CHAPTER 1

INTRODUCTION
The Ability to control power flow in an electric power system with out generation
rescheduling or topology changes can improve the power system performance using controllable
components, the line flows can be changed in such a way that thermal limits are not exceed,
losses are minimized, stability margins are increased and contractual requirements are fulfilled
with out violating the economic generation dispatch. Flexible AC Transmission systems
(FACTS) technology is the ultimate tool for getting the most out of existing equipment via faster
control action and new capabilities. The most striking feature is the ability to directly control
transmission line flows by structurally changing parameters of the grid and to implement high-
gain type controllers based on fast switching. The application of FACTS devices to power
system security has been an attractive ongoing area of research. In most of the reported studies,
attention has been focused on the ability of these devices to improve the power system security
by damping system oscillations and minimal attempts have been made to investigate the effect of
these devices on power system reliability. The opportunities arise through the ability of FACTS
controllers to control the interrelated parameters that governs the operation of transmission
systems including series impedance and shunt impedance, current, phase angle and damping of
oscillations at various frequencies below the rated frequency. These constraints cannot be
overcome otherwise, while maintaining the required system stability, by mechanical means with
out lowering the useable transmission capacity. By providing added flexibility, FACTS
controller can enable a line to carry power closer to its thermal rating. Mechanical switching
needs to be supplemented by rapid-response power electronics. The facts technology can
certainly be used to overcome any to the stability limits, in which case the ultimate limits would
be thermal and dielectric.

Static VAR controllers control only one of three important parameters (voltage,
impedance, phase angle) determining the power flow in the AC power system viz. the amplitude
of voltage at selected terminals of transmission line . It has long been realized that an all solid-
state or advanced, static VAR compensator, which is true equivalent of ideal synchronous
condenser, is technically feasible with the use of Gate Turn-Off (GTO) Thyristor. The UPFC is
recently introduced FACTS controller which has the capability to control all the four
transmission parameters. The UPFC not only performs the functions of STATCOM, TCSC, and
the phase angle regulator but also provides additional flexibility by combining some of the
functions of these controllers.

FACTS DEVICES
1.1 Introduction to FACTS Devices:

Most of the worlds electric supply systems are widely interconnected. This is done for
economic reasons, to reduce the cost of electricity and to improve its reliability, it must however
be kept in mind that these inter connections are very complex and they emerged gradually based
upon the requirements of various power utilities. These interconnections apart from delivering
the power pool power plants and load centers in order to pool power generation and reduce fuel
cost. Thus they reduce the over all number of generating sources, but as the saying goes a coin
has two sides, like wise as the power transfer grows. The power system becomes increasingly
complex to operate and system can become less secure for riding through major outages. It may
lead to large power flows with inadequate control, excessive reactive power, and large dynamic
swings between different parts of the system. Thus the full potential of a transmission
connection cannot be utilized. It is very difficult to control such transmission of power in such
systems. Most of the controllers designed in the past were mechanical in nature. But mechanical
controllers have numerous intrinsic problems. Many power electronics controllers have been
designed to supplement the potentially faulty mechanical controllers. These power electronic
controllers are all grouped in a category called flexible AC transmission controller or FACTS
controllers.

Facts technology opens up new opportunities for controlling power and enhancing the
usable capacities of present, as well as new and upgraded lines, the possibility that current
through a line can be controlled at a reasonable cost enables large potential of increasing the
capacity of existing lines with large conductors. Also, the use of one of the FACTS controllers to
enables corresponding power flow through such lines under normal and contingency conditions.
These opportunities arise through the ability of FACTS controllers to control the interrelated
parameters that govern the operation of transmission system. Series Impedance, Shunt
Impedance, Current, Voltage, Phase angle etc., are some of the interrelated parameters that are
controlled. These constrains can not be over come while maintaining the system reliability by
mechanical means with out lowering the usable transmission capacity. By providing added
flexibility FACTS controllers can enable a line to carry power closer to it thermal rating. It must
however be emphasized that FACTS is an enabling technology, and not a one to one substitute.

The FACTS technology is not a single high power controller but rather a collection of
controllers, which can be applied individually or in co-ordination with others to control one or
more of the interrelated system parameters mentioned above. A Well-chosen FACTS controller
can overcome specific limitations of designated transmission line on a corridor. But all FACTS
controller represent applications of some basic technology, their production can eventually take
advantage of technologies of scale. Just as the transistor is the basic element for whole variety of
micro electronic chips and circuits, the thyristor or high power transistor is the basic element for
a variety of high power electronic controllers. FACTS technology also lends itself to extending
transmission limits in a step-by-step manner with an incrementing investment as and when
required. A planner could force a progressive scenario of mechanical switching means and
enabling FACTS controllers such that the transmission lines will involve a combination of
mechanical and FACTS controller to achieve the objective in an appropriate, stage investment
scenario. It is also worth nothing that in implementation of the FACTS technology, we are
dealing with base technology, proven through HVDC and high power industrial drives.
Nevertheless, as power semiconductor devices continue to improve, particularly the devices with
turn off capability cost of FACTS controller tend to decrease.

1.2 Basic Types of FACTS Controllers:

Basically the FACTS controllers are four types:-

1. Series controllers
2. Shunt controllers
3. Combined Series-Series Controllers
4. Combined Series -Shunt controllers
1. Series controller-.By means of controlling impedance or phase angle or series injection of
voltage a series FACTS control can control the flow of current. Hence, the series controller could
be variable impedance, such as capacitor, reactor or power electronics based variable source to
serve the desired need. But generally all series controllers inject variable voltage in series with
line. Even variable impedance multiplied by current flow through it represents an injected series
voltage. As long as voltage is in quadrature with the line current, the series controller only
supplies or consumes variable reactive power. Any other phase relationship will involve real
power as well.

2. Shunt Controllers: - As in the case of series controllers, shunt controllers may be variable
impedance, variable source or a combination of these. In principle all shunt controller inject
current into the system. Even variable shunt impedance causes a variable current injection into
the line. As long as injected current is in phase quadrature with the line voltage it supplies or
consumes variable reactive power. Any other phase relationship will involve real power
exchange also.

