/A/_JO

NASA Technical Memorandum 105326

Development of a Single-Phase Harmonic Power Flow Program to Study the 20 kHz A.C. Power System for Large Spacecraft

L. Alan

Kraft University Indiana

Valparaiso Valparaiso, and

M. David Kankam Lewis Research Center Cleveland, Ohio

November

1991

:_9Z-

13275

TABLE OF CONTENTS

NOMENCLATURE

.....................................................

iii 1 1 3 4 11 12 17 21

Abstract .............................................................. 1. Introduction ......................................................... 2. Operation of the Mapham Inverter ..................................... 3. Modelling the MaDham Inverter ....................................... 4. Operation of the Single Phase. Voltage Controlled Rectifier. ............. 5. Modelling the Single Phase. Voltage Controlled'Rectifier. 6. The Harmonic Power Flow Algorithm .................................. 7. Modifying the Harmonic Power Flow Algorithm ......................... ...............

8. _

...........................................................
and Recommendations ..................................

24
27 29 30

9. Conclusions

LIST OF REFERENCES

................................................

Appendix A ...........................................................

PRECEDING

PAGE BLAP.]K P,_O_! FILI'_EL)

iii

NOMENCLATURE

a AC

Coefficient Alternating Matrix A

of a polynomial current

[A] [A]r [Ao_]

A (i) AA
(Z

Transpose Matrix The The

of matrix

A at the

i m iteration component of A

i th harmonic change in A

Real component Coefficient

of a complex

frequency

b
C

of a polynomial of a complex Fourier coeffiecient

Real component Capacitance Imaginary Magnitude Normalized Direct current

C d D D' DC f GDC I

component of a complex value of D

of a complex Fourier

Fourier

coefficient

Coefficient

Frequency General Current Current Imaginary Dynamics magnitude in the frequency component domain of A Corporation

I(s)
im[A] J [J] [Jij] L

(.I) 's
Jacobian i,j element Inductance matrix of the Jacobian matrix

iv Substitiute for {[ 4/(LC) K K

6)

- (1/RC) 2 ]'s}/2

Magnitude of a coefficient of a partial fraction Complex coefficient of a partial fraction Imaginary component Poles of a circuit Real power of a complex frequency

Q R Re[A]
S

Reactive volt-ampere Resistance Real component of A

Complex frequency Silicon controlled rectifier Substitute for 1/(2RC) Total harmonic Time constant Period of a sinusodial waveform distortion

SCR O THD
f

Angle of a complex Fourier coefficient Angle of a coefficient of a partial fraction

v v x z

Voltage magnitude Voltage in the frequency Reactance Complex impedance domain

Development of a Single-Phase Harmonic Power Flow Program to Study the 20 kHz A_ Power System for Large Spacecraft
L. Alan Kraft* University Indiana 46383 and M. David National Kankam Aeronautics and

Valparaiso Valparaiso,

Space Administration Lewis Research Center Cleveland, Ohio 44135

Abstract
This report describes power systems the development of a software to aid in the design version and analysis of AC

for large spacecraft. (EPRI) harmonic

The algorithm power

is an improved

of Electric

Power

Research AC power power

Institute's quality.

flow program,

"HARMFLD", systems

used for the study of typified systems. by terrestrial The modified 60 hz to and

The new program

is applicable

to three-phase

systems,

and single-phase accommodates

systems

characteristic

of space power

"HARMFI.D" beyond

system

operating

frequencies

ranging from terrestrial harmonic

aerospace

20 kHz, and can handle both source and load-end

distortions.

Comparison a satisfactory the software,

of simulation

and test results

of a representative

spacecraft

power

system

shows to

correlation. to enhance

Recommendations its usefulness

are made for the direction system designers

of future

improvements

to power

and analysts.

The advent Additionally, equipment presence

of large spacecraft

has resulted

in their increased more capability

electrical

energy

consumption. human and the

planned support.

space exploration These requirements

will require

for extended system.

are well served

by the AC power end of currently problems resonance.

However,

of switching

devices

in the converters nonlinear

at the source

proposed, in the power

spacecraft system.

AC system

and their connected problems generated

loads can cause

several

One of the more serious whereby modes 1990 the harmonics caused

is the occurrence by the switching

of harmonic devices

This is a phenomenon loads excite resonant

and the nonlinear reactance

by cancellation Summer

or near cancellation Faculty Fellow

of inductive at Lewis

by capacitive

reactance.

NASA/ASEE

Research

Center.

Among

theproblems caused by voltageand currentresonance in a power system areinsulation

failure ue to ovcrvoltagc, d equipment malfunctionresulting rom high frequency and multiple f zerocrossingsof distorted waveforms, radio-frequency noise,and transmissionand equipment current overloads. Generally,thegeneratedharmonics tend to worsen theoverallpower quality.

