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UnifiedPowerFlowController(PhasorType)
Implementphasormodelofthreephaseunifiedpowerflowcontroller

Library
FACTS/PowerElectronicsBasedFACTS

Description
TheUnifiedPowerFlowController(UPFC)isthemostversatilememberoftheFlexibleACTransmissionSystems
(FACTS)familyusingpowerelectronicstocontrolpowerflowonpowergrids[1].TheUPFCusesacombinationofa
shuntcontroller(STATCOM)andaseriescontroller(SSSC)interconnectedthroughacommonDCbusasshownon
thefigurebelow.

SinglelineDiagramofaUPFCandPhasorDiagramofVoltagesandCurrents

V2V3 sin V (V V3 cos )

P= , Q = 2 2
X X
ThisFACTStopologyprovidesmuchmoreflexibilitythantheSSSCforcontrollingthelineactiveandreactivepower
becauseactivepowercannowbetransferredfromtheshuntconvertertotheseriesconverter,throughtheDCbus.
ContrarytotheSSSCwheretheinjectedvoltageVsisconstrainedtostayinquadraturewithlinecurrentI,theinjected
voltageVscannowhaveanyanglewithrespecttolinecurrent.IfthemagnitudeofinjectedvoltageVsiskept
constantandifitsphaseanglewithrespecttoV1isvariedfrom0to360degrees,thelocusdescribedbytheendof
vectorV2(V2=V1+Vs)isacircleasshownonthephasordiagram.Asisvarying,thephaseshiftbetween
voltagesV2andV3atthetwolineendsalsovaries.ItfollowsthatboththeactivepowerPandthereactivepowerQ
transmittedatonelineendcanbecontrolled.TheUPFCcontrollableregioninthePQplaneistheareaenclosedan
byanellipseasshownonthefigurebelow.

ControllableRegionfora100MVAUPFCconnectedon500kV,200kmline

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Thisfigurewasobtainedwitha100MVAUPFCcontrollingactiveandreactivepoweratoneendofa500kV,200km
transmissionline.Thefollowingparametershavebeenused:

Line:length=200kmreactance=0.35/km
Systemvoltage:500kVinfinitesourcesV1andV3V1=1.0pu,0degreeV3=1.0pu,7.22degrees
Seriesandshuntconverterrating:100MVA
Seriesconverter:nominalinjectedvoltage=10%ofnominallinetogroundvoltage(28.9kV)impedance
(transformerleakagereactanceandfilters)=0.15pu

WithV3laggingV1by7.22degrees,thenaturalpowerflowwithoutcompensationis450MWor50%ofthelinesurge
impedanceloading(SIL=900MW).WithaninjectedvoltageVs=0.1puanyoperatingpointinsidethelargerellipse
canbeobtainedandactivepowercanbevariedbyapproximately+/300MW.

Inadditiontoallowcontrolofthelineactiveandreactivepower,theUPFCprovidesanadditionaldegreeoffreedom.
ItsshuntconverteroperatingasaSTATCOMcontrolsvoltageV1byabsorbingorgeneratingreactivepower.

BoththeseriesandshuntconvertersuseaVoltageSourcedConverter(VSC)connectedonthesecondarysideofa
couplingtransformer.TheVSCsuseforcedcommutatedpowerelectronicdevices(GTOs,IGBTsorIGCTs)to
synthesizeavoltagefromaDCvoltagesource.ThecommoncapacitorconnectedontheDCsideoftheVSCsacts
asaDCvoltagesource.TwoVSCtechnologiescanbeusedfortheVSCs:

VSCusingGTObasedsquarewaveinvertersandspecialinterconnectiontransformers.Typicallyfourthreelevel
invertersareusedtobuilda48stepvoltagewaveform.Specialinterconnectiontransformersareusedtoneutralize
harmonicscontainedinthesquarewavesgeneratedbyindividualinverters.InthistypeofVSC,thefundamental
componentofvoltageisproportionaltothevoltageVdc.ThereforeVdchastovariedforcontrollingtheinjected
voltage.
VSCusingIGBTbasedPWMinverters.ThistypeofinverterusesPulseWidthModulation(PWM)techniqueto
synthesizeasinusoidalwaveformfromaDCvoltagewithatypicalchoppingfrequencyofafewkilohertz.
HarmonicsarecancelledbyconnectingfiltersattheACsideoftheVSC.ThistypeofVSCusesafixedDC
voltageVdc.VoltageisvariedbychangingthemodulationindexofthePWMmodulator.