3. Combined series-series controller: - This could be a combination of separate series

controllers, which are controlled in a coordinated manner, or it could be a unified controller. The
series controllers could provide independent series reactive compensation but also could transfer
real power among the lines via the power link (D.C link). The real power transfer capability of
the unified series-series controller, referred to as interline power flow controller, makes it
possible to balance both the real and reactive power flow in the lines. And there by maximize the
utilization of the transmission system. Note that the term unified here means that the DC
terminals of all controller converters are all connected together for real power transfer.

4. Combined series-shunt controller: - This is a combination of series and shunt controllers

which are controlled in a coordinated manner or a unified power flow controller with series and
shunt elements. In principle combined shunt and series controller inject current in to the system
with the shunt part of the controller and voltage in series in the line with the series part of the
controller. However when the shunt and series controllers are unified, there can be a real power
exchange between the series and shunt controllers via the power link.

Inferring from one and two of above, the shunt converter of the UPFC injects current into
the line while the series converter injects voltage in series with the line. The power link enables
real power exchange between the two.
From the above discussion it can be inferred that the word unified emphasizes or refers
to the existence of a power link via which the combination of controllers i.e. series series and
series - shunt exchange real power, also the power link if provided with a storage system such as
d.c. capacitors, batteries etc, is much more effective for controlling the system dynamics. This
has to do with dynamic pumping of real power in and out of the system as against only
influencing transferring of real power within the systems as in the case of power links lacking
storage.

After all the above discussion FACTS can be defined as:-

Alternating current transmission systems incorporating power electronic based and other
controllers to enhance controllability and increase power transfer capability.

FACTS controller can be defined as:-

A power electronic based system and other static equipment that provide control of one
or more AC transmission system parameters

Below a list of FACTS controllers that fall into the four categories discussed has been
given. The working of each has not been discussed as their general principal of working has
already been discussed.
Shunt Controllers:-
1. Static Synchronous Compensator (STATCOM)
2. Static Synchronous Generator (SSG)
3. Battery Energy Storage System (BESS)
4. Super Conducting Magnetic Energy Storage (SMES)
5. Static VAR Compensator (SVC)
6. Thyristor Controlled Reactor (TCR)
7. Thyristor Switched Reactor (TSR)
8. Thyristor Switched Capacitor (TSC)
9. Static VAR Generator or Absorber.

Series controller:-
1. Static Synchronous Series Comparator (SSSC)
2. Inter line Power Flow Controller (IPFC)
3. Thyristor Controlled Series Capacitor (TCSC)
4. Thyristor Switched Series Capacitor (TSSC)
5. Thyristor Controlled Series Reactor (TCSR)
6. Thyristor Switch Series Reactor (TSSR)

Combined shunt and series connected controllers:-

1.Unified Power Flow Controller (UPFC)
2 Thyristor Controlled Phase Shifting Transformer (TCPST)

STATCOM (Static synchronous compensator):- A static synchronous generator operated as

a shunt connected static VAR compensator whose capacitive or inductive output current can be
controlled independent of the AC system voltage. STATCOM is one of the key FACTS
controllers. It can be based on a voltage sourced or current-sourced converter. An overall cost
point of view the voltage sourced converter seem to be preferred, and will the basis for
presentation of most converter based FACTS controllers. For the voltage sourced converter, its
ac output voltage is controlled such that it is just right for required reactive current flow for any
ac bus voltage DC capacitor voltage is automatically adjusted as required to serve as a voltage
source for the converter. STATCOM can be designed to also act as an active filter to observe
system harmonics.

1.3 Advantages of FACTS

The following are the benefits that are principally derived by using the FACTS
controllers.
1. The flow of power is ordered. It may be as per the contract or as per the
requirements of utilities.
2. It increases the loading capability of the lines to their thermal capability.
Overcoming their limitations and sharing of power among lines can accomplish this.
3. It improves the stability of the system and thus makes the system secure.
4. Provides secure tie line connections to neighboring utilities and regions, thereby
decreasing over all generation reserve requirements on both sides.
5. Provides greater flexibility in sitting new generation.
6. Upgrade of lines
7. Reduce loop flows
8. Minimizes the cost of transmission and hence the over all cost of generation.
9. FACTS devices improve the speed of operation of the overall system.

1.4 Aim of the Project

The Unified Power Flow Controller (UPFC) consists of two voltage sourced
converters using power switches, which operate from a common DC circuit of a DC storage
capacitor. This arrangement functions as an ideal ac to ac power converter in which the real
power can freely flow in either direction between the ac terminals of the two converters and each
converter can independently generate or absorb reactive power at its own ac output terminals.

The aim of the project is to develop a control strategy for UPFC, modeling UPFC using
MATLAB/SIMULINK and to analyze the control strategy to use the series voltage injection and
shunt current injection for UPFC control.

A UPFC control strategy, in general, should preferably, have following attributes;

 1. Steady state objective (i.e. real and reactive power flows) should be
readily archived by setting the reference of the controller.
2. Dynamic and transient stability improvement by appropriate modulation of
controller reference.

To simplify the design procedure we carry out the design of the series and shunt branches
separately .in each case, the external system is represented by simple equivalent .the design has
to be validated when the various sub-systems are integrated.
The design tasks are
1) Series injected voltage control
a) Power flow control by series voltage injection
b) UPFC part2 voltage control by series voltage injection
2) Shunt converter voltage control
a) Closed loop current (real and reactive) control.
b) UPFC part1 voltage control by reactive current injection
c) Capacitor voltage regulation using real current injection
The basic design considerations are illustrated using simplified systems models. The
performance of all controllers is subsequently evaluated detailed simulation for a case study

1.5 Organization of the Report:

The report of the work done is organized on as follows After this introductory chapter1,
chapter 2 gives a brief overview of unified power flow controller .in this chapter the circuit
arrangements, operation, basic control functions and characteristics of the UPFC are discussed.

The chapter 3- discussed the proposed control strategy. In this chapter three phase to D-
Q transformation and mathematical modeling of the control strategy for independent control of
shunt and series branches of the UPFC are discussed.

The chapter 5- presents an introduction to SIMULINK and modeling of UPFC for

MATLAB/SIMULINK.
 The chapter 6-discusses the challenges in computer simulation of power electronics
system and presents the simulation results on the test system for different cases.