This report describes evaluating spacecraft terrestrial resonance power power

a harmonic

power

flow prOgram, "HARMFLO," which

for identifying or large

and

problems,

among others,

can occur in either terrestrial systems

systems. systems,

The program and single-phase

accepts

both three-phase characteristic ranging

commonly power

found in systems.

systems

of spacecraft from terrestrial

The applicability aerospace system.

of the program

encompasses and harmonic

frequencies distortion

60 Hz to of the power

20 kHz and beyond,

at the source

- and load-ends

In its present phase, the harmonic Mapham developing features Mapham inverter systems inverter [1], a key subsystem the algorithm.

power

flow program

contains

a mathematical power

model of a system used in

of a representative In consideration

20 kHz spacecraft of payload

and testing of lightweight inverter model during

of criticality

weight,

the salient

and simple design,

with a minimum

number of components, applications. analysis

make the of the power

an attractive

source of AC power for spacecraft can expedite required performance and operation

Inclusion

in the algorithm their design

of the spacecraft inverter is well operation

phase. [1-3].

The design Hence,

of the Mapham aspects

documented

in the literature its modelling

only the particular in this report.

of the inverter

which impacts

are discussed

Another voltage

essential

subsystem

of the representative

power

system

used is the single-phase problems in

controlled system,

rectifier.

As a potential model

source of harmonic for this rectifier

current with attendant

the power

the mathematical

is also developed.

Simulated test results. flow program

preliminary

results obtained included

from the algorithm

compare

favorably

with published to the power

Recommendations

in the report system

point to future enhancements designers and analysts.

to make it more useful to power

2. Operation

Of the Mapham

Inverter

The circuit Mapham Figure 1. inverter The

diagram

of a in are
E_ L r12

is shown SCR's

switched at the desired frequency, f.. This

output

switching the
y _ Lr,2 l_j_t_._Csl Lr'2

reverses the current through capacitor, C r. resonates determined combination The reversing when the at by This a

current frequency
Figure

Vo

1 - Circuit Diagram of a Mapham

Inverter.

the

series
L r , and C r .

of the inductor, of the

current current will as an

at a time
_'"/

resonating half cycle

is

in

its the

negative inverter's

sustain AC

!i.
Ja-e6 4u.u 5r==8 ,_) era-o= on-e

operation

source.

Figures 2 through in the Button reversing inductors, publication and

4, which can be found by Sundberg, [3], Brush, the the

. O.4

Figure

2 - Current

ILl

Patterson

show

currents, Lr/2,

ILl and I_, though and the total

resulting to note f r, is in the This currents

=.

l\
/

/\
/

current through that unless

C r. It is important frequency, occurs

!i
0o Ju-os

the resonant

*a-n T1NI

es.lm (liemud=)

H-os

the same as f., a distortion capacitor distortion current results

waveform. in harmonic

Figure

3 - Current I,=.

which are injected by the inverter. the load

into the power system Since the impedance across the of

placed

output
fr ,

!..
i -o.o' =s.eo

_/
.s.es ztcl el-el (In*_m_)

\/
=-es

terminals loading harmonic

of the inverter will affect the

will change level

of injected
Figure 4 - Total Current Through Capacitor C,.

current. 3

3. Modellin_o the Mapham

Inverter

To determine configuration,

the injection currents that will occur for a certain power system Under

it is necessary to find fr for the inverter under the desired loading. the resonant frequency is given by

no-load conditions,

1 fr = LVZ-d

When the inverter is connected impedance as shown of Z_

to the power system, the system appears across the output terminals

as an equivalent of the inverter from a step

= Req + JXeq connected

in Figure 5. In the frequency has the form

domain,

the input current

resulting

input voltage

Elm Sm+ b,s"

... + 81S

+ a0

+ ... * bls + bo Iz,,,,.=.=l l o L.._ oR c ..

where, m < n and the coefficients polynomials equivalent whether Z_ depend on whether or

of the two the system (i.e., the derivation

Figure 5 - Power System Equivalent.

is capacitive = Req - JX_

inductive

or Z_

= R,,q + JXeq ). The details concerning A.

of these polynomials

can be found in Appendix

If the system denominator are:

equivalent

is inductive

then

n = 5, and the

coefficients

of the

bs = (L_ L.q)L_C_C, ,

b, = RqL_C.C, ,

b3 =

(L l + L#q) C s

1 +

LI LmLeg 1 L r(c r + C m) , +

b 2 = a,qc s +

R,_L, (co + c,)

Lm

bI = I +

L 1 + L,q Lm

, and

However,

if the equivalent is capacitive

then n = 6, and the coefficients

of the

denominator are:

b 6 = L1LrCeqCrC

s ,

b s : R.qLzCe_CrC

s ,

b 4 = LlC_C

,+LrCzC

s+LzceqC

r+LzC_c

s+

LILrCeq

(C rc'7) L,.

b 3 = ReqCeqC s+

ReqLzCeq

(C s+ C z)
Lm

Lm

b, =

a._C._
Lm

and

Once the coefficients

are computed,

the denominator

can then be factored

into

(s.

+ P.)

(s._l

+ P.-1)

... (sz + P2) (el

+ P1)

The roots of this polynomial network is primarily

(i.e., the P's) represent

the poles of the network.

Since the pair

a series L-C circuit, at least two of the poles will form a complex

with the form:

(s.

+ a.

+ j_.)

(s.__

+ a s-

je.)