TheUPFC(PhasorType)blockmodelsanIGBTbasedUPFC.However,asdetailsoftheinverterandharmonicsare
notrepresented,itcanbealsousedtomodelaGTObasedUPFCintransientstabilitystudies.

ControlSystem

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TheshuntconverteroperatesasaSTATCOM.Foradescriptionofitscontrolsystem,refertotheStaticSynchronous
Compensator(PhasorType).Insummary,theshuntconvertercontrolstheACvoltageatitsterminalsandthevoltage
oftheDCbus.Itusesadualvoltageregulationloop:aninnercurrentcontrolloopandanouterloopregulatingACand
DCvoltages.

ControloftheseriesbranchisdifferentfromtheSSSC.InaSSSCthetwodegreesoffreedomoftheseriesconverter
areusedtocontroltheDCvoltageandthereactivepower.IncaseofaUPFCthetwodegreesoffreedomareusedto
controltheactivepowerandthereactivepower.Asimplifiedblockdiagramoftheseriesconverterisshownbelow.

SimplifiedBlockDiagramoftheSeriesConverterControlSystem

Theseriesconvertercanoperateeitherinpowerflowcontrol(automaticmode)orinmanualvoltageinjectionmode.In
powercontrolmode,themeasuredactivepowerandreactivepowerarecomparedwithreferencevaluestoproduceP
andQerrors.ThePerrorandtheQerrorareusedbytwoPIregulatorstocomputerespectivelytheVqandVd
componentsofvoltagetobesynthesizedbytheVSC.(VqinquadraturewithV1controlsactivepowerandVdinphase
withV1controlsreactivepower).Inmanualvoltageinjectionmode,regulatorsarenotused.Thereferencevaluesof
injectedvoltageVdrefandVqrefareusedtosynthesizetheconvertervoltage.

TheUPFCblockisaphasormodelwhichdoesnotincludedetailedrepresentationofthepowerelectronics.Youmust
useitwiththephasorsimulationmethod,activatedwiththePowerguiblock.Itcanbeusedinthreephasepower
systemstogetherwithsynchronousgenerators,motors,dynamicloadsandotherFACTSandRenewableEnergy
systemstoperformtransientstabilitystudiesandobserveimpactoftheUPFConelectromechanicaloscillationsand
transmissioncapacityatfundamentalfrequency.

DialogBoxandParameters
TheUPFCparametersaregroupedinthreecategories:Powerdata,Controlparameters(shuntconverter),and
Controlparameters(seriesconverter).UsetheDisplaylistboxtoselectwhichgroupofparametersyouwant
tovisualize.

PowerTab

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Nominalvoltageandfrequency
ThenominallinetolinevoltageinVrmsandthenominalsystemfrequencyinhertz.

ShuntConverterrating
ThenominalratingoftheshuntconverterinVA.

ShuntConverterimpedance
ThepositivesequenceresistanceRandinductanceLoftheshuntconverter,inpubasedonthenominalconverter
ratingandnominalvoltage.RandLrepresenttheresistanceandleakageinductanceoftheshunttransformerplus
theresistanceandinductanceoftheseriesfilteringinductorsconnectedattheVSCoutput.

ShuntConverterinitialcurrent
Theinitialvalueofthepositivesequencecurrentphasor(MagnitudeinpuandPhaseindegrees).Ifyouknowthe
initialvalueoftheshuntcurrentcorrespondingtotheUPFCoperatingpointyoumayspecifyitinordertostart
simulationinsteadystate.Ifyoudon'tknowthisvalue,youcanleave[00].Thesystemwillreachsteadystate
afterashorttransient.