The last chapter presents important conclusions and future scope of work. Adequate
references are provided at the end of the chapter.
CHAPTER 2
UNIFIED POWER FLOW CONTROLLER (UPFC)
2.1 Introduction:
Gyugyi proposed the unified power flow controller (UPFC) concept in 1991. The UPFC
was devised for the real time control and dynamic compensation of ac transmission system,
providing multifunctional flexibility required solving many of the problems facing the delivery
industry. With the framework of traditional power transmission concept, The UPFC is able to
control, simultaneously or selectively; all the parameters affecting power flow in the
transmission line (i.e. voltage, impedance, and phase angle). And this unique capability signified
by the adjective unified in the name. Alternatively, it can independently control both the real
and reactive power flow in the line. Such new FACTS device combines together the features of
two old FACTS devices: the static synchronous compensator (STATCOM) and the static
synchronous series compensator (SSSC). In practice, these two devices are two voltage source
Inverters (VSIs) connected respectively in shunt with the transmission line through a shunt
transformer and in series with the transmission line through a series transformer, connected to
each other by a common DC link including a storage capacitor. The shunt inverter is used for
voltage regulation at the point of connection injecting an opportune reactive power flow into the
line and to balance the real power flow exchanged between the series inverter and the
transmission line. The series inverter can be used to control the real and reactive line power flow
inserting an opportune voltage with controllable magnitude and phase in series with the
transmission line. Thereby, the UPFC can fulfill functions of reactive shunt compensation, active
and series compensation and phase shifting. Besides, the UPFC allows a secondary but
important function such as stability control to suppress power system oscillations improving the
transient stability of power system. 2.2 Circuit Arrangement: In the presently used practical
implementation, the UPFC consist of two switching converters, which in the implementations
considered are voltage source inverters using GTO THY valves, as illustrated in fig 2.1. These
back to back converters labeled inverter1& inverter 2 in the figure, are operator from a
common dc link provided by a dc storage capacitor. This arrangement functions as an AC to AC
converter in which the real power can freely flow in either direction between the ac terminals of
the inverter and each inverter can independently generate or absorb reactive power at its own ac
output terminals.
2.2 Operation of UPFC
Inverter 2 provides the main function of UPFC by injecting an AC voltage Vpq with
controllable magnitude Vpq(0 Vpq Vpq max) and phase angle (0 360) ,at the power
frequency , in series with the line via an insertion transformer. The injected voltage is considered
essentially as a synchronous voltage source. The transmission line current flow through this
voltage source resulting in real and reactive power exchange between it and AC system. The real
power exchanged at the ac terminal (i .e at the terminal of insertion transformer) is converted by
the inverter into DC power that appears at the DC link as positive or negative real power
demanded. The reactive power exchanged at the AC terminal; is generated internally by the
inverter.

The basic function of inverter 1 is to supply or absorb the real power demanded by the
inverter 2 at the common DC link. This DC link power is converted back to ac and coupled to the
transmission line via a shunt connected transformer.inverter1 can also generate or absorb
controllable reactive power, if it is desired and there by it can provide independent shunt reactive
compensation for the line. It is important to note that where as there is a closed direct path for
the real power negotiated by the action of series voltage injection through inverter 1 and 2 back
to the line, the corresponding reactive power exchanged is supplied or absorbed locally by
inverter2 and therefore it does not flow through the line. Thus inverter1 can be operated at a
unity power factor or be controlled to have a reactive power exchange with the line
independently of the reactive power exchanged by the inverter 2. This means there is no
continuous reactive power flow through the UPFC.
2.3 Circuit arrangement:

Fig: 2.1 diagram basic circuit arrangement of Unified Power Flow controller

2.4 Basic control function

Operation of UPFC from the stand point of conventional power transmission based on reactive
shunt compensation, and phase shifting the UPFC can fulfill these functions and there by meet
multiple control objectives by adding the injected voltage Vpq, with appropriate amplitude and
phase angle to the terminal voltage V0.
Using phase representation, the basic UPFC power flow control Functions illustrated in figure
2.2.

a. Terminal Voltage regulation: - It is similar to that obtainable with a transformer tap

changer having infinitely small steps. The V0 shown in the Figure 3 is injected in
phase (or anti phase with V0)
b. Series capacitive compensation: - Here Vpq = Vc is injected in quadrature to the
line current. Functionally this is similar to series capacitive and inductive line
compensation attained by SSSC, the injected series compensating voltage can be kept
constant, if desired, independent of the line current variation, or can be varied in
proportion with the line current to imitate the compensation obtained with a series
capacitor or reactor.
c. Transmission angle regulation: - Vpq = V is injected with an angular relationship
with respect to the V that achieves the desired phase shift (advance or retard) without
any change in magnitude. Thus the UPFC can function as a perfect phase angle
regulator, which cans also the supply the reactive power involved with the
transmission angle control by internal VAR generation.
d. Multi Function Power Flow Control:- It is executed by simultaneous terminal
voltage regulation, series capacitive line compensation and phase shifting, is shown in
fig 2.2(d).where Vpq =(V+Vc+V). This functional capability is unique to the
UPFC. No single equipment has similar Multifunctional capability.

The powerful hitherto unattainable, capabilities of the UPFC summarized above in terms
of convention transmission control concepts, can be integrated in to generalized power flow
controller that is able to maintain prescribed , and independently controllable. Within this
concept, the conventional terms of series compensation, phase shifting etc., become irrelevant;
the UPFC simply controls the magnitude and angular position of the injected voltage in real time
so as to maintain or vary the real and reactive power flow in the line to satisfy load demand and
system operating conditions.

(a) Voltage regulation (b) Series compensation

Vo+Vo

Vc

Vo

(Vo+Vc)

Vo I

(c) Phase angle regulation (d) Multi-funtion power flow control

Vc
V V
Vc
Vpq

Vo Vo
(Vo+Vc) (Vo+V+Vc+V)

where Vpq=(V+Vc+V)

Fig 2.2 Basic UPFC Control Functions.

