sense the smaller fault current while the fault current
through the utility relay will be less reduced as well. Generally,
this reactance is expected as low as possible for saving the
investment and operation cost.
By increasing the grounding reactance, XN, step by step and
applying ground faults at all buses sequentially inside the
required protected area, the first XN, at which both utility and
DG relays can sense the fault, is the minimum reactance. Fig. 3
illustrates the algorithm to determine the minimum grounding
reactance.
If XN is stepped forwards from XNmin, the ground fault current
through DG relay decreases and it may be lower than the pickup current for DG relay to detect the fault. Therefore, the
reactance is limited by the constraints of the GOF of DG relay.
The algorithm for determining XNmax is shown in Fig. 4.

Fig. 2. Algorithm to maximize DG considering POF

Fig. 3. Determination of XNmin under ground fault conditions

Fig. 4. Determination of XNmax under ground fault conditions

4.5 Constraints of TOV problem due to ground faults in the


unintentional islanding condition
Regarding Subsection 3.3, if XN is too large, TOV may
exceed 1.39 p.u. Therefore, the maximum acceptable grounding reactance, XNmax, must be specified. The algorithm for
determining XNmax in islanding condition is similar to the
algorithm in Fig. 4 but the GOF constraints checking block is
replaced by the TOV checking block defined by (11) and the
number of faulted buses depends on the section where the
islanding occurs. Moreover, XN in this algorithm starts from
zero instead of XNmin in Fig. 4.
TOVi 1.39 p.u. ..................................... (11)
Fig. 5. Algorithm to determine the optimal DG
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In Fig. 2, DG is increased from the minimum value step by


step. At each step, constraints of system operating limits and
POF must be satisfied. If not, the iteration stops then the
maximum DG is determined. To identify the constraints of
POF are satisfied or not, both three-phase and line-to-line
faults are applied sequentially at each bus inside the required
protected area. As long as the utility and DG relays can detect
all faults, these constraints are satisfied.

Tng hp cc bi bo khoa hc giai on 2007-2012

4.6 Summary of sensitivity-based algorithm


In conclusion, the algorithm for determining PDGmax along
with the acceptable range of XN can be summarized in Fig. 5.
From this flow chart, constraints of system operating limits are
checked first. If they are satisfied, the constraints of both POF
and GOF are analyzed. After that, PDGmax and an acceptable
range of XN are determined. The XNmax may become lower after
the TOV under the unintentional islanding condition is
analyzed.

The method presented in Section IV is applied here.


Constraints from system operating limits are checked at the
step of POF analysis.

5.1 IEEE 34 Node Test Feeder


The standard IEEE 34 Node Test Feeder is simplified for
the calculation in this paper as shown in Fig. 6. A synchronous
DG, which has the capacity from 0 to 2.5 MVA and the
constant power factor of 0.9, is assumed to be connected at Bus
15 through a grounded wye-delta transformer. The transient
and the zero-sequence reactance are assumed to be 0.2 p.u and
0.05 p.u. (in machine rating) respectively.
To protect the feeder, a utility relay is placed at the starting
point of the feeder (Bus 1) while another relay is located at the
point of common coupling to protect the interconnection
transformer and the DG. Both of them are overcurrent relays.
The required protected area for utility relay covers Buses 2, 5,
12, 14, 15, 18, 24, 29, 32, and 34, which are the outermost
buses. The substation transformer capacity is 2.5 MVA and the
line capacities are 2 MVA throughout the test system.
Whereas, bus voltages are limited from 0.95 to 1.05 p.u
5.2 POF analysis
The algorithm in Fig. 2 is applied here with the assumption
for the fault impedance of 20 or 0.07 p.u.
The pick-up current for POF is set to 2.3 times of the
maximum load current through the relay [6]. For utility relay,
the maximum load current is 0.81 p.u. (from load flow program
before adding DG). Therefore, utility relay pick-up current is
2.3*0.81=1.86 p.u. For DG relay, the maximum load current is
based on the maximum power generated by DG (PDG) and its
power factor (pf) with the terminal voltage is 1 p.u. Thus, the
relay pick-up current is 2.3 times of DG capacity in per unit of
machine rating.
Fig. 7 illustrates changes of phase currents through utility
breaker (Line 1-2) and DG breaker at PCC (Bus 15) when a
three-phase fault occurs at Bus 29. It can be seen that the fault
current through utility relay decreases while the fault current
through DG relay increases. From this figure, when DG
reaches 1.2 MW, the fault current flowing through utility
breaker is lower than the pick-up value, or the protection is
lost. Thus, to remain the reach of utility relay for three-phase
fault at Bus 29, DG must be less than 1.2 MW, i.e. PDGmax=1.1
MW if PDG=0.1 MW. After both three-phase and line-to-line
faults are applied to all buses sequentially inside the required
protection area, the DG of 1.1 MW is the maximum value that
can be installed at Bus 15.
B mn H thng in - i hc Bch Khoa H Ni