SeriesConverterrating
TheratingsoftheseriesconverterinVAandthemaximumvalueoftheinjectedvoltageV_convontheVSCsideof
thetransformer(seesinglelinediagram),inpuofnominalphasetogroundvoltage.

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SeriesConverterimpedance
Thepositivesequenceresistanceandinductanceoftheconverter,inpu,basedontheconverterratedpowerand
voltage.RandLrepresenttheresistanceandleakageinductanceoftheseriestransformerplustheresistanceand
inductanceoftheseriesfilteringinductorsconnectedattheVSCoutput.

SeriesConverterinitialcurrent
Theinitialvalueofthepositivesequencecurrentphasor(MagnitudeinpuandPhaseindegrees).Ifyouknowthe
initialvalueoftheseriescurrentcorrespondingtotheUPFCoperatingpointyoumayspecifyitinordertostart
simulationinsteadystate.Ifyoudon'tknowthisvalue,youcanleave[00].Thesystemwillreachsteadystate
afterashorttransient.

DClinknominalvoltage
ThenominalvoltageoftheDClinkinvolts.

DClinktotalequivalentcapacitance
ThetotalcapacitanceoftheDClinkinfarads.ThiscapacitancevalueisrelatedtotheUPFCconverterratingsand
totheDClinknominalvoltage.Theenergystoredinthecapacitance(injoules)dividedbytheconverterratedpower
(inVA)isatimedurationwhichisusuallyafractionofacycleatnominalfrequency.Forexample,forthedefault
2
parameters,(C=750F,Vdc=40000V,Snom=100MVA)thisratio 1/2 C V dc /Snom is6.0ms,whichrepresents
0.36cyclefora60Hzfrequency.IfyouchangethedefaultvaluesofthenominalpowerratingandDCvoltage,you
shouldchangethecapacitancevalueaccordingly.

ShuntConverterTab
Mode
Specifiestheshuntconvertermodeofoperation.SelecteitherVoltageregulationorVarControl.

ReferencevoltageVref
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.

Referencevoltage,inpu,usedbythevoltageregulator.WhenExternalisselected,aSimulink inputnamedVref
appearsontheblock,allowingyoutocontrolthereferencevoltagefromanexternalsignal(inpu).TheReference
voltageVrefparameteristhereforeunavailable.

Maximumrateofchangeofreferencevoltage
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.

Maximumrateofchangeofthereferencevoltage,inpu/s,whenanexternalreferencevoltageisused.

Droop
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.

Droopreactance,inpu/shuntconverterratingSnom,definingtheslopeoftheVIcharacteristic.

VacRegulatorGains:[KpKi]
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.

GainsoftheACvoltagePIregulator.SpecifyproportionalgainKpin(puofI)/(puofV),andintegralgainKi,in(puof
I)/(puofV)/s,whereVistheACvoltageerrorandIistheoutputofthevoltageregulator.

ReactivepowersetpointQref
ThisparameterisnotvisiblewhentheModeparameterissettoVoltageControl.

Referencereactivepower,inpu,whentheshuntconverterisinVarControl.

MaximumrateofchangeofreactivepowersetpointQref
ThisparameterisnotvisiblewhentheModeparameterissettoVoltageControl.

Maximumrateofchangeofthereferencereactivepower,inpu/s.

VdcRegulatorgains:[KpKi]

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GainsoftheDCvoltagePIregulatorwhichcontrolsthevoltageacrosstheDCbuscapacitor.Specifyproportional
gainKpin(puofI)/Vdc,andintegralgainKi,in(puofI)/Vdc/s,whereVdcistheDCvoltageerrorandIistheoutput
ofthevoltageregulator.

CurrentRegulatorsgains:[KpKi]
Gainsoftheinnercurrentregulationloop.

SpecifyproportionalgainKpin(puofV)/(puofI),integralgainKi,in(puofV)/(puofI)/s,whereVistheoutputof
thedorqcurrentregulatorandIistheIdorIqcurrenterror.