Since n > m, this polynomial expressed in partial fraction

is said to be a proper

rational

polynomial

and can be

form:

Kn

+...+

Z.
sz+az-j(_ z

."
sz+az+J _) ,

...+

KI
SI+PI

"sn+P.

The

function

can then be returned The inverse transform

to the

time domain pair is

by using inverse

Laplace

transforms.

for the complex

2-I[

s+=-j_KLO

s+=+j_KL-e

2Ke-'tcos

(_t+8)

(1)

This yields a time domain

response

for the current through

C r which is

responses Ic, (t) = loe-"'tsin (_zt + e z) + to the pol

due other es

Once

the natural

resonate period

frequency
RBGIONS POR MODR_ 0.I-

and its corresponding

'

0.4

J!\
o
0 TZME (SecoMs)

ir L
/ k\

z (c:)

--

I (L2)

1
Jr

2_
M

fr

_ Jr

-0.4

-0.1 SE-05

are

known,

the

components currents

of the can be

Figure6-

Capacitor

Current, Regions

C,;

Inductor

Currents,

I,,

generated determined.

harmonic

and IL2 with Indicated

for Modelling.

Figure 6 shows one period of the current through currents ILl and I L2 which the capacitor of the waveform.

C r. Also shown

in Figure

6 are the corresponding inductors.

flow through

each set of switched as a function are: of

From this information, regions

current

can be written

time over five individual

The resulting

equations

(2)
-a (_+'% sin (_ -)
= IC r -e

(3)

IC

(41 (=)
= e

"_ Ct

f oI --" _ t < _ s 2

-i Ic-' ,*

si_

_ z t-

,, fj
and

(s)

-e (t)
-- e

IC r

for

(6)
= --e

for

Since

the

current

is now

mathematically by a Fourier

represented series.

as a continuous, series

repetitive

time time

function, function

it can be represented is given by

The Fourier

of a repetitive

el

f(t)

Co + ]E_ c-csn_ot
n-1

+ dnsinn(_ot

where,

tl+T

Co

1
TO

/
C=

f(t)

dt,

(7)

CIIC

2
O n

To

/
Ca

f(t)

cos

(no or)

dt

(e)

and
C1
T0

2
d n

T o

I
Ca

f(t)

sin

(n_ot

) dt

(9)

The over

Fourier

coefficients,

c,

and d,,

are found

by integrating

Equations

(2) through

(6)

one period

of the waveform.

It should Once

be noted

that the magnitude are computed,

of the current they are then

is assumed normalized

to be 1.0 at this point. by

the coefficients

D_

_ n81

(Io)

The coefficients are normalized because until a fundamental known. power flow is found.

the magnitude

of the current will not be known

The required values of D 1 and 01 are then

To

apply these coefficients

to the harmonic

power flow

algorithm,

it is first

necessary to understand the formulation

of the harmonic power flow algorithm itself. The

details of how this will be done are covered in Section 7 of this report.

10

4. Operation

of the Single Phase, Voltage Controlled

Rectifier

The circuit diagram of a single phase, voltage controlled

,

rectifier is shown in Figure of the "ripple" output

Since the D.C. output V x,

voltage

of the rectifier

is the average
L

voltage,

shown in Figure 8, it can be by the e.

Figure 7 - Single Phase, Voltage Controlled Rectifier Circuit.
Ys+O
O--

controlled changing firing angle,

This means that, by adjusting a, the average value of the "ripple" or the D.C. output voltage can be

controlled within certain limits. The SCR's are triggered with a signal which is set by a. The value of a is determined by the difference between the desired D.C. output voltage Once either of the SCR's is triggered, it will conduct This occurs when angle.

and the actual D.C. output voltage.

until the voltage on the anode is less than the voltage on the cathode.

the input voltage, V _n,drops below the output voltage, Vout, at #, the commutation

Voltage Vin

Vx
i :1 i :l :1 ;I

J_
:t

i
t

:'

Firing i
:

Angles

/
... .! i

Commutation

:
/
j = I

i
:

Angles

1
,. :: ;, I I I I I I I i

Time

Figure 8 - Input Voltage to a Single Phase, Voltage Controlled Rectifier Circuit.

11

5. Modelling

the Single Phase, VoIta ae Controlled

Rectifier

When either of the SCR's is triggered, the voltage which terminals of the rectifier is given by

is applied to the input

Vz=(t)

Vmsin((_=t+)

u(t)

This function

becomes

the following

in the frequency

domain:

v,. (s)

v=[

,,.i,=.,,.o.,,].,,=.=;

(11)

The entire single phase rectifier circuit in the frequency current source, CV(0), is needed to account

domain is shown in Figure 9. The

for any initial voltage that might be present

on the capacitor

when the SCR is fired at oz. Since I=n(s) is given by

x,.(s)

vi

(s)

- v=(s)
sT.,

(12)

V x(s) must be determined. with the unknown

This is done by writing

Kirchhoff's current
L

law at the node

voltage, V x(s).
In(s)

&'V(O *)

-- 1 s

Figure 9 - Single Phase, Voltage Controlled Rectifier Circuit in the Frequency Domain.

