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    Coordinated Control of TCSC and SVC For System Damping Improvement

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    Harish Kumar
    This document describes a proposed method for coordinating a thyristor controlled series capacitor (TCSC) and static var compensator (SVC) to improve damping in a power system. A control scheme using projective controls is developed to simultaneously control the TCSC and SVC. Simulation studies on a single machine infinite bus system show that the proposed coordinated control method significantly improves system damping performance compared to without coordination of the TCSC and SVC. The coordination of flexible AC transmission systems such as the TCSC and SVC provides benefits for stabilizing power oscillations.

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    Coordinated Control of TCSC and SVC For System Damping Improvement

    Uploaded by

    Harish Kumar
    30 views6 pages
    This document describes a proposed method for coordinating a thyristor controlled series capacitor (TCSC) and static var compensator (SVC) to improve damping in a power system. A control scheme using projective controls is developed to simultaneously control the TCSC and SVC. Simulation studies on a single machine infinite bus system show that the proposed coordinated control method significantly improves system damping performance compared to without coordination of the TCSC and SVC. The coordination of flexible AC transmission systems such as the TCSC and SVC provides benefits for stabilizing power oscillations.

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    This document describes a proposed method for coordinating a thyristor controlled series capacitor (TCSC) and static var compensator (SVC) to improve damping in a power system. A control scheme using projective controls is developed to simultaneously control the TCSC and SVC. Simulation studies on a single machine infinite bus system show that the proposed coordinated control method significantly improves system damping performance compared to without coordination of the TCSC and SVC. The coordination of flexible AC transmission systems such as the TCSC and SVC provides benefits for stabilizing power oscillations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    30 views6 pages

    Coordinated Control of TCSC and SVC For System Damping Improvement

    Uploaded by

    Harish Kumar
    This document describes a proposed method for coordinating a thyristor controlled series capacitor (TCSC) and static var compensator (SVC) to improve damping in a power system. A control scheme using projective controls is developed to simultaneously control the TCSC and SVC. Simulation studies on a single machine infinite bus system show that the proposed coordinated control method significantly improves system damping performance compared to without coordination of the TCSC and SVC. The coordination of flexible AC transmission systems such as the TCSC and SVC provides benefits for stabilizing power oscillations.

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    © All Rights Reserved
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    of 6

    Coordinated Control of TCSC and SVC for System Damping Improvement

    T. Yu

    P.L. So, Member, IEEE

    School of Electrical and Electronic Engineering


    Nanyang Technology University
    Singapore 639798
    E-mail: eplso@ntu.edu.sg
    Tel: (65)790 5026
    Fax: (65) 793 3318

    Abstract: This paper proposes a combination of the Tnyristor


    Controlled Series Capacitor (TCSC) and Static Var Compensator
    (SVC) installation for enhancing the dynamic performance of a
    power system.
    The developed scheme employs a damping
    controller which coordinates measurement signals to control the
    TCSC and SVC. The coordinated control method is based on the
    application of projective controls. The effectiveness of the proposed
    controller is demonstrated through simulation studies on a single
    machine to infinite bus system. The simulation results show that the
    controller can significantly improve the damping performance of the
    system. In this paper, a current injection model of TCSC is
    introduced and included in the transmission system model. By
    using equivalent injected currents at terminal buses to simulate a
    TCSC no modification of the bus admitttance matrix is required at
    each iteration.

    Individually, the TCSC and the SVC can improve the


    damping performance of the power system. Through proper
    coordination they can be combined together for superior
    benefits. The coordination between them is important,
    otherwise unnecessary complication may arise fiom their
    dynamic interaction affecting the performance of the power
    system [2].
    In this paper, a control scheme using projective controls is
    developed for the simultaneous coordination of TCSC and
    SVC to enhance the damping performance of a single
    machine to infinite bus system. The method presented here
    demonstrates the control action of TCSC in conjunction with
    the control action of SVC to increase system damping and
    power transfer capability. Controller performance over a
    range of operating conditions is investigated using linear
    analysis and nonlinear time domain simulations. The
    simulation results show that the proposed coordinated control
    method can significantly improve system damping
    performance.

    Keywords: FACTS, TCSC, SVC, current injection model,


    coordinated control, damping enhancement.

