4
July-August 2009
Abstract – The Gate – Controlled Series Capacitor (GCSC) is supposed to be an excellent tran-
smission line series compensator. In practical applications, the GCSC would be used typically for
EHV transmission lines compensation, requiring high power GTO valves. To overcome the limita-
tions due to the power range of the GTO valves, multi-module GCSC (MGCSC) can be used in a
way that several small GCSCs are connected in series with one another in order to provide the de-
sired series compensation level. This paper presents a detail analysis and evaluation of the
MGCSC while the special emphasis is given to the harmonic analysis of this device showing that
how much of harmonic levels are generated by this device, and how they can be reduced. In add-
ition, the harmonics of the power system, to where the MGCSC is connected, is studied. In order to
consider the subsynchronous resonance (SSR) phenomenon, which is a potential problem in series
compensated transmission lines, all analysis are performed in the IEEE First Benchmark Model, a
highly unstable power system to SSR, by studying the impact of the MGCSC on the SSR mitigation.
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved.
Manuscript received and revised July 2009, accepted August 2009 Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved
627
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
628
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
γ G1
Fig. 4. Total harmonic distortion (THD) of the measured current for off-
Fig. 7. Equivalent reactance of the MGCSC as function of turn-off angle.
line MGCSC Mode as function of time.
current and voltage-waveforms for one of the MGCSC
modules.
If all the switches are kept turned-on all the times, the
reactance of the MGCSC is bypassed, and there is no
compensation by this device. However, when all or
some of the switches are turned-off once per cycle, at a
given turn-off angle ( γ ) counted from the zero crossing
of the transmission line current, the MGCSC capacitor
turns-on and off alternatively in series with the transmis-
sion line, and a voltage appears on the MGCSC. The co-
Fig. 5. The generator terminal voltage for off-line MGCSC Mode. mpensation level of the MGCSC is determined by addi-
ng the fundamental component of the voltage (vC) on the
each Module of the MGCSC. In this study, it is assumed
that all the MGCSC modules have the same reactance,
III. Multi – Module GCSC (MGCSC) and they are turned-on and off simultaneously. With
these assumptions, the relationship between the equival-
ent capacitive reactance of each module of the MGCSC
III.1. Principle of operation and turn-off angle ( γ ) is given by [16]:
The Gate-Controlled Series Capacitor (GCSC) is a
very simple device with probably the simplest configu- ( X C / n)
X (n , γ ) = (2γ − 2π − sin(2γ )) (1)
ration among all FACTS devices. A single GCSC cons- π
ists of a main capacitor and two GTOs connected in
anti-parallel. The principle operation of this device is Therefore, the equivalent reactance of the MGCSC is
quite simple. It is controlled by varying the turn-off calculated as follows:
angle (γ ) of the GTOs. The GCSC is zero-voltage swit-
X (γ ) = X (n , γ ) . n (2)
ching (ZVS) equipment, that is, the GTOs always turn
on and off at zero voltage, which significantly reduces
the switching losses. Also, being ZVS device, several Fig. 7 shows the nonlinear relationship between the
single GCSCs can easily be connected in series with one equivalent capacitive reactance of the MGCSC and the
another in order to provide the desired series compensat- turn-off angle ( γ ). At the fundamental frequency, the
ion level called the MGCSC. Fig. 6 shows the principal MGCSC is equivalent to a continuously variable series
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
629
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
630
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
IV.2. Multi Module GCSC (MGCSC) the TS fuzzy controller design process are given by the
authors in [16].
Utilizing the MGCSC, depending on the number of
GCSC modules, the maximum voltage on each GCSC
modules ( VMax ) can be reduced; consequently, the THD VI. Results and Discussion
of the GCSC voltage is decreased as can be verified in
(4). It is again assumed that the maximum single GCSC
voltage is 0.6 p.u. of the system rated voltage. Then, the VI.1. SSR Analysis
number of modules increases from 2 to 10 modules. The A MGCSC with 10 modules became on-line in Fig. 2
MGCSC voltage THD for different number of modules and the system was tuned to the torsional mode 1, based
is shown in Fig. 10. As seen in this figure, when the on Table I. To verify the impact of the MGCSC on SSR
number of modules increases, the MGCSC voltage THD mitigation, a three phase short circuit was applied at
decreases. This figure also shows that the minimum point B in Fig. 2 at t=7.5 s with 0.1 s time duration to
THD is obtained about 0.8 % for the MGCSC with 10 excite the torsional mode 1 of the system. The measured
modules which is well below the permissible limit transmission line current for the MGCSC with 10
recommended in the related standards [18]-[19]. modules is shown in Fig. 12 where the fault current
increases to about 1.8 p.u. As seen in this figure, the
SSR appears in the system after applying the three phase
short circuit at frequency around 15.5 Hz, as given in
Table I; however, these oscillations are damped in less
than 0.1 sec utilizing the designed TS fuzzy controller.
