LINEAR FEEDBACK CONTROLLER FOR D-STATCOM IN DPG FAULT APPLICATION

S. Aizam I", Kok. B.C.

"', N. Mariun (2), H. Hizam (2) and N. I. Abd Wahab(2)

(1) University College of Technology Tun Hussein Onn, Malaysia, (2) University Putra Malaysia, Malaysia

ABSTRACT
This paper presents the application of linear feedback controller on Distribution Static Synchronous Compensator (DSTATCOM) for mitigating Double Phase to Ground (DPG) fault at the distribution system. The pole placement technique is applied by shifting the existing poles to the new poles locations for fast response compare to the conventional controller. This type of inverter control is very useful in D-STATCOM application which controls the inverter to inject the unbalanced current or voltage or both for mitigating the fault condition that occurs at the distribution system. The controller will give respond to the lines that are affected by the fault and restore the system to its normal conditions. The simulation and design of the controller is done using MATLAB software with Power Blockset Toolbox and SIMULINK.

INTRODUCTION
D-STATCOM has been implemented in distribution system rather than transmission system because it is where most of power quality problems occur. DSTATCOM is a shunt device that generates a balanced three phase voltage or current with ability to control the magnitude and the phase angle [1]. These parameters are varied by referring to absorbing or generating VAR at the faulted system that happen in milliseconds. The absorbing or generating VAR is proportional to the injected currents from the inverter which is controlled by the controller. Because of the faulted time period, it needs a controller that gives fast response which operates in milliseconds. The D-STATCOM is a Multi Input and Multi Output (MIMO) system. Due to this advantage, the controller that gives better performance and fast response can be designed. The new controller must have a capability to give fast response to any changes of the operating point in the system.

feedback controller and the proposed controller is it has been design using Signal Flows diagram with feedback loops of the gain rather than using transfer function which needs more equations.
In this linear feedback controller the combination of input-output pole placement method as well as DQ transformations are utilized. Pole placement method is used to shift the existing poles from the right to the left of the complex diagram, in order to increase the stability of the system and damping response [1]. Another advantage of using the pole placement method is the DSTATCOM is a MIMO system which is based on dynamic model rather than phasor diagram [4] and is also known as a discrete time control technique with close loop poles [3]. The DQ transformation is applied to change the 3 phase system into vector representation system by reducing the number of equations for designing the controller circuit. In this paper, the DSTATCOM with the linear feedback controller is applied on an llkV distribution system and was tested in DPG fault situation.

Generally, the controller of the D-STATCOM is a Proportional Integration (PI) controller which is not suitable to operate at all operating point [2] and gives low response which is about 100 ms [1]. This will cause the injected currents from the D-STATCOM gives slow response to mitigate the faulted lines. One of the methods to solve these problems is by using the pole placement method. This method has been used because
it consistence to any changes in the operating points and gives fast response. This linear feedback controller is design based on pole placement method and it is not widely used as the D-STATCOM controller. This type of controller has been used in D-STATCOM application [1,3] The different between the existing linear

TRANSFORMATION OF D-STATCOM
In designing the linear feedback controller, the state space equations from the D-STATCOM circuit must be introduced. The theory of DQ transformation of currents has been applied in the circuit, which makes the d and q components as independent parameters. Figure 1 shows the circuit diagram of the D-STATCOM. It consists of Voltage Source Converter (VSC), dc energy storage device and a step down transformer connected in shunt with the ac system.

986

Distribution Line

_
|

IMeasure{ Variables
vs

ILOI | @

-RSb Icbk

b
-R swb

cos(a)
(Obk sin(a)
0

Wables

[AV]=

-'b
-3!kCwbcos(a) 2

Step Down Transformer

HARMONIC BLOCKING REACTOR

3 PH ASE

L-

.4

1~~~~~~~~~~~~~~~~~~~~~~o kicob dc 1 b-v

vj
C C ONTRO L

3-kCobwsin(a) 2
b

Rp

I~~~~~~~~~-

Ikbd -sin( a) L
cos( a)

[BV ]= 0
0

dc capacitor

Note: Vi -inverter output voltage Vs - system voltage Figure 1 D-STATCOM Configuration

2 kC cob (i d sin( a) - i q cos( a))

The configuration of Figure 1 can be simplified to single phase diagram as shown in Figure 2.
Rs

1.

2
/; ) -J
v

The prime parameters indicate the p.u values. The DSTATCOM parameters (in p.u.) used in the following discussion are given as, as, a= 0; V ?L= 0;V dc= 1.0; L: =0.1; R', =0.01; k=1.273; cb=314;C = 2.275; i d = 0.082 ;i q = -0.048

/; L

Substituting the above values into Equation 5 produces the complete equation as follows,

Figure 2 Single Phase Diagram

The equations for single phase diagram can be written

as,

dt

0 0 d id --31.4 314 314 3997.22 id + -3140 0-31 ~~Iq + 0 0 =-314 -31.4 5396247 bz iq iq 0 vdc -136405 0 v'dc 0 65.474
I

di L + R s + L R d i+ + v = e di L dt= e - v - R s .