12

The result

is

V m (ssin=

+ _acos=)

v=(s)
sCVz(s) + R =

(s = * _,=,)
st.

- v,, (s)
+ CV(O')

IF= (ssin=

+(_=cos_) sL

+sLC(s=+w= ( s= o)_}

=)

V(O*)

v,,(s)

sc+

-_ i+

s-_ 1)

(13)

-LC[V,,

( ssin,,

+ _,cos=)

+ sLC(

s = + _s =)

V(O')

v=, (s)

Ig

"
into Equation

=;)
(12), the result is

If Equations

(11) and

(13) are substituted

V m (ssin=

+ _,cos=)

L_[V"

(ssin= s sL

+ _,cos)

+ sLC(S'

+ _==) V(O

) ]

( s= * ,_2) I_=(s)

=_Is

RC

LC

l___l(s =*==') /

-Rc)[

v= ( ssin=.
SL

,,,,cos=

) ] - s ( s = * _,=,) v(0")

S2 * R---C+ L--_)(sZ.e=) s i

Vm( s.L

-R--'_C)[ssin= s

+ _.cOs=]-

(SZ+_)V(0")

. .-E_ . ___1) ( s = . ,,,=,) s RC LC

13

This can

now

be expressed

in partial

fraction

form:

z,. (s)

K1 z e1

K 1/. -e:

2RC

2RC

K2Ze2

K2Z-e

s-jo_,

s+jo_.

where,

IS+

1 2RC

s)

,.

2RC

and

K2Ze2 =

[s-jo,,]z,..(s)

l,,._."

To simplify

the notation,

let

1 2RC

and

14

then K_Le, = [s+e-jA] X,.(s)l,..,.j,

(_)(-a+jA+2a)[(-a+jA)sin"+_'cs"]

- [(-a+jA)z+_m=]

V(O+)

(j2;.)

[(-o+jA)2+_o

=]

(-_)(o+JA)[(,_.cosa-ostn,,)

+jAstn2a]

[(o'.A'+_)-J2o).]

V(O')

(j2_.)

[(o'*;.'*,,)o

2) -J2o;.]

(--VL=)(a+JA)[((*cs=-asina)+jAsin=] (j2k) [ (o2+A2*_# 2) -j2oA]

V(O )
j2A

and

K_L%

[s-j_),]

x_=(s) l,.:,,

)(j(o,

_c)

(j_),sin=

(a.cos=)

- (-(0.2+(_.2)

v(o')

-0,2+3-_

.. _)
+

(j20.)

( vo/l_ +_..)(_.,.)- (o)v(o.) L /% RC

- _;) 3-E_

'1

(j2(_,)

-_

l+j_.)

COS

(a--_)

+jsln

(a--_)

15

Once the complex the time domain time domain, current.

coefficients, K 1 and K 2, are computed, (1).

the transformation

back into the of the

is found using Equation

Now that the input current is knownin

Equations

(7), (8), and (9) can be used to find the Fourier coefficients to note that, because coefficients the total current is known

It is important

at this point,

normalization

of the rectifier

is not needed.

These coefficients, like those found for the Mapham into the harmonic power flow program. To accomplish

inverter, must be incorporated is a brief

these goals, the following

summary of the development

of the harmonic

power flow program.

16

6. The Harmonic

Power Flow Algorithm

The harmonic

power

flow algorithm used in this work is the one developed by Grady [6].

by

Heydt and Xia [4,5] and later modified Newton-Raphson formulation

The algorithm uses a standard The basic algorithm is:

for a power flow program.

1.

Select an initial solution vector for all bus voltages, [V (o}], where element j is I Vjl and e j or the complex voltage at bus J.

2.

Using the voltage vector,

calculate

A Pj

pjBcheduled

_pjca]cu]ated

A Qj = QjSChedule__ Qfalc.la_,d .

If A P and A Q for all busses are < _, a specified has been reached; output is printed. and, the iterative process

tolerance, a solution is stopped; and, the

3.

Compute

the elements of the Jacobian

matrix which are defined

by

8P

8P

[J_]

= av,
80i 80i __

17

4.

Using

[A p, _, Q] T = [j ] [A V, A 6 ] T, calculate

A V and & 6.

5.

Update the solution

voltage vector,

+ [Av, Ae] t

6.

Repeat Steps 2 through

5.

This basic power flow algorithm manner.

was modified

by Heydt, Xia and Grady in the following

1.

The basic algorithm fundamental

described only.

above is run on the system

for the

frequency

The solution value vector

voltage vector obtained power flow.

in Step 1 is used as the initial Therefore, the initial voltage

in the harmonic is

V(1) V(2) V(a)

IF (,-)

where, V (i) represents

the bus voltage for the i m harmonic angles for the converters.

and J

are the firing and commutation

18

3. Using the solution vector, calculate

APj = p/ch. u1.,_ pI.1o.l.t.

/% I (i)

I (I} scheduled_

{I) calculated

(14)

where,

I(i) scheduled

is the scheduled

ith

harmonic

current at each bus, current at each bus. except

and I ) ca,cu,a,ed the calculated is It should harmonic

i th harmonic

be noted that the scheduled

current for all busses

source (ie., nonlinear devices) is 0. If ,%P, ,%Q, and ,%I are tolerance, for all busses, is finished. the solution has been

< E, a specified reached;

and, the algorithm

4.