Thecurrentregulatorisassistedbyafeedforwardregulator.Thefeedforwardgainin(puofV)/(puofI)istheshunt
converterreactance(inpu)givenbyparameterLintheShuntconverterimpedance[RL]parameters.

SeriesConverterTab
BypassBreaker
SpecifiesthestatusofthebypassbreakerconnectedinsidetheblockacrossterminalsA1,B1,C1andA2,B2,C2.
SelecteitherExternalControl,OpenorClosed.Ifthebypassbreakerisinexternalcontrol,aSimulinkinput
namedBypassappearsontheblock,allowingtocontrolthestatusofthebypassbreakerfromanexternalsignal(0
or1).

Mode
Specifiestheseriesconvertermodeofoperation.SelecteitherPowerflowcontrolorManualvoltage
injection.

Referencepowers
ThisparameterisnotvisiblewhentheModeparameterissettoManualvoltageinjection.

Specifyreferencesvalues,inpu.WhenExternalisselected,aSimulinkinputnamedPQrefappearsontheblock,
allowingyoutocontroltheactiveandreactivepowersfromanexternalsignal(inpu).TheReferencepowers
parameteristhereforeunavailable.

Maximumrateofchangeofreferencepowers
ThisparameterisnotvisiblewhentheModeparameterissettoManualvoltageinjection.

SpecifymaximumrateofchangeofPrefandQref,inpu/s.

PowerRegulatorgains:[KpKi]
ThisparameterisnotvisiblewhentheModeparameterissettoManualvoltageinjection.

GainsofthePIregulatorswhichcontrolthelineactivepowerandreactivepower.SpecifyproportionalgainKpin(pu
ofVdq)/(puofPQ),andintegralgainKi,in(puofVdq)/(puofPQ)/s,whereVdqistheVdorVqinjectedvoltageand
PQisthePorQvoltageerror.

Referencevoltages
ThisparameterisnotvisiblewhentheModeparameterissettoPowerflowcontrol.

SpecifythedirectaxisandquadratureaxiscomponentsofthevoltageinjectedontheVSCsideoftheseries
transformer,inpu.WhenExternalisselected,aSimulinkinputnamedVdqrefappearsontheblock,allowingyouto
controltheinjectedvoltagefromanexternalsignal(inpu).TheReferencevoltagesparameteristherefore
unavailable.

Maximumrateofchangeforreferencesvoltages
ThisparameterisnotvisiblewhentheModeparameterissettoPowerflowcontrol.

SpecifymaximumrateofchangeoftheVdrefandVqrefvoltages,inpu/s.

InputsandOutputs
A1B1C1
ThethreeinputterminalsoftheUPFC.

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A2B2C2
ThethreeoutputterminalsoftheUPFC.

Trip
ApplyaSimulinklogicalsignal(0or1)tothisinput.Whenthisinputishightheshuntconverterisdisconnectedand
theseriesconverterisbypassed.Inaddition,whenthetripsignalishightheshuntandseriescontrolsystemsare
disabled.Usethisinputtoimplementasimplifiedversionoftheprotectionsystem.

Bypass
ThisinputisvisibleonlywhentheBypassBreakerparameterissettoExternalControl.

ApplyaSimulinklogicalsignal(0or1)tothisinput.Whenthisinputishighthebypassbreakerisclosed.

Vdqref
ThisinputisvisibleonlywhentheExternalcontrolofinjectedvoltageVdref_Vqrefparameterischecked.

ApplyaSimulinkvectorizedsignalspecifyingthereferencevoltagesVdrefandVqref,inpu.

PQref
ThisinputisvisibleonlywhentheExternalcontrolofpowerreferencesPref_Qrefparameterischecked.