5.3 GOF analysis


The maximum DG from Subsection 5.2 is used to obtain XN
as the flow chart depicted in Fig. 5.
The pick-up current for GOF is set to 0.35 times of the POF
pick-up current, e.g. the pick-up current of utility relay for
GOF is 0.35*1.86 = 0.65 p.u.
Firstly, the value of XN is increased with the increasing step
of 0.1 following the algorithm in Fig. 3. The first value of XN
at which the residual current through utility breaker is greater
than the ground overcurrent pick-up current of utility relay
(0.65 p.u.) will be XNmin. Secondly, Fig. 4 is applied to obtain
XNmax.
Fig. 8 illustrates changes of residual currents, which are used
to compare with GOF pick-up values, through utility and DG
relays versus the reactance grounding when a single line to
ground fault occurs at Bus 29. According to this figure, the
residual current at utility breaker is less than the pick-up
current until XN reaches the value of 1.5 ; while the DG side
residual current decreases following the increasing of XN. After
XN reaches the value of 105 , the residual current becomes
lower than the GOF pick-up value of DG relay.
Fig. 9, illustrating changes of phase currents in this case,
shows that when single line to ground fault occurs at Bus 29,
the POF of utility relay cannot detect the fault (Iphase/IpPOF<1).
For the DG relay, although the GOF cannot detect the fault
when XN is greater than 105 (Fig. 8), it still senses the fault
with POF as in Fig. 9. Thus, for single line to ground fault at
Bus 29, the grounding reactance must be greater than 1.5
and smaller than the designed limit of the reactor that is 150 .
When both single line and double line to ground faults are
applied to all buses sequentially inside the required protection
area, with the DG of 1.1 MW, the XN must be in the range of
[2,150] ().
5.4 TOV due to ground faults under unintentional islanding
condition
As discussed in Subsection 4.5, the inequality (11) is
checked with ground faults under unintentional islanding
condition. Simulation results show that the TOV depends much
on the zero-sequence impedance viewed from the faulted bus
(Thevenin impedance). Thus, not only XN affects the TOV, but
also the equivalent load impedance can affect this voltage.
Under light load condition, islanding system has higher TOV
than the TOV in system under full load condition as shown in
Fig. 10 which illustrates the unfaulted phase voltage at Bus 15
when a single line to ground fault occurs at this bus.
Due to the effective grounding limit, the unfaulted phase
voltage should not be greater than 1.39 p.u. as discussed above.

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V. CASE STUDY WITH IEEE 34 NODE TEST FEEDER

Fig. 6. IEEE 34 Node Test Feeder with DG integration

Tng hp cc bi bo khoa hc giai on 2007-2012

If the full load condition is applied for limiting XN, the value of
86 is the maximum reactance that ensures the effectively
grounded condition for the system under unintentional
islanding condition.
As a summary after using this algorithm, the maximum DG
that can be installed in the system at Bus 15 is 1.1 MW and a
grounding reactance which has the value ranging from 2 to 86
should be used to mitigate the operation of protective
devices.
VI. CONCLUSIONS

Fig. 7. Phase current changes

In this paper, the algorithm to maximize DG installed in the


system has been proposed. The large DG may cause the
conflicts in protection system. Thus, installing DG and
choosing an appropriate grounding reactance should be taken
into account. Not only the reach reduction of overcurrent
relays, but also the TOV limits under the unintentional
islanding mode determine the maximum DG. Furthermore, the
operating limits of distribution system should be remained.
This research can be extended for other constraints such as
protective device coordination with the same proposed
algorithm.