Calculate Jacobian

the

elements

of the

modified

Jacobian it as follows

matrix.

The

matrix is modified

by formatting

j(1) TG(2,1)

j(2)

. . .

j(n)

TG(2,2)

. . . TG(2,h)

H(2)

[J]
TG (h,1) TG(1,1)

TG(h,2) TG(_,_)

. . . TG(h,h) . . . TG(_,h)

H(h) H(1)

19

where,

a vj (m) j/j (m) . a oj (rn) a vj (m)

vj a 6j

aoi

(m)

an,,

pj

_")_

TGij

(m,n)
a (li

a aj (n)
a 6j (n)

a_

(")

and
n

aR,,

(li

(m))

aRe (Ii (m)) a Im(Ii (m)) a_j

a=j
_(m)

a _n, (_j(m))
o_aj

Using [A P, A Q, A I] T = [j] [,_ V, A 6, A or, A 13]T, calculate

& V, A 8, A 0,

6.

Update

[V (i}, 6

{i}, (7.{i},

p {i}]

T = [V {i-1}, 6 6.

{i-1}, Or,{i-1}, p

{i-1}] T + [4 V, A 6, A (x, & p] T

7.

Repeat Steps 3through

The modifications introduced in the basic power flow make the HARMFLO different from others which use the fundamental power and harmonic current responses of the nonlinear devices to solve the voltage levels within a power system [7]. Furthermore, the HARMFLO differs from the Alternate Transients Program (ATP) version of the Electromagnetic Transient Program (EMTP) [8]. The ATP version is used in analysis in which the nonlinear loads are represented by harmonic current injections at desired nodes within the power system. 20

7. Modi_ing

the Harmonic

Power Flow Algorithm

Since three phase, synchronous designed to produce an undistorted

machines

used in terrestrial

power

systems are conditions,

60 Hz sine wave under normal operating do not inject harmonic power flow program sources the to inject currents

these electric power producing grid. include electrical producers Because

machines

into the power above does not

of this fact, the harmonic power

described harmonic are,

the ability of the electric system. Inverters, injection

currents into the however, large

particularly currents.

Mapham

inverter,

of harmonic

These inverters

inject the harmonic in sources

current at required a

the bus where they are connected modification to the harmonic

to the system.

This change

power flow program.

As previously computed integrating normalized

stated,

the Fourier

coefficients

of the capacitor

current,

I_,

are

by inserting

Equations

(2) through ranges.

(6) into Equations complex by

(7) through coefficients

(9) and are then

over the appropriate by Equation (10).

The resulting is summarized

This process

Re

(Dj (1) Lej

(1)

e j_)c

+ Dj

(2)

Lej

(2)

e j2_t

...)

Ij

( t )"r'_lized

= Re (1 Z 0 e j't

+ _ Dj(----TIZ(8j(2)

[ DJ(')

_ nOj

(1))

eJ2_oc

+ ...)

= Re (1ZO e j(*c + Di(2)lZe21e

j2'_ot ...)

Therefore, harmonic current current

the magnitudes

of the actual injection by multiplying

currents

at every inverter bus for each of the fundamental source injection

can be determined

the magnitude

at the bus by the appropriate for an inverter bus j during

Fourier coefficient. the solution 21

Thus, the scheduled power

of the harmonic

flow can be

determined

as follows

by using the fundamental

current magnitude and angle, I (_) and

l(1), which is found in Step 3 of the modified algorithm described in Section 6:

.z'.l( t ) ,ch_,l_

= (i(z)

Z$._(_)

) (Ij

( t ),,o,==zl=_)

(Ij

(1)z_j

(z))

[Re(1/O

ejOoC

+ D:I(=)/Le:I(=)/e

:12"=_

....

= Re[i:l(1)/_j(z)e

j'ot

+ I_ (z) (D./(=)')

Z (0./(=)1 +nlll./(=))

ej

= .Re [ij(z)ZSj(1)

eJ,.,ot + ij(=),,,$j(")

eJ='o =: . ...]

The injected (14).

harmonic

currents

are then placed in the appropriate locations injection form currents into Equation Therefore,

in Equation

In order to place the harmonic them in rectangular

(14), it is necessary the current at each

to represent harmonic

(i.e., X + jY).

is found by

Ij(m) scheduled .ee

Ij

(m)

cos

(_j

(m))

(z_(')

) (D: (=)1) cos(e_(,,)'-

nej

(*))

( Ij

and, in a similar manner,

"j,z=
r (m)

scheduled

( Ij

(1)

) ( _ Cj

(m)/2

- dj

(m)/2

) sin

[11,.)
can_, 1 (m

I--_,_,i -n01(i)

22

The harmonic The problem mathematically harmonic incorporate the various scheduled

power flow program does model nonlinear devices such as rectifiers. rectifiers are three phase. Three phase rectifiers do not in the

is that these function

like a single phase rectifier. are necessary.