This figure also shows that a low frequency oscillation
(LFO) appears in the system at frequency around 2 Hz,
as shown in Table I, which is damped in less than 2.5 s.
Fig. 10. Impact of increasing the number of modules on decreasing the
In addition, the applied turn-off angle by the TS fuzzy
MGCSC voltage THD. controller to the MGCSC is shown in Fig. 13. This
figure shows that the turn-off angle settles to its steady
state ( 113.5o ) after fault. In Fig. 14 the generator termi-
V. MGCSC turn – off angle Controller
nal voltage is shown. As seen in this figure, contrary to
Design Fig. 5, when the MGCSC works in its off-line Mode, the
In this section, the turn-off angle controller design of generator terminal voltage approximately does not
the MGCSC is presented. This controller is based on the experience any voltage distortion, and it is quickly com-
TS fuzzy controller which is shown in Fig. 11. As seen pensated by the MGCSC.
in this figure, the power calculation block diagram cal- The system were also examined for the MGCSC with
culates the line real power. This measured power is then the different number of modules and the obtained results
passed through a first order low-pass filter (LPF) and a showed that the number of modules has no effect on the
band-pass filter (BPF). The LPF with cutoff frequency MGCSC dynamic and performance in SSR and LFO
of 3 Hz is for diagnosing of the electromechanical damping, and the MGCSC with the different modules as
power oscillation in the line real power. Also, the BPF well as a single GCSC have approximately the same be-
allows only passing of the electrical power oscillations havior in SSR and LFO mitigation. Also, there is no
with frequencies between 3 and 20 Hz, which the
need to deregulate the parameters of the TS fuzzy contr-
torsional mode 1 (15.75 Hz) is in this interval. The diag-
oller for different modules. Hence, without concerning
nosis of the SSR in the line power is the duty of this
about the SSR phenomenon, the number of modules can
filter. The outputs of these two filters are compared with
a power order, and then are used as TS fuzzy logic be increased up to the desired number in order to achie-
controller inputs, namely X1 and X2, respectively. The ve the desired MGCSC rating for the desired series co-
output of the TS fuzzy controller ( Y ) is the MGCSC mpensation level. This makes it possible to use GCSCs
turn-off angle that after passing through a limiter, is fed with lower power ratings. As a result, the power rating
to a pulse generator block synchronized with the line of the GTO switches can be decreased resulting in an
current zero crossing to get the GCSC input final pulse. applicable and lower-cost configuration for series comp-
Also, in Fig. 11 there is an operation mode selector to ensation and SSR damping by the MGCSC.
prepare ability of setting manual constant turn-off angle.
Through the above operations, the G1 pulses for the
VI.2. Harmonic Analysis of MGCSC Voltage
MGCSC modules are produced. G2 to G6 pulses are pr-
oduced at the same way. The detail descriptions about It has been already shown that the number of MG-
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
631
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
Fig. 11. Takagi-Sugeno fuzzy control scheme used for turn-off angle control of the MGCSC.
Fig. 15. Comparing the instantaneous voltage of the single GCSC and
MGCSC with 10 modules.
Fig. 13. The applied turn-off angle by the TS fuzzy controller to the
MGCSC modules.
Fig. 16. Comparing the effective value of the 3rd harmonic order of the
MGCSC with 5 and 10 modules with the single GCSC.
the harmonics of the MGCSC voltage are analyzed and
evaluated.
In Fig. 15, the instantaneous voltages of the single
GCSC and the MGCSC with 10 modules in steady state
condition are compared. As seen in this figure, VMax for
the MGCSC with 10 modules is much smaller than in
Fig. 14. The generator terminal voltage for on-line MGCSC Mode.
the single GCSC; consequently, according to (4), the
MGCSC voltage THD is much smaller than the single
CSC can be increased up to the desired number without GCSC. In Figs 16 to 17, respectively the effective
concerning about the SSR phenomenon. Also, in section voltage of the 3rd and the 5th harmonic orders of the
IV, it was shown that increasing the number of modules single GCSC and the MGCSC with different modules
decreases the MGCSC voltage THD. In this subsection, are shown. As seen in these figures, using the MGCSC
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
632
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
Fig. 17. Comparing the effective value of the 5th harmonic order of the
MGCSC with 5 and 10 modules with the single GCSC.
Fig. 19. THD of the: a) generator terminal voltage b) transmission line
current as function of time.
Fig. 18. Harmonic spectra of the single GCSC and the MGCSC with
the 3, 5 and 10 modules.
and increasing the number of the modules, decreases the Fig. 20. Harmonic spectra of the generator terminal voltage.
harmonic orders value in the MGCSC voltage. Fig. 18
compares the harmonic spectra of the MGCSC voltage
for different number of modules and the single GCSC.