    I. INTRODUCTION
    A problem of current interest in the power industry is the
    mitigation of power system oscillations. These oscillations
    are related to the dynamics of system power transfer and
    often exhibit poor damping. With utilities increasing power
    exchanges over a futed network, the use of new and existing
    equipment in the transmission system for damping these
    oscillations is being considered [13. The Thyristor Controlled
    Series Capacitor (TCSC) and Static Var Compensator (SVC)
    are both members of the Flexible AC Transmission System
    (FACTS) family. The TCSC is a series compensation
    component. With the firing control of the thyristors, it can
    change its apparent reactance smoothly and rapidly. This
    characteristic meets the demands of the modem power
    system that must operate flexibly and react quickly. The
    SVC is a shunt compensation component. It is originally
    designed for voltage support in power systems. Much as the
    TCSC, the SVC is also capable of rapid and flexible
    adjustment [ 2 ] .

    Paper accepted for presentation a t the International


    Conference on Electric Utility Deregulation and
    Restructuring and Power Technologies 2000,
    City University, London, 4-7 April 2000.

    11. SYSTEM MODEL

    In this paper, a current injection model is derived for the


    TCSC device. The current injection model is obtained by
    replacing the voltage across the TCSC with the current
    source. By using equivalent injected currents at terminal
    buses to simulate a TCSC no modification of the bus
    admittance matrix r b , is required at each iteration. This
    method has the advantages of fast computational speed and
    low computer storage compared with that of modifying the
    Ybm method.
    In addition, the model can easily be
    incorporated in a dynamic simulation program, Power
    System Toolbox [3].
    A.

    TCSC Current Injection Model

    A TCSC connected between nodes i and j in series with a


    line reactance j X r and its current injection model are shown
    in Fig. 1 through Fig. 4. In this study, the TCSC is treated as
    a variable capacitance.

    Fig. 1. Representation of a TCSC

    0-7803-5902-W00/$10.0002000 IEEE.
    7

    ixl

    - +

    A SVC connected at node j and its current injection model

    jB.wc

    -2SVC
    I

    Fig. 3. Replacementof a voltage across the TCSC by a current source

    Fig. 5. Representation of a SVC

    Fig. 6. Current injection model for a shunt compensated SVC

    Fig. 4. Current injection model for a series compensated TCSC

    where

    Ti and ij are the complex currents at nodes i and j ,

    Y;Lei and V i l e

    where l j m C is the complex injected SVC current at node j .


    From Fig* it can be shown that

    are the complex voltages at nodes i and j ,

    vc

    and
    represents a voltage across the TCSC. From Fig. 1
    and Fig. 2, it can be shown that

    Ijmc = - j V .JB m c

    (5)

    111. STRUCTURE OF DAMPING CONTROLLER


    (1)

    V, = - j I j X c

    The damping control problem is to design a controller of


    the form U = ky , and leads to a closed-loop system of the

    (2)

    form:

    The injection model is obtained by replacing the voltage


    by a current source ljsin parallel with the line (Fig. 3).
    Thus, we have the current injection model of TCSC as (3)
    and (4), which is shown in Fig. 4.

    X = ( A - BKC)X

    where U and y are vectors of control and measurement


    signals, respectively, and A , B and C are the state, input
    and output matrices, respectively. The control design method
    is based on projective controls [4, 5 , 6 , 71. In this paper, two
    measurements and two control signals are used. Thus, the
    controller has the form

    (3)

    (4)

    [-I

    where Kc = X,/Xl is the compensation level of the TCSC,


    which refers to the line in which the TCSC is installed.

    SVC

    [KI
    K21

    K~2]rV3
    K22

    M1-3

    (7)

    where the matrix K coordinates the control signals urSc and


    usyc (input signals into the TCSC and SVC) with the

    selected measurement signals AV3 , the voltage magnitude


    the real power flow deviation
    deviation at bus 3, and U,-,,
    in line 1-3 (see Fig. 7 and Fig. 8).

    TCSC injected

    The complete damping controller is shown in Fig. 7 [8, 91.


    In practical considerations, the candidate measurements are
    restricted to be network variables in the area of TCSC and
    SVC locations. The controller also includes a washout block
    serving as a high-pass filter, with the time constant T, high
    enough to allow signals associated with oscillations to pass
    unchanged, and a simple filter with a time constant of T, to
    eliminate interactions at higher frequencies [l]. The
    controller parameters are given in the Appendix.

    Fig. 9. The equivalent circuit of the study system with FACTS devices

    After the FACTS devices are employed, the phasor


    diagram of the study system is shown in Fig. 10. It can be
    seen from Fig. 10 that by adjusting the injected currents at
    terminal buses, the system bus voltages can be changed
    following the FACTS devices regulation.

    Fig. 7. Damping controller

    Fig. 10. Phasor diagram of the study system with FACTS devices

    IV. THE STUDY SYSTEM

    Based on the system, a gain matrix K of the damping


    controller was computed by using projective controls [4, 5, 6 ,
    71 and is given by

    A simplified model of a power system is used in this study.