For this reason,

modifications

power

flow code

The modifications

needed

to successfully

single phase rectifiers into the harmonic harmonic current injection currents described

power flow code are simply to place in Section 5 of this report into the

vector:

J,R,

(m)

scheduled

Cm

and

_ j,zm

(m) schodUlmd

dm

Once this harmonic Section 4. power

is done

for all Mapham is allowed

inverters to proceed

and

single

phase

rectifiers, described

the in

flow program

per the algorithm

23

8. Examples

To demonstrate following examples

the

practicality

of the theories

presented

in this report, the voltage

the

are offered.

The first example will investigate

distortion

experienced obtained General Corporation kHz Testbed developed proposed power

in the power system depicted from the

in Figure 10. This example is drawn from data

Dynamics (GDC) 20
._.L
Tronsmsson Line (50 mtere lonl.)

which was

-L

to study the 20 kHz, A.C. The

Figure 10 - General Dynamics Corporation (GDC) 20 kHz Testbed Power System.

system.

inverter is a Mapham have the following

inverter set which will produce characteristics:

440 Vr_

at 20 kHz. This inverter will

electrical

L z = 16

I_H ,

c_ = 1.71
C_ = 2.0 L I = 1.8

l_Y,
pF _H, , and . ,

L m = 1.0 m H f8 = 20 kHz

The transmission following electrical

line is a 50 meter characteristics:

length of stripline

designed

cable

which

has the

24

Resistance

1.043

at_
meter

Inductance

0.027
meter

and

Capacitance

0.003

--El-meter

The load is standard maintain shows from a constant

A.C. load which will be varied from 2 kVA to 10 kVA. power factor of 80% lagging for the harmonic throughout this example.

The load will Figure 11

the data formatted

power flow program.

The load was varied Total Harmonic

S = 0.16 + j 0.12 p.u. to

S = 0.80 + j 0.60 p.u. defined as

The resulting

Distortion

(THD) of the bus voltage,

v_+_ =

_
n-2

(vi(n))2
Vi (I) '

was generate graph Figure

used

to the

1 NASA 2 Test 3 Test System System for Paper #899383 of the IECEC '89 Conference, Vol. I 0.0 1.Oe+4

shown 12.

in Note

that the results of tests conducted et. also

1 Sourcl 08 16.0e-6 1.71e-6 3 Loadl 03 9999 4 1 3 0.54 1.75 1 0 0.0 -5305. 3 0 0.0 -5305. 3 0 266.7 200.0 1 0 0.0 64909 9999 5 g 15 590 080 I 000

2.0e-6

1.8e-6

O.Oe-O 24.0

2.0e+4 18.0

100.00 440.0

by Sundberg, al. are

Figure

11 - Input

Data from the GDC

20 kHz Testbed

for the Harmonic

Power

presented graph 12. in

on the Figure

Flow.

Examination

of the graph

in Figure 12 reveals that the harmonic experimentally. power

power flow does It should program also are in

yield results which are very close to the values obtained be noted exceptionally that the results obtained from the

harmonic

flow

sensitive to the impedance

values.

It was found that very small changes

the data will cause

relatively large changes

in the output.

25

The second switching for this switching frequency example

example

will also use the system described to get the ratio fr/f= as that found

in Figure 10. This time the 0.6 to 0.95. The data of the THD of

will be varied the

tO vary from

remains

same

in Figure

11 with the exception and, the resulting 13.

frequency.

This value

is varied

as described

above;

the bus voltage

is compared

to that measure

by Sundberg,

et. al. in Figure

p.f.

0.8,

lagging

10

8undl>ezg e. i1.

---"
0_0 v

8
_ 6 ..... _.'. ...... _ ............ ) _' Flow

--e-t_zmonJ.c powez (Vthd) ....(.....

,.'

m,,=monic(l chd) P'low Po',,e=

0 0 2

_'_ 4

"-"e-- 6 8 10

KVA
"myerS, e: uses 2.0 uF 8eztel Cpcitoz

Figure 12 - Comparison of Results of Bus Voltage THD versus KVA Loading from Harmonic Power Flow Program and Test Data from the GDC 20 kHz Testbed. Current THD versus KVA Loading is also Included.

08,

lagging

16 14 .,!....... . _

Sundberg eC. -1.

i0

_ ", _'. ;f 6 e _ _z

'""" .,-'"

"_ \

T1ow

(vcbd) .... ,,.-+...

2 0 06 07

_ 08 09

fsn
Invozcex uloe m 2.0 uF Soziom Cpcitoz

Figure Power

13 Flow

- Comparison Program and

of Results Test Data

of Bus from

Voltage the GDC

THD

versus

f,.

from

Harmonic

20 kHz

Testbed.

26

9. Conclusions

and Recommendations

This development spacecraft adequate

report

for the 1990 Summer which will

Faculty Fellowship the design and

Program analysis

documents of large

the A.C.

of software power systems.

benefit

Early results indicate goals.

that the models

developed

are quite of

for the intended

This is demonstrated

by the acceptable

correlation

the results exhibited are relatively

in Section 8. Although

the results are not exact, the discrepancies and the limited test results from the are necessary before accurate

small. Given the small discrepancies

GDC 20 kHz Testbed for comparison, conclusions concerning

further comparisons can be drawn.

program accuracy

Once the GDC 20 kHz Testbed

is made operational will thoroughly

in its new location, an organized the models developed

set of tests should be devised which This evaluation will help

evaluate

in this report.

refine the models.