(1) (2)

e-v di (3) L L dt The loop equation for the circuit may be written in vector as, vector as,
+

This equation will give the existing poles to have highly damp and high frequency oscillation at the operating points which are located at -15.92346j and -30.8. These point locations are not suitable in designing the D-STATCOM controller due to the existing poles

~~~~~LINEAR FEEDBACK CONTROLLER DESIGN

1In designing the linear feedback controller, the new poles must satisfy a few conditions stated below, * the oscillations in id, iq and Vd, must respond less then one period of cycle due to system frequency which is 50 Hz L4], theqoershoot of 5dn ms a po the ovoltag Of th capacitor (e shouldb M t khe voltage of the capacitor (Vdo should be kept constant [4, 6] in the controller, * id must give zero output because it represents the active power [1].
[3] where one of the pole locations is needed to be at the origin to fulfill the requirements stated above. In designing the controller block diagram using done ~~~~~~~~~~SIMULINK-MATLAB application isbased to after the new poles locations have determined Figure 3

abc dtj'abc

Labc L ac

(eabc-vabc) bc

(4)Rs

Equation 4 represents the D-STATCOM circuit without DQ transformation. After the DQ transformation and linearization process to Equation 4, the state space for D-STATCOM is shown in Equation 5 [5],

dt!

dIq'

F-d j

F-d -

= [A ]
V

Iq +[By] +

v dc

'V'dc

ac-

(5)

The new p oles locations are then selected according to

where

987

concept. This figure shows the block Equation 5 with a Kp feedback block which is used to stabilize and increase the response system where the gains are determined from the new poles locations.
Output
t
(id,

diagram based on Figure 4 and the complete signal flow is given in Figure.5.

Vdc
__
id

__

Ref

d'_ji

dd, i, Vdc)

iq

___

'

Inu

d Kp x(t)

N.-

Vdcf

Figure 3 Control Block Diagram

iK
Figure 5.Signal Flows Diagram of Linear Feedback Controller

The new poles locations and the Kp values can be determined by writing the program in MATLAB M-File referring to Figure 3 flow diagram. Figure 4, shows the response of the new poles locations which are at (5000 2346j, 0) to fulfill the conditions in designing the linear feedback controller and the values of Kp gains,

id 0.060.04 0,02

0.3 -

iq 0.2 0.1
irin

The outputs of this controller which are id and iq have been used as reference signals to generate the triggering signals to the power electronic devices and the Vdc is the input to the inverter. The concept of the sinusoidal pulse width modulation (SPWM) has been applied by comparing the references signal with the carrier frequency. The magnitude of the reference sine waveform must be in the range of [-1 to 1] for switching application. The generated pulses from the linear feedback controller are shown in Figure 6. Figure 6 shows the firing pulse from SPWM. There are 3 pairs of pulses which are pulse 1 and 2, 3 and 4, and 5 and 6. The firing pulses for 1 and 2 must have the opposite direction because, inverter 1 and 2 are located at the same arm which means it must not operate at the same time.
ls
I

0.05 LLLIL L LL LLL I ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~II ffi o

0.

0.0Z. 0.02

0.03

0.03.

0.04

0.055 0.045 0.05 0.06

VdCO.6
0o025 0o02
0 03

0o035

0.04

0.045

0o05 0o055 0o06

repne the V1 is kept contan duin the0irllaio1St00.025 00]t ]0jt 0.045 00.02 0.03 ,A 0.035 0.04 From Figure it shows that the id, iq andVdc give fast 0Figure 6 S response, the Vdc is kept constant during the simulation and the id iS maintain zero before designing the 19 controller. From this simulation it is indicated that the
applicationl STATCOMNIar 11;IV forDPGfalt
C'1- r

Figure 4 Response of The New Poles to The System

0.055 0.05 0.06

1+

apliatin.h 1-

ki '~BH1UUH

HI

IID[JHH[HJ

D-STATCOM CONFIGURATION FOR DPG FAULT SIMULATION

The system shown in Figure 7 has been simulated using MATLAB software. The system parameters and the transformer data for the simulation are given in Table 1.

DPG period, the current in lines A and B are less than the current in line C. Load Voltg 2 II

rA