2.5 Basic Principles of P and Q Control
Consider fig 2.3 at (a) simple two machine (or two bus ac inter line) system with sending
end voltage Vs, receiving end voltage Vr, and line or tie impedance X, (assumed, for simplicity,
inductive is shown. At figure (b) the voltage of system in the form of phasor diagram of shown
with transmission angle and Vs = Vr =V.

At figure (c) the transmitted power P= (V2 / X) sin () and the reactive power Q=Qs = Qr
{Q = (V2 / X) (1-cos ()} supplied at the end of the line are shown plotted against angle. at figure
(d) the reactive power Q= Q r=Qs is shown plotted against the transmitted power P
corresponding to stable value of (0 90).

The basic power system of figure 2.3with the well known transmission characteristic is
introduced for the purpose of providing a vehicle to establish the capability of the UPFC to
control the transmitted real power P and reactive power demands, Qs and Qr at sending end
respectively, the Transmission end of line.

Consider figure 2.4 the simple power system of figure 2.3 is expanded to include the
UPFC. The UPFC is represented by a controllable voltage source in series with the line, which as
explained in the previous system, can generate or absorb reactive power that it negotiates with
the line, but the real power it exchanges must be supplied to it, or absorbed from it, bye the
sending end generator. The UPFC in series with the line is represented by the phasor Vpq
Having magnitude Vpq (0Vpq Vpq max) and angle (0 360) measured from the given
phase position of phasor Vs, as illustrated in the figure. The line current represented by phasor 1,
flows through the series voltage source Vpq and generally results in both reactive and real power
exchange.

In order to represents the UPSC properly, the series voltage source is stipulated to
generate only the reactive power Qpq it exchanges with the line. Thus the real power Ppq it
negotiates with the line is assumed to be transferred to the sending end generators if a perfect
real power flow between it and sending end generator excited. This is in arrangement with the
UPFC structure in which the DC link between the two constituent inverters establishes a bi
directional coupling for real power flow between the injected series voltage source and the
sending end bus.

P
Qs Qr
2 Qs,Qr
2
X Qs
P
Qr
Vs Vr
P
1 1

0 0
0 90 180
(a) (c)

1 =90
Vx

Qs
Qr

Vs Vr 0.5

Vs-Vr

P=(V/X) Sin 0
0 0.5 P 1
Qs=Qr=(V/X) (1-Cos)

(b) (d)

Fig2.3 (a) Simple two machine system, (b) related voltage phasor (c) real and reactive power
verses transmission angle, (d) sending and receiving end power verses transmitted angle.

As figure 2.4 implies, in the present discussion it is further assumed for clarity tat the
shunt reactive components capability of the UPFC not utilized. This is, the UPFC shunt inverter
is assumed to be operated at unity power factor, Its sole function being to transfer the real power
demand of the series inverter to the sending end generator. With these assumptions the series
voltage, together with the real power coupled to the sending end generator as shown in figure 2.4
is an accurate representation of the basis UPFC.

Qs Vpq Qr
P
Vx

Vx
Vpq
Ppq
Vs Vr
Vs Vr

Fig 2.4 Two Machine systems with the unified power flow controller

It can be readily absorbed in figure 2.4 shows that transmission line sees Vpq + Vs as
effective sending end voltage. Thus it is clear that the UPFC effects the voltage (both its
magnitude and phase angle) across the Transmission line and therefore it is reasonable to expect
that it is able to and reactive power demand of the line at any given transmission control, by
varying the magnitude and angle of Vpq, the transmittable real power as well as the reactive
power demand of the line at any transmission angle between the sending end and receiving end
voltages.

2.6 Operating modes of upfc

The upfc have many possible operating modes. In particular, the shunt inverter is
operating in a such a way to inject a controllable current Ish into the system transmission line.
The shunt inverter can be controlled in two different modes
1. VAR Controllable mode: The reference input is an inductive or capacitive VAR request.
The shunt inverter control converts the VAR reference into a corresponding shunt current request
and adjusts gating of the inverter to establish the desired current. For this mode of control a
feedback signal representing the dc bus voltage, Vdc is also required.
 2.Automatic voltage control mode: The shunt inverter reactive current is automatically
regulated to maintain the transmission line voltage at the point of connection to a reference
value. To this mode of control, voltage feedback signals are obtained from the sending end bus
feeding the shunt coupling transformer.
The series inverter controls the magnitude and angle of the voltage injected in series with
the line to influence the power flow on the line. The actual value of the injected voltage can be
obtained in different ways.
1.Direct voltage injection mode: The reference inputs are directly the magnitude and
phase angle of the series voltage.
2.Phase angle shifter emulation mode: The reference input is phase displacement
between the sending end voltage and the receiving end voltage.
3.Line impedance emulation mode: The reference is an impedance value to insert in
series with the line impedance.
4.Automatic power flow control mode: The reference inputs are values of P and Q to
maintain on the transmission line despite system changes.
CHAPTER 3

CONTROL STRATEGY OF UPFC

3.1 VECTOR REPRESENTATION OF INSTANTANEOUS THREE PHASE
QUANTITIES:

The notation of real reactive power is well known in phasor sance. However, to study
and control the dynamics of the UPFC with in sub cycle frame and subject to line distortions,
disturbances, and Unbalance, we need broader definition of reactive power, which is valid on an
instantaneous basis.

The instantaneous real power at a point on the line is given by P=VaIa+VbIb+VcIc. We can
define instantaneous voltages conceptually as a part of the 3- phase voltages set that could be
eliminated at any instant without altering P. The definition of instantaneous reactive voltage is
obtained by vector interpretation of the instantaneous values of circuit variables.

A set of three instantaneous variables that sum to zero can be uniquely represented by a
single point in a plane, as illustrated in figure 3.1. By definition the vector drawn from the origin
to this point has a vertical projection onto each of the three symmetrically disposed phase axis,
which corresponds to the instantaneous values of the associated phase variables. This
transformation of phase variables into instantaneous vectors can be applied to voltages as well as
currents. As the values of phase variables change the associated vector moves around the plane
describing various trajectories. The vector contains the all the information on the three phase set,
including steady state unbalance harmonics waveforms distortions and transient components.
THREE PHASE TO d-q TRANSFORMATION

In figure 3.2, the vector representation is extended by introducing an orthogonal co

ordinate system in which each vector is described by means of is Ds and Qs components. The
transformation of phase variables to Ds and Qs co-ordinates as follows.
If Va, Vb, Vc are balanced set of voltages

Va = 2(Vrms) sin (wt).