As a result of the work cited in this report, the following areas are recommended for further investigation and development:

complete

voltage

control for voltage controlled of Mapham

rectifier, inverters, and

model series and parallel operation model bidirectional receivers.

Implementation 5 was started time constraints. flow program, during

of the voltage controlled this time frame.

rectifier model discussed

in Sections 4 and due to power

The model, however, is presently incorporated

was not completed into the harmonic

The model, which

is a single phase, full wave rectifier.

The model for this device

is exactly

that of the single phase, voltage controlled determined required by the system configuration

rectifier with the exception

that the voltage is level. The work

and not controlled appears

to a desired

to implement

voltage control

to be straightforward.

27

Mapham source.

inverters

are operated

in series to increase configuration

the total output voltage of the so that this

The modelling

of this operating

must be investigated

mode of operation

can be included

in future design reviews.

The bidirectional vehicles. complete

receiver unit is a device

which is proposed

for use on space

Modelling this device in the harmonic power flow program is important for a analysis of any proposed power system. For this reason, it is recommended

that work be conducted

in this area as well as those mentioned above.

28

LIST OF REFERENCES

[1]

N. Mapham,

"An SCR Inverter with Good Regulation

and Sine-Wave

Output,"

IEEE Trans. on Industry and General Applications, March/April 1967.

IGA-3, no. 2, pp. 176-187,

[2]

A. S. Brush, R. C. Sundberg, Analysis of Paralleled, Energy

R. M. Button,

"Frequency Mapham

Domain

Model

for 24 th

Series-Output-Connected Engineering

Inverters," Washington,

Intersociety August 1989.

Conversion

Conference,

D.C.,

[3]

R. C. Sundberg, Regulation

A. S. Brush, R. M. Button, A. G. Patterson, of a Mapham Inverter,"

"Distortion

and

Characterization

24 th Intersociety

Energy

Conversion Engineering Conference,

Washington,

D.C., August 1989.

[4]

D. Xia, G. T. Heydt, "Harmonic Solution,"

Power

Flow Studies Part 1 - Formulation and Systems, vol. PAS-101,

and no. 6,

IEEE Trans. on Power Apparatus

pp. 1257-65, June 1982.

[5]

D. Xia, G. T. Heydt, "Harmonic Practical Applications,"

Power Flow Studies Part II - Implementation and Systems,

and

IEEE Trans. on Power Apparatus June 1982.

vol. PAS-

101, no. 6, pp. 1266-70,

[6]

W. M. Grady, "Harmonic West LaFayette,

Power Flow Studies," Ph. D. Thesis, Purdue 1983.

University,

IN, August

[7]

F. Williamson,

G. B. Sheble, "Harmonic Computer,"

Analysis of Spacecraft

Power

Systems

Using a Personal

24 th IECEC, 1989.

[8]

R. Leskovich,

I. G. Hansen, "The Effects

of Nonlinear Loading

Upon the Space 1989.

Station Freedom

20 kHz Power System, "24 th IECEC, August, 29

Appendix Derivation of Coefficients

A Responses

of System

To find the polynomials Ohm's Law in the frequency

of the input current it is simply a matter of employing domain,

v_= (s) zc (s) =

When the Mapham

inverter is connected

to a power system which can be modelled as

a series R-L circuit, the equivalent input impedance of the entire network is the impedance Zoq shown in Figure A.I. the source. The following steps are used to find Z,q which is connected to

sL ,

ZlsC

sL I

V in (s)

I Z e.(s)

Figure A.1 - Total System Connected to the Source.

1. Series of sLeq,

SLeq, and Req yields Z l(s ).

Z 1 ( S )

Req

L 1 + LW)

30

2.

Parallel of Zl(s ) and

sL m yields

Z2(s ).

za(s)

z_ (s) (sr..) z1(s) + sL.

s2 L_ (LI + L_)

+ sR,qL m
+ a_

s ( L I + L,_ + L m)

3. Series of Z 2(s) and

1 /sC,

yields

Z 3(s).

z, (s)

1
S Cs

+ z,(s)

1
-+

S2Lm

(LI + Leq)

+ SReqL + Req

sC s

s (L l + Leq+

L m)

s scsL

m(L

1 +Leq) s2Cs

+s2R,qLmCs+S(L ( L I + L,q+

l+L,q a

+ L m ) + R_I

L m) + SR._C

4.

Parallel of Z3(s ) and

1 /C,

yields

Z4(s ).

z4(s)

(i)
1

z,Cs)

sc,

+ z,(s)

S3CsL,. s4CsCzLm(L

(L I + Leq)

+ S2ReqLmCs

+ S (11 Leq+ l + Leq+

L m) + Req L m) + SReq(C z +c,)

1 +Leq)

+ S3ReqLmCzCs+

s2Cs(L

81

5.