    The system consists of a single machine connected to a large
    system through two parallel transmission lines as shown in
    Fig. 8. The locations of TCSC and SVC are indicated. To
    investigate the performance of the proposed controller and
    the system behavior under large disturbance conditions, a
    three-phase fault was applied at 0.1s on line #2 near bus 3 for
    0.1s followed by the permanent tripping of the line. The
    equivalent circuit of the study system is shown in Fig. 9,
    where the FACTS devices are modelled as injected currents
    at terminal buses. In the program, modelling of FACTS
    devices and designed coordinated controller are included so
    that the dynamic performance of the study system with and
    without a coordinated controller can be evaluated. In Test
    Case 1, the power transfer is FO.9 P.u., and in Test Case 2,
    the power transfer is P=l. 1 p.u.
    Bus 1

    11

    K=[

    A. Small Disturbance Analysis


    For small disturbance stability studies, the TCSC injection
    , and the
    currents Tis and Tis, SVC injection current ljmc

    nodal voltages
    and
    corresponding to the injection
    model are expressed in the network D-Q reference frame to
    couple with other components through the network. Then the
    algebraic equations (8) through (13) of the FACTS injection
    model are obtained as

    tine # I

    40.1890
    -5.3470 -0.1034

    V. SIMULATION RESULTS

    Bus 2

    TCSC Bus

    - 59.5026

    tine#2

    Fig. 8. A single machine-infinite bus system


    with TCSC and SVC

    variables to the major disturbance. It is observed fiom these


    figures that the proposed controller can greatly improve
    system damping.

    Based on this system condition, the linearized state model


    was formed and the eigenvalues of the system without and
    with coordinated FACTS controller were computed for two
    different operating conditions.

    100.;
    90.
    80-

    870'

    1) Test Case 1: P = 0.9 p.u.

    60.

    50.

    Table 1 shows the system critical mode without and with


    the controller. From Table 1, it can be seen that the damping
    of the system is greatly improved by the addition of
    coordinated FACTS controller.

    40 -

    !!

    30
    20

    "

    "

    Table 1. Effect of coordinated FACTS controller on the


    system critical mode (FO.9 P.u.)

    Without FACTS

    WithFACTS

    Eigenvalue

    Damping
    Ratio

    Frequency

    -0.37 k j l 1 .30
    -6.24k j12.08

    0.0324
    0.4594

    1.7977
    1.9218

    "

    Time (s)

    '

    '
    9

    10

    10

    (a) Machine angle

    (W
    1.2

    2) Test Case 2: P = 1.1 p.u.


    In order to demonstrate the effectiveness of the proposed
    controller, the level of power transfer is increased &om 0.9
    p.u. to 1.1 p.u. The system critical mode without and with
    the controller is given in Table 2. From the results, it is seen
    that the damping of the system is still improved, thereby
    allowing the system to operate at a higher power transfer
    level.
    (b) Voltage magnitude at bus 3

    Table 2. Effect of coordinated FACTS controller on the


    system critical mode (P4.1 P.u.)

    I
    WithFACTS

    Eigenvalue

    Damping

    -4.Olfjl1.99

    0.3170

    Frequency

    1.9082

    B. Large Disturbance Analysis


    To simulate the system behaviour under large disturbance
    conditions, a three-phase fault was applied at 0.1s on line #2
    near bus 3 for 0.1s followed by the permanent tripping of the
    line (see Fig. 8).
    .".&

    1) Test Case 1: P = 0.9 p.u.

    Fig. ll(a) through Fig. ll(c) show the simulation results


    for the case with coordinated -FACTS controller compared
    with the case without coordinated FACTS controller in the
    system. These figures show the responses of system

    Time (s)

    (c) Machine electrical active power


    Fig. 11. System responses with and without FACTS controller
    with FACTS controller
    -- without FACTS controller

    Fig. 12(a) and Fig. 12(b) show the responses of TCSC and
    SVC outputs to the major disturbance, respectively.

    4"

    10

    Time (s)
    (a) Machine angle
    Time (s)
    (a) TCSC output

    (b) Voltage magnitude at bus 3

    (b) SVCoutput
    Fig. 12. Responses of FACTS outputs
    ?

    2) Test Case 2: P = 1.1 p.u.


    Simulation results showing the behaviour of system
    variables are shown in Fig. 13(a) through Fig. 13(c) when
    coordinated FACTS controller is considered and not
    considered in the system. It can be observed from these
    figures that when the power transfer is increased from 0.9
    p.u. to 1.1 P.u., the coordinated FACTS controller can still
    provide positive damping to suppress the sustained
    oscillations.
    It c m be concluded that the designed
    coordinated controller can effectively damp out very large
    oscillations with a good effect at a load-increased condition.
    The damping performance of the system is also improved.
    The coordinated control of two FACTS devices is hence
    satisfactory.