~~~~~~~~~~~~~~~~~A,

Source Voltage 1
lnl

1.17 Ti.

V-~~Tim

ToePablmen 1Sse

h -TTO sapidi thDPfalan Figur Wih DPGFaulta) VotageLoadand~n 8 aab)CretLa

>he

0 0.05 0.15 0.1

0.2

~~ 0.25 ~

0.3

0.40.35

i pedane Source~~~~

18

0i

esrda h

-TTO 110 005i1u05r0 inverter

ane Fodigur 7.63.11j D9TACO gea1oVlWnthe Ditibto Sourt impedanc e Volta ind Fault SytmFgr timeht
|0.0l+3l.4jQ Transfource impedance SIMULATION RESULT

ith DPG is aplited. D amut ad-STATCO Fesentaut a)e Voltfaget tthoadan and TheL sut is ru an oalultp are ishownui sethe
is mea 10 ~~~~~0IN~

Ith F m D-stA

inverter. In Fie

System trnforeqen

501 HzV

Fiur .8 ansedit mesredvatuthe load siden whileAFigur 9

Load impedance72.6+35.1618j

~be9auansb it canobfesee tha the DPG fault. ato theioa

The simulation of the D-STATCOM in fault condition is done by using DPG faults. The duration of the fault is curets Ia=8AJb=9AadI~=lS uigte.0 stfor 0.2 sec and the total simulation time is 0.4 sec. n14Slala

because it ihos nlot affec tesonthe DPGe

Tine

faulest.a Fromths.

InDGfauLlt siultion thefulvB:t introuce ait d is n lines

for 0.4 sec with fault occurring from 0.1 sec to 0.3 sec. The results for the simulation are shown in Figure 8 that Figsured at oand b show theloadvoltageandtheload current at the distribution system. Figure 8a, it shows
0 0.05 01 ______ 015

0.2

0.25

0.3

.S

0.4

measuredatloadside. 5074

Cur entatload~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~Clren ala

bUre16%. Fgur 8bA showsthe mneasured values for line

the voltage sag appeared during the DP fault and the

fault period and the percentage of unbalanced current is about 11%. The unbalanced current occurred is high and needs to be reduced to a level below 2%. During the

0 0.05 01 0.2 0.25 0.15 0.3 0.35 0.4 Figure 9 Mitigation of DPG Fault a) Voltage Load b) Current Load

I0W

_____________
ltl

ll

71.ltVySTalyValyVa

989

l00

InjectedCunentatD-STATCOM

-A

are affected to the fault and during no fault condition it will inject the currents to make the system meet the normal value and the response time is about 20ms faster from the PI controller that response in lOOms.

REFERENCES
1. Rao, P, Crow, M.L & Yang, Z, STATCOM Control for Power System Voltage Control Applications, IEEE Transactions on Power Delivery, Volume 5, 1311-1317, Oct2000.

Figure 0 Mitigation ofDPGFaultInjectedCu 1

2. Sahoo, N.C, Panigrahi, BoK, Dash, P.K, & Panda, G, Application of a Multivariable Feedback Linearization

Scheme for STATCOM Control, International Journal of Electric Power Research, Volume 62, 81-91, June

005

response to ad squnc.heinetecrrnt

0a10t15 0f2 l25 0 0a3

at Load

0.35

0.4

3. Ghosh, A, Jindal, AK, & Joshi, A, Inverter Control Using Output Feedback for Power Compensating Devices, TENCON 2003 Conf. on Convergent

Figure 10 Mitigation of DPG Fault Injected Current

Tc 4. Xing, L, A Comparison of Pole Assignment and LQR

maintain the showsthat to 1ip.ujsysted cuets fm tes s theigure0 shows i te chos from the DF tat, eferncenputto haenrleisfxdt1.Ts 1

6Design
.

Methods

For

Multivariable

Control

for

current compare to phase A and C because this phase is n response to Vab andeVb sequence. The injected current is almost constant during fault and without fault because the reference input to the controller is fixed to 1. This will causes the D-STATCOM to inject the currents to maintain the system toi p.u system. It can be seems that, from the DPG fault analysis, it shows that the DSTATCOM with linear feedback controller is able in controlling the line currents that need to be injected for the DPG mitigation.

STATCOM folum Paciic-306o, 2003 Dstechnoloion, Florida State University,48uly 2003 Asia Schauder, C, & Metha, H, Vector Analysis and Control of Advanced Static Var Compensators, IEE Proceedings on Generation, Transmission and Distribution, Volume 140, 299-306, July 1993

6. Gonzalez, P.G, & Cerrada, A.G, Control System for PWM-Based STATCOM, IEEE Power Engineering Society Summer Meeting, 1252-1257, 2000

AUTHOR'S ADDRESS CONCLUSION

SHAMSUL AIZAM

The modeling of linear feedback controller for the DSTATCOM is presented in this paper. The linear feedback controller is capable to control the injected current from the inverter for DPG faults correction. The efficiency of the controller is studied by simulation on a distribution system with the DPG fault. The DSTATCOM will inject more currents to the lines that

Department of Electrical Power Engineering Faculty of Electrical and Electronic Engineering University College of Technology Tun Hussein Onn 86400 Panit Raja, Batu Pahat Johore, Malaysia
email:

aizam@kuittho.edu.my