Series

Z 4 (s)

and

sL,

yields

Z eq (s).

z,,v(,s)

- ez,_ .,. z4 (0)

sz

mSLtLmCmCz(LI+L'q

) *B4LtLmCeCrlt'q+Js[LmCm{LJ+L'q) B' z.aC. Cz (Z.j + Lev) #*L,C,

'+L_r(C'* Ca_w"

Ct) w# [ (Cr

(LI+L_+Lm)| C,) (Z., *Z.w*

_'OS(It'NIL#(CeCz) Lm) ] * maw ( C, + C,)

+LmCa]J+m(L/'+L_4'Lm)

"&"_

Since the Laplace

transform

of the switched

input

voltage

is

] - 1 , s

then

the input

current

is
3. it(s)

- --(s) _ s
Z_

#3 L.C.Cz #SLzLmC#C_r (LI "+L,,_) ", mILzLmC,,CzRev

( j

+ L,_)

* s2LmC, " L._)

Cta,q _' Lt

+ s [ ( C z + C.) ( C, "."C r)

( Lj + L,q + L m) ] + a,q [Lz

( C. + Cs) ( C'o" C-'r) " LmCm] |'" a(l "Lw Lm} " i'oq'

* m_ [LBCm (LI

(/'.1 _"Le.v * Lm) ] _' #Z('qW

The denominator the natural

of the above

equation

yields

the coefficients

which

are necessary

to find

response

of the input

current.

When R-L which the

the

power

system

equivalent

is a series outlined above

R-C

circuit

rather

than

the series of

is shown

above,

the method

is used

to find the coefficients domain.

polynomial

in the denominator

of the current's

function

in the frequency

82

Form Approved
REPORT
Public gethenng reporting and burden maintaining for this the collection data needed, of

DOCUMENTATION
information and is estimated and to average the 1 hour collection completing reviewing

PAGE
per response, including Send the time for rewewing o4 information. Headquarters and Budget, 3. comments regarding this burden

OMBNo.0704-0188
instructions, searching eslimeta was or existing any other data aspect sources, of this

collection Of information, Osvi$ HIghwey, Suite 1. AGENCY USE

including SUggestions for reducing this bur(_.., to Washington 1204, Arlington, VA 22202-4302, end to the Offme of Management ONLY (Leave blank) 2. REPORT DATE

Service-, Directo.rate. Papen_ork Heouchon REPORT TYPE

forinforma_o=n=.O,perationl P'ro_ec (u/u4-u]_], AND DATES COVERED

:ndnotR:nPO _ _ ,

1215 Jefferson 20503.

November 4. TITLE AND SUBTITLE Development 20 kHz S. AUTHOR(S) A.C. of a Single-Phase Power System Harmonic for Large Power

1991

Technical

Memorandum

S. FUNDING NUMBERS Flow Program to Study the

Spacecraft

WU-506-41-41

L. Alan Kraft and M. David Kankam

7, PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) National Lewis Cleveland, Aeronautics Research Ohio Center 44135-3191 and Space Administration

8. PERFORMING ORGANIZATION REPORT NUMBER

E-6687

9. SPONSORING/MONITORING

AGENCY NAMES(S) AND ADDRESS(ES)

10. SPONSORING/MONITORING AGENCY REPORT NUMBER

National Washington,

Aeronautics D.C.

and

Space

Administration NASA TM-105326

20546-0001

11. SUPPLEMENTARY L. Alan Research (216) Kraft, Center

NOTES Valparaiso in 1990. University, M. David Valparaiso, Kankam, Indiana NASA Lewis 46383 and NASA/ASEE Center. Summer Faculty person, Fellow M. David at Lewis Kankam,

Research

Responsible

433-6143. STATEMENT 12b. DISTRIBUTION CODE

12a. DISTRIBUTION/AVAILABILITY

Unclassified Subject

- Unlimited 20

Category

13. ABSTRACT (Max/mum 200 words)

This report describes the development of a software to aid in the design and analysis of AC power systems for large spacecraft. The algorithm is an improved version of Electric Power Research Institute's (EPRI) harmonic power flow program, "HARMFLO", used for the study of AC power quality. The new program is applicable to three-phase systems typified by terrestrial power systems, and single-phase systems characteristic of space power systems. The modified "HARMFLO" accommodates system operating frequencies ranging from terrestrial 60 hz to and beyond aerospace 20 kl-Iz, and can handle both source and load-end harmonic distortions. Comparison of simulation and test results of a representative spacecraft power system shows a satisfactory correlation. Recommendations are made for
the direction of future improvements to the software, to enhance its usefulness to power system designers and analysts.

14. SUBJECT TERMS

1. NUMBER OFPAGES

Space power systems; Harmonic power flow; Power systems analysis

36
16. PRICE CODE

A03
17. SECURITY CLASSIFICATION OF REPORT Unclassified NSN 7540-01-280-5500 18. SECURITY CLASSIFICATION OF THIS PAGE Unclassified 19. SECURITY CLASSIFICATION OF ABSTRACT Unclassified Standard Form 298 (Rev. 2-89)
Prescribed 298-102 by ANSI Std. Z39-18

20. LIMITATION OF ABSTRACT