Vb = 2 (Vrms) sin (wt-120).
Vc = 2 (Vrms) sin (wt-240).

0 -3/2 3/2
[C1] -1
= (2/32) 1 -1/2 1/2 --------- 3.1
1/2 1/2 1/2
 +ds-axis
C-axis

mmf
rotation

A-axis

+qs-axis

Fig: 3.2 Definition of orthogonal coordinates

Then by using above transformation matrix, the ds and qs axis co-ordinates are given by

Vds = (Vrms) cos (wt)

Vqs = (Vrms) sin (wt) ---------- 3.2

The per unit values represents the rms quantities.

The constants are derived based on power invariance principle

VaIa+VbIb+VcIc = VdsIds+VqsIqs.

The inverse transformation matrix is given by

Vold = C1 Vnew
0 1 1/2

C1 = -3/2 -1/2 1/2 --------------- 3.3

3/2 -1/2 1/2

Single phase per unit system is used and the per-unit values represent the rms values.
Figure 3.3 shows how further manipulation of vector coordinate frame leads to useful
separation of variables for power control purpose. The d-axis voltage component Vd accounts for
real component and q-axis voltage Vq is instantaneous reactive component. The d-q axes are not
stationary in the plane. They follow the trajectory of the voltage vector and d-q co-ordinates
within this synchronously reference Frame are given by the following time varying
transformation.

ds-axis

d-axis

qs-axis

q-axis

Fig 3.3 Transformation in rotating reference frame

The transformation matrix is synchronously revolving reference frame is given by

Cos sin
C2 = -------------- 3.4
-sin cos

For balance set of phase voltages

Va = 2(Vrms) Sin (wt- )
Vb = 2(Vrms) Sin (wt-120- )
Vc = 2(Vrms) Sin (wt-240- )
And d-q components are given by
 Vd = (Vrms) Cos () ------------ 3.4a
Vq = (Vrms) Sin ()

Under balance steady state condition, the co-ordinates of the voltage and current vectors
in synchronous reference frame are constant quantities. The inverse transformation in
synchronous reference frame is
[C]-1 =[C]t

The d-q axes real and reactive power components are

P=VdId+VqIq.
Q= VdIq-VqId.

In complex form
V=Vd +j V q I=I d+j I q
P +jQ = VI* = (V d I d +V q I q) +j (V q I d -V d I q). --------------- 3.4b

3.2 THE TRANSFORMATION OF IMPEDANCE MATRIX

The transformation is explained by considering a simple 3- phase system as shown in
figure 3.4
Ra La

V1 V2
a a
La
Ra
V1 V2
b b

Ra La
V1 V2
c c
Fig3.4 simple balance system
 The balance 3-phasesystem can be transformed into a synchronous orthogonal system
V1a- V2a R+PL 0 0 ia

V1b- V2b = 0 R+PL 0 ib --------- 3.5

V1c- V2c 0 0 R+PL ic

Z new = C1 T Z old C

In the ds-qs plane the impedance matrix transformed into

R+PL 0
Z new = ---------- 3.6
0 R+PL
Now the synchronously revolving frame (d-q transform) the impedance matrix is
transformed into

R+PL -L
Z new = ------- 3.7
L R+PL

Where P=d/dt,
The voltage equation after d-q transformation is given by the above equations can be
written as
Vd1- Vd2 R+PL -L id
= ----------- 3.8
Vq1- Vq2 -L R+PL iq
 did /dt = (-R/L) id + iq +( Vd1 - Vd2)/(L) --------3.9
diq /dt = (-R/L) iq - id +( Vq1 - Vq2)/(L) ------- 3.10

Per unit system is adopted according to the following definitions

ix = (ix / iB ) , Vx = (Vx / VB ) ,ex = (ex / VB )
Zx = (Vx / iB ), X=(wBL/ZB ) , R=(R/ZB )

By using the per unit system the above equations can be written as

did /dt = b (-R/X) id + iq + b ( Vd1 - Vd2) / (X) -----3.11

diq /dt = b (-R/X) iq - id + b ( Vq1 - Vq2) / (X) --------3.12

Where wb=base frequency

w=synchronously rotating system frequency
The significance of the transformation summarized as follows.
1) The physical significance of the phase transformation C1 is therefore to replace the actual
3-phase system by an equivalent system.

2) The original circuit produced in figure 3.4 gave rise to an impedance matrix with nine
non-zero terms. The transformed impedance matrix Z has only four terms.

3.3 CONTROLLER DESIGN

A control strategy, in general, should preferably, have following attributes;
1) Steady state objective (i.e. real and reactive power flows) should be readily archived by
setting the reference of the controller.
2) Dynamic and transient stability improvement by appropriate modulation of controller
reference.
 To simplify the design procedure we carry out the design of the series and shunt branches
separately .in each case, the external system is represented by simple equivalent .the design has
to be validated when the various sub-systems are integrated.

The design tasks are

1) Series injected voltage control
a) Power flow control by series voltage injection
b) UPFC part2 voltage control by series voltage injection
2) Shunt converter voltage control
a) Closed loop current (real and reactive) control.
b) UPFC part 1 voltage control by reactive current injection
c) Capacitor voltage regulation using real current injection

The basic design considerations are illustrated using simplified systems models. The
performance of all controllers is subsequently evaluated detailed simulation for a case study