As seen in this figure, the magnitude of all the harmoni-
cs orders in the MGCSC voltage decreases by increasing
the number of modules.
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
633
H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie
harmonic levels in the MGCSC voltage. International Review of Automotive Control (IRACO), March
2009.
In addition, the harmonics of the MGCSC equipped [17] L. F. W. Souza, E. H. Watanabe, and M. Aredes, GTO
power system were evaluated. The obtained results controlled series capacitors: Multi-module and multi-pulse
showed that there is approximately no harmonic polluti- arrangements, IEEE Trans. Power Del., vol. 15, no. 2, Apr.
2000, pp. 725-731.
on in the transmission line current and the generator ter- [18] IEEE Std. 519-1992, IEEE Recommended Practice and
minal voltage arising from the MGCSC. Requirements for Harmonic Control in Electric Power Systems,
Published by IEEE, 1992.
[19] Electromagnetic Compatibility (EMC)—Part 3–4 Limits—
Limitation of Emission of Harmonic Current in Low-Voltage
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vol.23, no.2, April. 2008, pp. 1033-10041. Hossein Ali Mohammadpour was born in,
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Comparison of components rating,” in Proc. IEEE Power Mohammad Reza Alizadeh Pahlavani was born in Abadan, Iran, in
Engineering Society General Meeting, Toronto, ON, Canada, 1974. He received the B.Sc. and M.Sc.
Jul. 2003, pp. 2542–2547. degrees in electrical engineering in 1998
[8] G. G. Karady et al., “Continuously regulated series capacitor,” and 2002 respectively and is currently
IEEE Trans. Power Del., vol. 8, no. 3, pp. 1348–1354, Jul. 1993. working toward the Ph.D. degree in
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Pilotto, “Thyristor and gate controlled series capacitors: A Science and Technology (IUST).
Comparison of components rating,” IEEE Trans. Power Del.,
His current researches interests are
vol. 23, no. 2, July 2008, pp. 899-906.
[10] F. D. Jesus, E. H. Watanabe, L. F. W. Souza, and J. E. R. Alves, electromagnetic systems, power electronics
Jr, Analysis of SSR mitigation using gate-controlled series and electrical machine.
capacitors, in Proc. 36th IEEE Power Electronics Specialists
Conf. (PESC 2005), Recife, pp. 1402-1406, June 2005, Brazil. Abbas Shoulaie was born in Isfahan, Iran,
[11] F. D. Jesus, E. H. Watanabe, L. F. W. Souza, and J. E. R. Alves, in 1949. He received the B.Sc. degree from
Jr, SSR Mitigation Using Gate-Controlled Series Capacitor, Iran University of Science and Technology
IEEE Power Engineering Society General Meeting. (PES
(IUST), Tehran, Iran, in 1973, and the M.Sc.
2006), June 2006.
[12] F. D. Jesus, E. H. Watanabe, L. F. W. Souza, and J. E. R. Alves, and Ph.D. degrees in electrical engineering
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Series Capacitor(GCSC), IEEE Trans. Power Del., vol. 22, no. and 1984, respectively.
3, July 2007, pp. 1806-1812. He is a Professor at the college of Electrical
[13] H. A. Mohammadpour, H. Atighechi, M. R. ALizadeh Engineering, IUST. He is the author of more
Pahlavani, A. Shoulaie, Turn – Off Angle Control of GCSC than 100 journal and conference papers in the
Using Transmission Line Current Frequency Detection for SSR field of power electronics, electromagnetic
Damping and Analysis of Related Power System Harmonics, systems, electrical machine, liner machine and
17th Iranian Conference on Electrical Engineering (ICEE ), HVDC.
2009, Tehran, Iran.
[14] H. A. Mohammadpour, S. M. H. Mirhosseini, A. Shoulaie,
Comparative Study of Proportional and TS Fuzzy Controlled
GCSC for SSR Mitigation, IEEE Second International
Conference on Electrical Engineering Energy and Drives
(POWERENG), March 18-20, 2009, Lisbon, Portugal.
[15] H. A. Mohammadpour, M. R. Alizadeh Pahlavani, A. Shoulaie,
On Control of Gate Controlled Series Capacitor for SSR and
Power Oscillation Damping, 6th International Conference-
Workshop Compatibility and Power Electronics (CPE), 2009,
Badajoz, Spain.
[16] H. A. Mohammadpour, H. Atighechi, A. Shoulaie, A Takagi –
Sugeno Fuzzy Control Methodology for SSR and Power
Oscillation Damping Using Gate - Controlled Series Capacitor,
Copyright © 2009 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering, Vol. 4, N. 4
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