Fig. 8. Residual current changes

Fig. 9. Phase currents under ground fault condition

Fig. 10. TOV under different load conditions


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REFERENCES
[1] P.P. Barker and R.W. De Mello, "Determining the impact of distributed
generation on power systems. I. Radial distribution systems," in Proc.
2000 IEEE Power Engineering Society Summer Meeting, vol. 3.
[2] R.C. Dugan and T.E. McDermott, "Operating conflicts for distributed
generation on distribution systems," in Proc. 2001 IEEE Rural Electric
Power Conference, pp. A3/1 - A3/6.
[3] S. Chaitusaney and A. Yokoyama, "An Appropriate Distributed
Generation Sizing Considering Recloser-Fuse Coordination," in Proc.
2005 IEEE Transmission and Distribution Conference and Exhibition:
Asia and Pacific Conf., pp. 1-6.
[4] Calderaro, V.; Piccolo, A.; Siano, P., "Maximizing DG penetration in
distribution networks by means of GA based reconfiguration, " in Proc.
2005 International Conference on Future Power Systems.
[5] Celli, G. ; Ghiani, E. ; Mocci, S. ; Pilo, F. , "A Multi-Objective Approach
to Maximize the Penetration of Distributed Generation in Distribution
Networks," in Proc. International Conference on Probabilistic Methods
Applied to Power Systems, 2006. PMAPS 2006.
[6] Dao Van Tu; Chaitusaney S., "Maintaining the Reach of Protective
Devices in Distribution System with Penetration of Distributed
Generation," ECTI 2011 Conf., Thailand.
[7] Bloomquist, Walter C., "Select the Right Transformer Winding
Connection for Industrial Power Systems," IEEE Trans. Industry
Applications, vol. IA-11, pp. 641-645, 1975.
[8] Mozina, C.J., "Interconnect Protection of Dispersed Generators," in
Proc. 2001 IEEE/PES Transmission and Distribution Conference and
Exposition, pp. 709 - 723 Vol.2.
[9] Arritt, R.F.; Dugan, R.C., "Distributed generation interconnection
transformer and grounding selection, in Proc. 2008 IEEE Power and
Energy Society General Meeting - Conversion and Delivery of Electrical
Energy in the 21st Century.
[10] Zhang, W.Y.; Zhu, S.Z.; Zheng, J.H.; Zhang, H., "Impacts of Distributed
Generation on Electric Grid and selecting of Isolation Transformer," in
Proc. 2005 IEEE/PES Transmission and Distribution Conference and
Exhibition: Asia and Pacific.
[11] IEEE Guide for the Application of Neutral Grounding in Electrical Utility
Systems - Part 1 - Introduction, IEEE Standard C62.92.1, 2000.
[12] IEEE Standard for Interconnecting Distributed Resources with Electric
Power Systems, IEEE Standard 1547.2-2008.
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ACKNOWLEDGEMENT

This work was supported by the Higher Education Research


Promotion and National Research University Project of Thailand,
Office of the Higher Education Commission (EN262A).

Electrical Power Systems


Power Delivery
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Maintaining the Reach of Protective Devices in


Distribution System with Penetration of
Distributed Generation
Dao Van Tu and S. Chaitusaney, Department of Electrical Engineering, Chulalongkorn University, Thailand

Index TermsDistributed generation, fault current, protection


system, reduced reaching, system grounding.