3.4 SERIES VOLTAGE CONTROLLER

3.4.1 Power Flow Control

In this section ,we consider the control of real power using series voltage
injection .we carry out analysis on the simplified system shown below in figure 3.5
.the differential equations for the current at part2 in the d-q (synchronously rotating
at system frequency wo) frame of reference are given by ;

diDse/dt = b (rse/ xse ) iDse + iQse + b ( V2D - VRD)/( xse) ----------3.13

diQse/dt = b (-rse/ xse ) iQse iDse + b ( V2Q - VRQ)/( xse) -----------3.14

 Rse Xse

Ese

Vr
Vs

Fig 3.5 simplified UPFC system

Where V2D= V1D + eDse

V2Q= V1Q + eQse
The subscripts D and Q denote the variable in D-Q reference frame.
Vsd, Vsq=D-Q components of voltages at sending end bus
Vrd, Vrq=D-Q components of voltages at receiving end bus
V1D, V1Q=D-Q components of voltages at upfc part1
V2D, V2Q=D-Q components of voltages at upfc part2
Power at receiving end bus PR is appropriately equal to that at port 2 (Pu2) of the UPFC in
the steady state; Therefore we control the port 2 .since the feed back signal is readily available

P2 = V2D iDse + V2Q iQse --------------- 3.15

Power delivered by the series converter is

Pse = eDse iDse + eQse iQse `----------------------------
3.16
From the above questions we will get the actual D-Q currents flowing in the line
reference for D-Q currents is set by the real power flow and the port2 voltage.

I*Dse = (1/3) (P 2Ref /V 1)

I*Qse = (1/3) (Q 2Ref /V 1) -------------- 3.17
Advanced Control Scheme the reference voltage vector for the series device e*se is generalized
as follows :

e*dse Kr -Kq i*D iDse

= ------------- 3.18
e*qse Kp Kr i*Q iQse

From the above differential equations we can calculate the Kr, Kp Kq values. The values
are given by Kp = Kq = Xse and Kr acts as damping resistor.

Note that the control scheme comprehend both phase angle and cross coupling control
schemes .so that it can be considered a generalized control scheme for UPFC. This scheme has to
additional terms with identical gains Kr. a voltage vector produced by the two terms is in phase
with a current phasor of I*-I, paying additional polarity of ese .
The above mentioned control strategy assumes that all quantities are referred to the
synchronously revolving reference frame at bus 1 .hence the actual d-q currents

XD=iDse cos () +iQse sin ()

XQ=iDse sin () +iQse cos ()
=Tan-1 (V1Q / V1D) ----------------- 3.19

(referred to receiving end bus)are transformed based on V1 reference as above before they are
used in the above control equations .similarly the control reference are transformed back into the
synchronously revolving reference frame at receiving end bus. The transformed currents are
given by.

The assumption here for transient analysis is: the series device is assumed to be an ideal
and instantaneously controllable source. Therefore, the output voltage source ese .is equal to the
reference e*se.
3.4.2 Port 2 voltage control
The voltage at port2 of the UPFC is algebraically related to that at port1 and the series
voltage injected for power flow control. (For simplicity the series transformer reference is
clubbed with the impedance). Since all the quantities are locally available, we can easily
calculate the series voltage to be injected to obtain desired magnitude of V2.

V2 = {(V2D) 2 + (V2Q) 2}
V2 = {(V1D +e Dse) 2 + (V1Q +e Qse) 2} -----------3.20

The series injected controller diagram in d-q axis referred to bus 1 is given by

V2 Vu1 Xq

Q* Series
V2ref Voltage
+ PI _ Calculat
or

Pref +_ PI +
_
Xd
P2 Vu1
Fig 3.6 Series Injected Voltage Controller

3.5 SHUNT CURRENT CONTROL

The shunt current is controlled by the magnitude and angle of the shunt converter
voltage .the dynamic equations in the D-Q frame are given by

diDsh/dt = b (-rsh/ xsh ) iDsh + iQsh + b ( eDsh V1D)/( xsh) --------3.21

diQsh/dt = b (- rsh/ xsh ) iQsh iDsh + b ( eQsh V1Q)/( xsh) --------3.22
Where
rsh , xsh= shunt transformer resistance and leakage reactance
edsh , eqsh=converter output voltage components
V1p, V1q=voltage components at the bus into which current injected
 Id Ir
Ip

Iq

Fig 3.7 Vector representation of real and reactive currents

The real and reactive currents are defined as

iRsh = iDsh cos() - iQsh sin()
iPsh = iDsh sin () + iQsh cos ( ---------- 3.23
Where = Tan-1 (V1D / V1Q)

V1 = {(V1D) 2 + (V1Q) 2 } ----------- 3.24

The real and reactive voltage of the shunt converter is given by
eRsh = eDsh cos() - eQsh sin()
ePsh = eDsh sin () + eqshcos() ------------3.25

V1 REF + V1 - Shunt
PI Current e PSHORD
Controls
VDC REF e RSHORD
PI
+ -

Vdc

Fig3.8 Shunt current control

 In shunt control block we are calculating the shunt converter output voltages through the
drop calculator by using Id ref and Iq ref.
The deferential equations used in drop calculator are

eRsh = (-Rsh Idsh ref ) - {(xsh / b ) (dIdsh ref /dt)}+ xsh Iqsh ref +V 1d -------------- 3.26ePsh = (-Rsh Iqsh ref )-
{(xsh / b ) (dIqsh ref /dt)}- xsh Idsh ref +V 1d -------------- 3.27

V1d

Idsh ref edsh

Drop
Calculator
Iqsh ref eqsh

Fig3.9 Drop Calculator V1q

Port1 voltages are calculated by adding shunt and series currents and from the given
sending end voltage .the equations for port1 voltages calculations is
V1D = (-RseIdL ) - {(xse / b ) (dIdL /dt)}+ xse IqL +V sD ---------3.28
V1Q = (-Rse IqL) - {(xse / b) (dIqL /dt)}+ xse IdL +V sQ --------3.29

The dynamic equations for the capacitor is given by

(dVDC /dt) = {(-g cap w b VDC)/ bcap} + ( b/ bcap) (idsh-idse) --------- 3.30
Any real power drawn or supplied by the series branch or by shunt branch (due to
real currents injection Ipsh) manifests as DC side currents I DCser and I DCsh Respectively. Since
we allow variable series voltage injection and due to losses, the capacitor voltage tends change.
To compensate this by I DCsh, we set the real current reference (I psh ref) as the output of a PI type
capacitor voltage regulator.
CHAPTER4
MATLAB AND SIMULINK TOOLBOX