    Y..,

    Time (s)

    10

    (c) Machine electrical active power


    Fig. 13. System responses with and without FACTS controller
    - with FACTS controller
    -- without controller FACTS

    Fig. 14(a) and Fig 140) show the responses of TCSC and
    SVC outputs to the major disturbance, respectively.

    11

    . .

    VIII. REFERENCES

    (a) TCSC output

    0 . 1 - .

    '
    2

    0.08.

    0.06.
    0.04.
    0.02.

    =?

    0-

    -0.02 -

    -0.04 -

    -0.06 -0.08 -

    -0.1

    [I] J.J. Sanchez-Gasca, "Coordinated control of two FACTS devices for


    damping interarea oscillations," IEEE Trans. on Power Systems, vol.
    13, no. 2, May 1998, pp. 428-434.
    [2] S.K. Tso, J. Liang, Q.Y. Zeng, K.L. Lo, and X.X. Zhou, "Coordination
    of TCSC and SVC for stability improvement of power systems," 1EE
    Intemational Conference on Advances in Power System Control,
    Operation and Management APSCOM'97, Hong Kong, November
    1997, pp. 371-376.
    [3] Joe Chow, Cherry Tree Scientific S o h a r e : Power System Toolbox,
    ver. 2, 1997.
    [4] W.E. Hopkins, 1. Medanic, and W.R. Perkins, "Output feedback pole
    placement in the design of suboptimal linear quadratic regulators," Int.
    Jou. Cont., vol. 34, 1981, pp. 593-612.
    [5] J. Medanic, and Z. Uskokovic, "Design of optimal output regulators for
    linear multivariable systems with constant disturbances," Int. IOU.
    Cont., vol. 37, 1983, pp. 809-830.
    [6] J. Medanic, and Z. Uskokovic, "Design of decentralized static and loworder dynamic regulators for large scale systems," Conference on
    Decision and Control, San Antonio, USA., December 1983.
    [7] D. Amautovic, and J. Medanic, "Design of decentralized multivariable
    excitation controllers in multimachine power systems by projective
    controls," IEEE Trans. on Energy Conversion, vol. EC-2, no. 4, pp.
    598-604.
    [SI J.P. Paserba, N.W. Miller, E.V. Larsen, and R.J. Piwko, "A thyristor
    controlled series compensation model for power system stability
    analysis," IEEE Trans. on Power Delivery, vol. 10, No. 3, July 1995,
    pp. 1471-1478.
    [9] lEEE Special Stability Controls Working Group, "Static V ~ I
    compensator models for power flow and dynamic performance
    simulation," 93 WM 173-5 PWRS, IEEEPES Winter Meeting, 1993.

    J
    *
    1

    "

    '

    '

    '

    IX. APPENDIX

    '

    Controller Parameters:
    (b) SVCoutput
    Fig. 14. Responses of FACTS outputs

    VI. CONCLUSIONS
    Lmprovement of power system damping through
    coordinated control of TCSC and SVC has been investigated
    in a single machine to infinite bus system. An output
    feedback controller has been designed using projective
    controls. The controller coordinates two measurement
    signals to control the TCSC and SVC. The effectiveness of
    the proposed controller has been demonstrated through
    simulation studies under a range of operating conditions.
    Simulation results have shown that the coordinated control
    scheme applied to the TCSC and SVC can effectively damp
    system oscillations following large disturbances.

    VII. ACKNOWLEDGEMENT
    The authors gratefully acknowledge the financial support
    provided by Nanyang Technological University, Singapore.

    X. BIOGRAPHIES
    T. Yu received his B.Eng. degree in Electrical Engineering from Shanghai
    Jiaotong University in 1992, P.R. China. From 1992 to 1998, he was an
    Engineer in China Electronics Engineering Design Institute, P.RChina. He
    joined the Nanyang Technological University in 1998 and is now pursuing a
    M.Eng. degree. His research interests are power system stability and
    FACTS.

    P.L. So joined China Light & Power Company Limited, Hong Kong, as a
    General Assistant Engineer in 1980 and later as Second Engineer working in
    the field of power system protection. He left this company in 1991 to further
    his studies in the U.K. He received his B.Eng. degree with first class
    honours in Electrical Engineering from the University of Warwick in 1993,
    and his Ph.D. degree in Electrical Power Systems from Imperial College,
    University of London in 1997. He is currently an Assistant Professor in the
    School of Electrical and Hectronic Engineering, Nanyang Technological
    University, Singapore. His main research interests are power system
    dynamics, stability and control, and applications of AI techniques in power
    systems.

    12

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