ApplyaSimulinkvectorizedsignalspecifyingthereferencepowersPrefandQref,inpu.

m
Simulinkoutputvectorcontaining34UPFCinternalsignals.Thesesignalsareeithervoltageandcurrentphasors
(complexsignals)orcontrolsignals.TheycanbeindividuallyaccessedbyusingtheBusSelectorblock.Theyare,
inorder:

Signal SignalGroup SignalNames Definition

13 PowerVabc1(cmplx) Va1(pu) Phasorvoltages(phasetoground)Va,

Vb1(pu) Vb,VcattheUPFCinputterminalsA1,
Vc1(pu) B1,C1(pu)

46 PowerIabc_SH(cmplx) Ia_SH(pu) PhasorcurrentsIa,Ib,Icflowingintothe

Ib_SH(pu) shuntconverter(pu)
Ic_SH(pu)

7 Power Vdc(V) DCvoltage(V)

810 PowerVabc2(cmplx) Va2(pu) Phasorvoltages(phasetoground)Va,

Vb2(pu) Vb,VcattheUPFCoutputterminalsA2,
Vc2(pu) B2,C2(pu)

1113 PowerVabc_Inj(cmplx) Va_Inj(pu) Phasorsofinjectedvoltages

Vb_Inj(pu) Vs=V2V1(pu)
Vc_Inj(pu)

14_16 PowerIabc_SE(cmplx) Ia_SE(pu) PhasorcurrentsIa,Ib,Icflowinginthe

Ib_SE(pu) seriestransformerfromABC1toABC2
Ic_SE(pu) (pu)

17 Control Vm(pu) Positivesequencevalueofthe

(Shunt) measuredvoltage(pu)

18 Control Vref(pu) Referencevoltage(pu)

(Shunt)

19 Control Qm(pu) Shuntconverterreactivepower.A

(Shunt) positivevalueindicatesinductive
operation.

20 Control Qref(pu) Referencereactivepower(pu)

(Shunt)

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Signal SignalGroup SignalNames Definition

21 Control Id(pu) Directaxiscomponentofcurrent(active

(Shunt) current)flowingintotheshuntconverter
(pu).Apositivevalueindicatesactive
powerflowingintoshuntconverter.

22 Control Iq(pu) Quadratureaxiscomponentofcurrent

(Shunt) (reactivecurrent)flowingintotheshunt
converter(pu).Apositivevalue
indicatescapacitiveoperation.

23 Control Idref(pu) Referencevalueofdirectaxis

(Shunt) componentofcurrentflowingintoshunt
converter(pu)

24 Control Iqref(pu) Referencevalueofquadratureaxis

(Shunt) componentofcurrentflowingintoshunt
converter(pu)

25 Control modindex Themodulationindexmoftheshunt

(Shunt) converterPWMmodulator.Apositive
number0<m<1.m=1correspondstothe
maximumvoltagewhichcanbe
generatedbytheVSCwithout
overmodulation.

26 Control P(pu) Measuredactivepowerflowingoutof

(Series) terminalsA2,B2,C2(pu)

27 Control Q(pu) Measuredreactivepowerflowingoutof

(Series) terminalsA2,B2,C2(pu)

28 Control Pref(pu) Referenceactivepower(pu)

(Series)

29 Control Qref(pu) Referencereactivepower(pu)

(Series)

30 Control Vd_conv(pu) DirectaxisinjectedvoltageonVSC

(Series) sideofseriestransformer(pu)

31 Control Vq_conv(pu) Quadratureaxisinjectedvoltageon

(Series) VSCsideofseriestransformer(pu)

32 Control Vdref(pu) Referencevalueofdirectaxis

(Series) injectedvoltage(pu)

33 Control Vqref(pu) Referencevalueofquadratureaxis

(Series) injectedvoltage(pu)

34 Control modindex Themodulationindexmoftheseries

(Series) converterPWMmodulator.Apositive
number0<m<1.m=1correspondstothe
maximumvoltageV_convwhichcanbe
generatedbytheseriesconverter
withoutovermodulation.

Example
Seethepower_upfcexample,whichillustratestheuseofaUPFCcontrollingpowerona500kV,60Hz,system.

References
[1]N.G.Hingorani,L.Gyugyi,"UnderstandingFACTSConceptsandTechnologyofFlexibleACTransmission
Systems,"IEEEPressbook,2000

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SeeAlso
StaticSynchronousCompensator(PhasorType),StaticSynchronousSeriesCompensator(PhasorType)

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