4.1 MATLAB &SIMULINK:

MATLAB:
MATLAB is a high-performance language for technical computing. It integrates computation,
visualization, and programming in an easy-to-use environment where problems and solutions are
expressed in familiar mathematical notation. Typical uses include Math and computation
Algorithm development Data acquisition Modeling, simulation, and prototyping Data analysis,
exploration, and visualization Scientific and engineering graphics Application development,
including graphical user interface building
MATLAB is an interactive system whose basic data element is an array that does not require
dimensioning. This allows you to solve many technical computing problems, especially those
with matrix and vector formulations, in a fraction of the time it would take to write a program in
a scalar noninteractive language such as C or Fortran.
The name MATLAB stands for matrix laboratory. MATLAB was originally written to
provide easy access to matrix software developed by the LINPACK and EISPACK projects.
Today, MATLAB engines incorporate the LAPACK and BLAS libraries, embedding the state of
the art in software for matrix computation.
MATLAB has evolved over a period of years with input from many users. In university
environments, it is the standard instructional tool for introductory and advanced courses in
mathematics, engineering, and science. In industry, MATLAB is the tool of choice for high-
productivity research, development, and analysis.
Simulink:
Simulink is a software package for modeling, simulating, and analyzing dynamic
systems. It supports linear and nonlinear systems, modeled in continuous time, sampled time, or
a hybrid of the two. Systems can also be multirate, i.e., have different parts that are sampled or
updated at different rates.
Simulink encourages you to try things out. You can easily build models from scratch, or
take an existing model and add to it. You have instant access to all the analysis tools in
MATLAB, so you can take the results and analyze and visualize them. A goal of Simulink is to
give you a sense of the fun of modeling and simulation, through an environment that encourages
you to pose a question, model it, and see what happens.
Simulink is also practical. With thousands of engineers around the world using it to model and
solve real problems, knowledge of this tool will serve you well throughout your professional
career.
The commonly used blocks of simulink are as follows

1.Bus sector:

Description

The Bus Selector block accepts input from a Bus Creator block or another Bus Selector
block. This block has one input port. The number of output ports depends on the state of the
Muxed output check box. If you select Muxed output, the signals are combined at the output port
and there is only one output port; otherwise, there is one output port for each selected signal.
2.CONSTANT

Description
The Constant block generates a real or complex constant value. The block generates scalar (1x1
2-D array), vector (1-D array), or matrix (2-D array) output, depending on the dimensionality of
the Constant value parameter and the setting of the Interpret vector parameters as 1-D parameter.
The output of the block has the same dimensions and elements as the Constant value parameter.
If you specify a vector for this parameter, and you want the block to interpret it as a vector (i.e., a
1-D array), select the Interpret vector parameters as 1-D parameter; otherwise, the block treats
the Constant value parameter as a matrix (i.e., a 2-D array).
3.GAIN

Description
The Gain block multiplies the input by a constant value (gain). The input and the gain can each
be a scalar, vector, or matrix.
You specify the value of the gain in the Gain parameter. The Multiplication parameter lets you
specify element-wise or matrix multiplication. For matrix multiplication, this parameter also lets
you indicate the order of the multiplicands.
The gain is converted from doubles to the data specified in the block mask offline using round-
to-nearest and saturation. The input and gain are then multiplied, and the result is converted to
the output data type using the specified rounding and overflow modes.
4.GROUND

Description
The Ground block can be used to connect blocks whose input ports are not connected to other
blocks. If you run a simulation with blocks having unconnected input ports, Simulink issues
warning messages. Using Ground blocks to ground those blocks avoids warning messages. The
Ground block outputs a signal with zero value. The data type of the signal is the same as that of
the port to which it is connected.
5.MUX

Description
The Mux block combines its inputs into a single output. An input can be a scalar, vector, or
matrix signal. Depending on its inputs, the output of a Mux block is a vector or a composite
signal, i.e., a signal containing both matrix and vector elements. If all of a Mux block's inputs are
vectors or vector-like, the block's output is a vector. A vector-like signal is any signal that is a
scalar (one-element vector), a vector, or a single-column or single-row matrix. If any input is a
non-vector-like matrix signal, the output of the Mux block is a bus signal. Bus signals can drive
only virtual blocks, e.g., Demux, Subsystem, or Goto blocks.
The Mux block's Number of Inputs parameter allows you to specify input signal names and
dimensionality as well as the number of inputs. You can use any of the following formats to
specify this parameter:
Scalar
Specifies the number of inputs to the Mux block. When this format is used, the block accepts
signals of any dimensionality. Simulink assigns each input the name signalN, where N is the
input port number.
Vector
The length of the vector specifies the number of inputs. Each element specifies the
dimensionality of the corresponding input. A positive value specifies that the corresponding port
can accept only vectors of that size. For example, [2 3] specifies two input ports of sizes 2 and 3,
respectively. If an input signal width does not match the expected width, Simulink displays an
error message. A value of -1 specifies that the corresponding port can accept vectors or matrices
of any dimensionality.
Cell array
The length of the cell array specifies the number of inputs. The value of each cell specifies the
dimensionality of the corresponding input. A scalar value N specifies a vector of size N. A vector
value [M N] specifies an M-by-N matrix. A value of -1 means that the corresponding port can
accept signals of any dimensionality. Signal name list
You can enter a list of signal names separated by commas. Simulink assigns each name to the
corresponding port and signal. For example, if you enter position,velocity, the Mux block will
have two inputs, named position and velocity.
6.OUTPORT

Description
Outport blocks are the links from a system to a destination outside the system.
Simulink assigns Outport block port numbers according to these rules: It automatically numbers
the Outport blocks within a top-level system or subsystem sequentially, starting with 1. If you
add an Outport block, it is assigned the next available number. If you delete an Outport block,
other port numbers are automatically renumbered to ensure that the Outport blocks are in
sequence and that no numbers are omitted. If you copy an Outport block into a system, its port
number is not renumbered unless its current number conflicts with an Outport block already in
the system.
7.SUM

Description
The Sum block performs addition or subtraction on its inputs. This block can add or subtract
scalar, vector, or matrix inputs. It can also collapse the elements of a single input vector.
You specify the operations of the block with the List of Signs parameter. Plus (+), minus (-), and
spacer (|) characters indicate the operations to be performed on the inputs: If there are two or
more inputs, then the number of characters must equal the number of inputs. For example, "+-+"
requires three inputs and configures the block to subtract the second (middle) input from the first
(top) input, and then add the third (bottom) input.
All nonscalar inputs must have the same dimensions. Scalar inputs will be expanded to have the
same dimensions as the other inputs. A spacer character creates extra space between ports on the
block's icon. If only addition of all inputs is required, then a numeric parameter value equal to
the number of inputs can be supplied instead of "+" characters. If only one vector is input, then a
single "+" or "-" will collapse the vector using the specified operation.
The Sum block first converts the input data type(s) to the output data type using the specified
rounding and overflow modes, and then performs the specified operations
8.Out port:

Purpose: provide a link to an external output and for linearization.