I. INTRODUCTION
Distributed Generation (DG) has been more and more
widely interested due to its system support benefits, e.g.
efficient usage of energy resources, especially renewable
resources, improvement of power quality like voltage
regulation, reliability, etc. [1]. However, the interconnection of
DG to a distribution system, which is normally designed for
radial feeder structure operation, may cause problems.
Before DG installation, the setting values of feeder
protective devices are typically set at a fixed pick-up value and
a particular tripping time characteristic based on load and fault
current analysis with one source supplying. The introduction of
DG results in the changes of currents in both magnitudes and
directions. These may cause the miscoordination of protective
devices [2] [5]. The sympathetic tripping or false tripping is
concerned when a protective device of unfaulted feeder, at
which DG is installed, trips to isolate that healthy feeder from a
faulted one. Changes of fault current flowing through a relay or
a fuse may also make that current become less than the pick-up
value which is set before adding DG. This was reported at [2]
as the reduced reaching problem.
Overcurrent protections, as the main protection scheme in
distribution systems, comprise phase overcurrent protection
and ground overcurrent protection. The former uses phase
currents to operate while the latter uses the zero-sequence
currents. This will be mentioned in more details in Section II.
Both phase and ground overcurrent functions may be found in
one relay. However, previous researches are mostly based on
three phase fault current analysis [1]-[5]. Therefore, those
researches do not cover all cases of faults and DG impacts on
the operation of ground overcurrent protection.
This paper analyzes currents flowing through protective
devices under both phase and ground fault conditions. To
analyze ground fault currents, system grounding methods and
connection types of transformer must be considered. These are
discussed thoroughly in Section III. The reduced reaching
problem is then evaluated in Section IV. In addition, some
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solutions are proposed in this section to maintain the reaching


of relay after DG is installed into the system.
II. MAIN PROTECTION SCHEMES FOR DISTRIBUTION FEEDER
Generally, each element of distribution system must be
protected by at least two protective devices. One of them is the
main protection and the other is the back-up protection.
In a distribution system shown in Fig. 1, each system
element is protected by two protective devices. Before the
installation of DG, the dashed line illustrates the required
protection area of the feeder relay which controls the feeder
breaker, while the bold line illustrates the required protection
area of the recloser relay. Each relay must sense the fault that
occurs inside its required protection area. To satisfy this
requirement, the feeder relay must sense faults occurring at bus
9 and bus 11. In other words, it must reach these buses which
are furthest from the substation. A similar requirement is for
the recloser relay to reach buses 8, 10, and 12.

Fig. 1. Required protection areas of feeder and recloser relays


To avoid the misoperation, the phase overcurrent relay pickup settings are generally 1.5 to 3.0 times of the maximum
expected feeder load current, which flows through the relay. As
for ground relays, most are set with pick-up range from 25% to
50% of the phase relay pick-up, providing some increase in
sensitivity for phase to ground fault [6]. In this paper, we
assume the gains of 2.3 and 35% for these settings,
respectively. The maximum load current can be achieved from
load flow calculation under maximum load condition.
To know whether the required reaches are satisfied, the ratio
of fault current flowing through the relay to corresponding
relay pick-up current can be used. For each fault type, if this
ratio is greater than 1, the relay is able to reach the faulted bus.
The selected pick-up currents must be small enough for at least
one of the two functions (phase or ground overcurrent
function) of breaker relay to reach buses 9, 11, and of recloser
relay to reach buses 8, 10, 12 before the installation of DG as
shown later in Section IV.

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AbstractProtection schemes of distribution system are


designed conventionally for radial feeder structure with one
source supplying. The presence of distributed generation as the
second source causes the protection schemes to be confused in
operations. This paper evaluates the reach of protective relays
after distributed generation has been installed into the system. All
types of faults are analyzed with the consideration of system
grounding methods and connection transformer which connects
distributed generation to power system. Then, an approach is
proposed to maintain the protected areas of protective devices.

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III. ROLE OF SYSTEM GROUNDING IN FAULT CURRENT ANALYSIS


System grounding is the intentional connection to ground of
a phase or neutral conductor. The goals of system grounding
are limiting ground fault current, limiting of overvoltages, and
providing safety [7]. Under the view of fault current analysis,
distribution system can be classified into grounded or
ungrounded system.
In phase fault analysis, both grounded and ungrounded
systems have the same equivalent sequence networks for
positive and negative sequences. Thus, there are no any
differences between a system with and without grounding
under phase fault conditions. In ground fault analysis, if there
is a path for zero-sequence current to flow, the zero-sequence
network must be set. Therefore, we should pay attention to the
presence of grounding of both substation and DG connection
transformer.
Table 1 represents the all possible four cases which will be
evaluated in Section IV. In Case 1, there is no need to consider
the system is grounded or not. In contrast, the last three cases,
which are for analyzing ground faults, are assumed solidly
grounded system with delta/grounded-wye substation
transformer.
Table 1. Classification of transformer connections
Substation
Interconnection
transformer
transformer
Case
Fault
High
Medium Medium Generator
number
types
voltage
voltage
voltage
voltage
side
side
side
side
Phase
1
Faults

Ground
Faults

''
I12
=

V3' ( 0 )

(2)

Z1 + Z12 + Z 23 + Z f + Z f + Z 23 ( Z1 + Z12 ) Z new

( 0)
Z1 + Z12 + Z 23 + Z f + Z f ( Z1 + Z12 + Z 23 ) Z new
V3''

(3)

where V3(0) and V3(0) indicate prefault voltages of bus 3 after


the new source added into buses 2 and 3 respectively.
It is evident that adding a new source usually results in
reduction of fault current flowing through the old source. The
smaller the new source impedance, the more the reduction is.
However, the current flowing through the substation does not
depend on DG impedance when a fault occurs at the terminal
of the new source with zero fault impedance as in Fig. 2 (c).
Before evaluating the relations between DG rating and relay
reach, the pick-up settings should be set for protective devices.
With the parameters shown in the Appendix, the maximum
load currents flowing through feeder breaker (line 1-2) and
recloser (line 6-7) are 0.618 and 0.388 per unit, respectively.
With the gains chosen in Section II, feeder breaker relay are set
as 1.420 per unit for phase overcurrent function and 0.497 per
unit for ground ovecurrent function. Pick-up values of 0.900
and 0.315 per unit are the settings for recloser relay with
respect to phase and ground overcurrent functions.
A. Phase fault (Case 1): three phase and line to line faults
The installation of DG causes the reductions of fault current
flowing through feeder breaker and recloser. The higher DG
rating, the smaller DG impedance is. The reduction becomes
larger as shown in Fig. 3.

eBook for You

2
3

'
I12
=

The following sections will analyze the fault currents when a


fault occurs in the required protection area of relays.
IV. REDUCED REACHING PROBLEM AND PROPOSED SOLUTIONS
Figure 2 (a) is the sequence networks of a simple system
with one source represented by impedance Z1. When a three
phase fault occurs at bus 3, the condition can be simulated with
a thevenin voltage or the prefault voltage at bus 3 [8].
V3' ( 0 )

V3'' ( 0 )

Fig. 2. Equivalent networks of simple system


When a three phase fault occurs at bus 3, the fault current
flowing through the source (system substation) is calculated by
using (1).
V3 ( 0 )
(1)
I12 =

Z1 + Z12 + Z 23 + Z f

where V3(0) indicates the prefault voltage of bus 3, and Zf


indicates the fault impedance.
When a new source (DG) with impedance Znew is installed
into the system at buses 2 and 3 as depicted in Figure 2 (b), and
(c), the fault currents flowing through the substation are
computed with (2) and (3) respectively.

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3PF: Three phase fault


LLF: Line-to-line fault
Fig.3. Changes of Isc/Ipick-up in Case 1
As mentioned in Section II, out of reach problem will appear
when the ratio of fault current to pick-up value is not greater
than 1. Hence, only the case of line-to-line fault at bus 11
makes this bus out of feeder relay reach when DG rating is
greater than 2 MVA.
In case of three phase fault at bus 9 where DG is added, the
reduction is very low. As analyzed in the beginning of this
section, in case of three phase fault with zero-impedance, the
reduction depends on prefault voltage only. From load flow
calculation, voltage at bus 9 does not change much when the
DG rating changes. Thus, the curve with respect to three phase
fault at bus 9 is approximately flat.
B. Ground faults (Cases 2, 3, 4): Single line to ground and
line-to-line-to-ground faults
The grounding at neutral point of substation transformer
creates a path for the zero sequence currents to flow through

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the neutral point of transformer. This results the non-zero


residual current which is used for ground overcurrent
protection. The penetration of DG along with its
interconnection transformer supports another path for zero
sequence current to flow and causes the residual current of
breaker relay change. Table 2 shows values of this current
when a single line to ground fault occurs at bus 9.
Table 2. Residual currents flowing through the breaker
DG
rating,
0
0.5
1
1.5
2
2.5
3
MVA
Case 2
0.68 0.07 0.09 0.11 0.12 0.14 0.15
Case 3
0.68 0.39 0.33 0.31 0.30 0.30 0.31
Case 4
0.68 0.80 0.91 1.00 1.07 1.14 1.19
The following figures illustrate the changes of fault currents
flowing through breaker with respect to faults at buses 9, 11
and the changes of fault currents flowing through recloser with
respect to faults at buses 8, 10, and 12.

eBook for You

Fig. 5. Changes of Isc/Ipick-up in Case 3

SLGF: Single line to ground fault


LLGF: Line-to-line-to-ground fault
Fig. 4. Changes of Isc/Ipick-up in Case 2
Due to the DG zero-sequence impedance, reductions of zerosequence currents in Case 2, which does not include DG
impedance in zero-sequence network, as shown in Fig. 4 are
bigger than in Case 3 (Fig. 5).
In Case 4, ungrounded transformer windings prevent zerosequence currents flowing through both DG and
interconnection transformer. Thus, the ratio of fault current to
pick-up value of ground overcurrent function does not reduce.
Furthermore, this ratio increases following the increment of
DG rating as shown in Fig. 6 because the installation of DG as
a PQ source in this case makes prefault voltages higher.

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Fig. 6. Changes of Isc/Ipick-up in Case 4


When a fault occurs, both phase and ground overcurrent
functions of relays that control the breaker or recloser may
operate if they sense the fault currents. If both of them do not
sense the fault current or the ratio of fault current to pick-up
value is not greater than 1, the fault will be out of reach of
relays. From Fig. 3 to Fig. 6, it can be deduced that if DG
rating is not greater than 2 MVA, bus 11 is out of breaker relay
reach in both Case 2 and Case 3 with single line to ground
fault, whereas bus 12 is out recloser relay reach with the same
fault type.

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C. Restoring the reach of relays


When analyzing phase faults, it can be concluded that to
maintain the phase relay reach for three phase and phase to
phase faults, the DG rating should be kept lower than 2 MVA.
From the ground fault analysis, even if DG rating is lower than
2 MVA, feeder relay cannot reach the required buses in some
cases. To solve this problem, resistance or reactance grounding
is proposed instead of solidly grounding. For example, in Case
2, a reactor of 0.2 per unit can be installed in interconnection
transformer grounded-wye winding while in Case 3, a reactor
of 0.15 per unit can be used at stator winding neutral to ground
(in Case 3, a reactor of 0.08 per unit can be used at
interconnection transformer neutral point and another reactor
of 0.07 per unit is used at stator winding neutral point). Ratios
of fault current to relay pick-up value before and after adding
DG are shown in Fig. 7 and 8, respectively.

Distributed generation: A synchronous generator, 13.8 kV,


constant pf=0.9, Xd = 20% machine rating, X0=5% machine
rating.
Other elements (In per unit with system base of 10 MVA, 22
kV)
Load 3, Load 5, Load 8, Load 10, Load 12, Load 14: P = 1
MW, constant pf = 0.9.
Substation, Distribution and Interconnection Transformer:
X1=X2= 0.1 p.u., X0=0.05 p.u.
Feeder lines: Z1=Z2= 0.05 + j0.1 p.u., Z0 = 3Z1.
Lateral lines: Z1=Z2= 0.03 + j0.06 p.u., Z0=3Z1.
Fault impedance: Zf=0.
VII. ACKNOWLEDGEMENT
The National Research University Project of CHE and the
Ratchadaphiseksomphot Endowment Fund (EN262A)

[2]

[3]

Fig. 7. Changes of Isc/Ipick-up in Case 2 reactor is used


[4]

[5]

[6]
[7]
[8]

Fig. 8. Changes of Isc/Ipick-up in Case 3 reactor is used


After using reactors, the relay reach is recovered to protect
the required buses under ground fault conditions. For phase
faults, to maintain the relay reach, DG rating should be limited
as recommended earlier.
V. CONCLUSIONS
This paper has evaluated the reduced reaching problem of
protective devices in distribution system with DG penetration.
The reduced reaching depends on the pick-up setting of relays
and how much the reduction of fault current flowing through
the protective device is. When the DG rating is increased,
phase fault currents at relays may be reduced, while the zerosequence currents sensed by relays may increase if there is no
zero-sequence current flowing through the DG interconnection transformer. To maintain the reach of protective
devices, the utility can choose a suitable size of DG,
connection type of DG transformer, and the installation of
resistor or reactor to limit fault currents flowing from DG side.

P.P. Barker and R.W. De Mello, "Determining the impact of distributed


generation on power systems. I. Radial distribution systems," in Proc.
2000 IEEE Power Engineering Society Summer Meeting, vol. 3, pp.
1645-1656.
R.C. Dugan and T.E. McDermott, "Operating conflicts for distributed
generation on distribution systems," in Proc. 2001 IEEE Rural Electric
Power Conference, pp. A3/1 - A3/6.
A. Girgis and S. Brahma, "Effect of distributed generation on protective
device coordination in distribution system," in Proc. 2001 IEEE
LESCOPE01 Large Engineering System Conf, pp. 115-119.
S. Chaitusaney and A. Yokoyama, "An Appropriate Distributed
Generation Sizing Considering Recloser-Fuse Coordination," in Proc.
2005 IEEE Transmission and Distribution Conference and Exhibition:
Asia and Pacific Conf., pp. 1-6.
M. Baran and I. El-Markabi, "Adaptive over current protection for
distribution feeders with distributed generators," in Proc. 2004 IEEE
Power Systems Conference and Exposition, vol. 2, pp. 715-719.
IEEE Guide for Protective Relay Applications to Distribution Lines,
IEEE Standard C37.230, 2007.
IEEE Guide for the Application of Neutral Grounding in Electrical
Utility Systems - Part 1 - Introduction, IEEE Standard C62.92.1, 2000.
H. Saadat, Power System Analysis, McGraw-Hill Primis Custom
Publishing, 2002.

IX. BIOGRAPHIES
Dao Van Tu received his Engineer degree and Master degree in power
systems at Ha Noi University of Science and Technology in
2007 and 2009 respectively. Now he is pursuing a Ph.D.
degree in electrical engineering under the supervisions of Dr.
Surachai Chaitusaney at Chulalongkorn University, Thailand
and Professor Akihiko Yokoyama at The University of
Tokyo, Japan. He is interested in distributed generation and
power system protection and control.
Surachai Chaitusaney received the B.Eng. and M.Eng. in
Electrical Engineering, Chulalongkorn University, Thailand,
in 2000 and 2002 respectively. From 2002 to 2004, he
worked at Energy Research Institute and Center of Excellent
in Power Technology, Chulalongkorn University. In 2007,
he obtained the Ph.D. degree from the University of Tokyo,
Japan, with JICA scholarship. At present, he is a lecturer at Department of
Electrical Engineering, Chulalongkorn University. His interests include
distributed generation and system reliability.

VI. APPENDIX
Parameters of system in Fig. 1:
Transmission system: Xshort circuit = 0.

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VIII. REFERENCES
[1]

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