Description: The Out port block provides a mechanism for labeling a systems outputs. In a
subsystem, output ports correspond to outputs on the subsystem block.

9. SUBSYSTEM:

Purpose: Group blocks into a subsystem

Description: Subsystem blocks represent one system within another system. Any set of blocks and lines
can be converted to a Subsystem block with the Group command on the options menu. The Group
command removes all selected objects from the active window and replaces them within a Subsystem
block. This new block, when opened, redisplays all of the grouped objectives.
10.Voltage Measurement:

Purpose: Measure a voltage in a circuit

Description: The Voltage Measurement block is used to measure the instantaneous voltage between two
electric nodes. The output is a Simulink signal that can be used by other Simulink blocks.
11.Current Measurement:

Purpose:
Measure a current in a circuit
Description:
The Current Measurement block is used to measure the instantaneous current flowing in any electrical
block or connection line. The first output provides a Simulink signal that can be used by other Simulink
blocks.
12.ACTIVE AND REACTIVE POWER MEASUREMENT:

Description:

The Active & Reactive Power block measures the active power P and reactive power Q
associated with a periodic voltage-current pair that can contain harmonics. P and Q are
calculated by averaging the V I product with a running average window over one cycle of the
fundamental frequency, so that the powers are evaluated at fundamental frequency.
13.SCOPE:

Description
The Scope block displays its input with respect to simulation time. The Scope block can have
multiple axes (one per port); all axes have a common time range with independent y-axes. The
Scope allows you to adjust the amount of time and the range of input values displayed. You can
move and resize the Scope window and you can modify the Scope's parameter values during the
simulation.
Chapter5

SIMULINK MODELLING OF UPFC

4.1 INTRODUCTION TO MATLAB SIMULINK

SIMULINK is a software package for modeling, simulating and analyzing dynamically

systems. It supports linear and nonlinear systems, modeled in continuous time, sampled time, or
a hybrid of the two; systems can also be multirate, i.e. have different parts that are sampled or
updated at different parts.

For modeling, simulink provides a Graphical user interface (GUI) for building models as
block diagram, using click and drag mouse operations. SIMULINK includes a comprehensive
block library of sinks, sources, linear and non linear components, and connector. One can also
customize and create his own blocks.

Models are hieratical, so we can build models using both top-down and buttonup
approaches. We can view the system at a high level, and then double click on blocks to go down
through the levels to see increasing levels of model in detail.

After we define a model, we can simulate it, using a choice of integration methods, either
from the simulink menus, or by entering commands in MATLABs commands window. Using
scopes and other display blocks ,we can see the simulation results while simulation is going We
can change the parameters and immediately see that what happens for what if explanation.

Two advantages of SIMULINK are access to sophisticated routers embedded in

MATLAB toolboxes. And circuit equations are solved much faster than PSPICE .thus
SIMULINK requires less CPU run time and memory space.

For the performance evaluation of different control strategies, the numerical simulation is
carries out in SIMULINK
 As the model increases in size and complexity it can specify by grouping blocks into
subsystems. It helps reduce the number of blocks displayed in model window.
4.2 MODELLING 3-PHASE TO d-q TRANSFORMATION BLOCK

4.2.1.Description of the Power System

The single-line diagram of the modeled power system is shown in 500 kV / 230 kV Transmission
System.

500 kV / 230 kV Transmission System

A UPFC is used to control the power flow in a 500 kV /230 kV transmission system. The system,
connected in a loop configuration, consists essentially of five buses (B1 to B5) interconnected
through three transmission lines (L1, L2, L3) and two 500 kV/230 kV transformer banks Tr1 and
Tr2. Two power plants located on the 230 kV system generate a total of 1500 MW which is
transmitted to a 500 kV, 15000 MVA equivalent and to a 200 MW load connected at bus B3.
Each plant model includes a speed regulator, an excitation system as well as a power system
stabilizer (PSS). In normal operation, most of the 1200 MW generation capacity of power plant
#2 is exported to the 500 kV equivalent through two 400 MVA transformers connected between
buses B4 and B5. For this demo we are considering a contingency case where only two
transformers out of three are available (Tr2= 2*400 MVA = 800 MVA). The load flow shows
that most of the power generated by plant #2 is transmitted through the 800 MVA transformer
bank (899 MW out of 1000 MW) and that 96 MW is circulating in the loop. Transformer Tr2 is
therefore overloaded by 99 MVA. The example illustrates how a UPFC can relieve this power
congestion. The UPFC located at the right end of line L2 is used to control the active and
reactive powers at the 500 kV bus B3, as well as the voltage at bus B_UPFC. The UPFC consists
of two 100 MVA, IGBT-based, converters (one shunt converter and one series converter
interconnected through a DC bus). The series converter can inject a maximum of 10% of
nominal line-to-ground voltage (28.87 kV) in series with line L2.

4.2.2.Model of the UPFC Controlling Power on a 500 kV/230 kV Power

System (power_upfc)

Using the load flow option of the Powergui block, the model has been initialized with plants #1
and #2 generating respectively 500 MW and 1000 MW and with the UPFC out of service
(Bypass breaker closed). The resulting power flow obtained at buses B1 to B5 is indicated on the
model by red numbers. This load flow corresponds to load flow shown in the single-line
diagram, in 500 kV / 230 kV Transmission System.
DESCRIPTIONB OF THE SUBSYSTEMS: