INTRODUCTION OF POWER ELECTRONICS TO ELECTRIC MACHINES LAB Swakshar Ray, Seungwon An, Thomas W.

Gedra School of Electrical & Computer Engineering, Oklahoma State University, Stillwater OK, 74078
ABSTRACT This paper presents a proposal for a new upgrade that will incorporate power electronics experiments in the electric machines lab at Oklahoma State University (both Stillwater and Tulsa campuses). We will introduce a general lab setup which includes digital data acquisition (DAQ) and virtual instrumentation. The application of 3 inverters will be discussed with our lab setup. The installation of exible AC transmission system (FACTS) devices in our 3-bus power system will be presented. In addition, a modelling of unied power ow controller (UPFC) for the use of optimal power ow (OPF) will be described. 1. INTRODUCTION Well-established power system labs have been introduced in several educational institutes [1, 2]. However, they are used for demonstration purposes for undergraduate students, and students involvement is limited due to safety concerns and complicated system congurations [1]. In addition, since the installation of the power system lab is costly and requires large space, most engineering schools are not capable of implementing a power system lab [3]. As an alternative, a simulation and virtual learning system were presented in [3]. Even though they give a good insight to students on power systems, their applications are strictly limited since all possible dynamics of power systems can not be expressed. As a solution to the above problems, we have started the modication of the electric machines lab at OSU-Stillwater in the summer 1996, and completed the rst-phase of the prototype lab in 1997 [4, 5, 6]. As a key feature, we introduced a digital data acquisition (DAQ), data processing and graphical interface using LabVIEW virtual instrumentation. Since then, energy conversion and power system operation experiments were unied in a single laboratory. Even though power electronics is a part of power systems, due to the unavailability of the required setup, it is difcult to perform experiments relating power electronics to power systems and energy conversions. In modern facilities of energy conversion and power systems, use of power electronics devices is becoming inevitable. They make control of power ow easier and faster, which allows a better use of existing facilities such as power plants and transmission lines. Noticing this problem, we have devised a proposal to incorporate modern power electronics devices in the second-phase lab design. This paper proposes new power electronics experiments that can be conducted with our unique lab setup. 2. GENERAL LAB SETUP There are four benches in Stillwater, and two nearly completed in Tulsa. Each bench consists of front panels, a prime mover/dynamoter with a motor mount, and a computer as shown in gure 1. The benches are 71 wide and 37 high from the benchtop so that students can easily access all the equipment. Each bench can be used
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Figure 1: Front View of Experimental Bench. independently for an energy conversion lab, a power electronics lab, or interconnected for power system operations. Figure 1 also shows the enlarged view of the power electronics panel, which will be used for AC-DC converters, 3 inverters and FACTS devices. We use fractional-horsepower machines with wiring jacks located on machine front panel. To perform various experiments and measure torque, power and speed, the rotating machines can be coupled with Lab-Volt Prime Mover/Dynamometer (Model 896010). All four Stillwater and the two Tulsa experimental benches are equipped with a DAQ and signal conditioning systems, as shown in gure 2, and the system inside the dotted lines is under development for new power electronics experiments. Tulsa has 7 voltage and 7 current channels, and the data acquired by those channels are fed to the LabVIEW, while Stillwater has only 4 each (to be upgraded to 7). We use LabVIEW virtual instrumentation, which is a powerful and exible tool for data acquisition, processing, graphical interface, and control of external processes in real time. LabVIEW can also communicate with GPIB instruments such that the powerful processing and display capabilities of LabVIEW can combine with the special capabilities of GPIB instruments. For pulse width modulation (PWM) inverters with high frequency switching applications, we will use the GPIB oscilloscope

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Figure 4: Control Panel for the the Power System Operation Figure 2: Block Diagram of Signal Conditioning & Acquisition System with high speed triggering and acquisition capabilities. Thus, the PWM waveforms are captured by the oscilloscope and the data is then fed to LabVIEW for further processing, such as spectrum analysis and phasor analysis. With the new lab setup, we are able to implement several power electronics experiments including 3 inverters and the installation of FACTS devices in our 3-bus power system. 3. POWER SYSTEM OPERATIONS EXPERIMENT We designed an unique 3-bus power system, which operates at 120V (69.3V line-to-neutral). Four benches are interconnected as shown in gure 3. The voltage angle of phase in bus-1 will be used as the reference angle, and all voltage and current angles are measured based on the reference angle. Bus-1 is equipped with a synchronous generator. The synchronous generator is driven by the 8960-10 prime mover. This substation also has a tie-line to the grid, which is a three-phase variac. The tie-line and the generator are connected to the sub-station bus using a synchronizer box. Bus-2 represents a cogenerator. It also has a synchronous generator connected to the substation bus through a synchronizer box. The prime mover for the generator is again the 8960-10. Bus3, consisting of bench 3 and 4, has no generation and represents customer loads. It has a resistive load (light bulbs) and an inductive load. The inductive load is an induction motor driving the 8960-10 dynamometer so that the mechanical load on the induction motor can be adjusted. Bus-3 also possesses a synchronous condenser, which can be used to provide reactive support/voltage support. Our 3-bus power system is interconnected by three transmission lines, which are simulated by several inductors. One of the relatively low impedance lines (line 1-3) also has a switch which can be used to simulate a line outage. The power system operation is implemented using our basic lab setups. It can demonstrate several features of power systems, which are relevant to undergraduate studies. For example, students can view the effect on the voltage at bus-3 by adjusting the VAR output of the induction motor and by supplying reactive power using the synchronous condenser. Students can also see the effect of real power ow and reactive power ow (when grid-unconnected), or voltage and frequency (when operating independently of grid) by adjusting exciter voltages or the prime mover. 4. POWER ELECTRONICS EXPERIMENTS In the rst phase, we introduced a light dimmer control and a single phase induction motor speed control using simple power electronics circuits demonstrated in OSUs energy conversions course. Students can observe the trigger pulse applied to the triacs gate, which is captured by the GPIB oscilloscope. In order to include more power electronic experiments, we will add a power electronics panel, as shown in gure 1. The preliminary design of the power electronics panel consists of 6 thyristors and 12 IGBTs for realizing different experimental setups. The rectier has six independent terminals which allow single- or 3-phase operation. The thyristors of the rectier will be driven directly by the DAQ boards digital outputs. The IGBTs of the two inverters will be driven by the digital signal processor (DSP) due to high frequency switching application. The DSP board will be controlled by LabVIEW through a serial port, as shown in gure 2. Two capacitors are provided separately and can be connected to the DC Bus. 4.1. AC-DC-AC INVERTER With the use of the power electronics panel in gure 1, we can implement AC to DC and DC to AC conversions for small-scale models. For AC to DC conversion, the use of six thyristors in the rectier or six IGBTs in the inverter 1 can create a full 3-phase bridge rectier, and its outputs are connected to the capacitor. For the DC-AC inverter, the DC output in the capacitors is connected to the inverter 2 circuits input. All the IGBTs are triggered individually by the DSP board, shown inside the dotted line of gure 2. In order to obtain the characteristics of induction motors when driven by the PWM inverter, we can select a switching strategy, carrier frequency, torque boost level, and DC brake voltage in the LabVIEW environment. The information is then sent to the DSP, which calculates and generates PWM waveforms. Inverter output voltages and currents are measured by the oscilloscope and the data is sent to LabVIEW by the GPIB for further processing. Students will also be involved in various control strategies, harmonic analysis of the output waveform and the effect of line lter

Figure 3: Power System Schematic based on Stillwater Lab but with FACTS Device Installed [6]

in reducing harmonic content. This proposal allows projects involving the design of sensorless drive control, reducing harmonic content, increasing efciency and similar improvements of drive systems. Students can also experience the effect of reverse power ow through the drives. In case of high inertia loads, external environment such as air ow affects the rotational speed of the drive. The shaft of an induction motor is usually coupled with a gear assembly, which is connected to the moving part of the machine (e.g. boom of stacker, elevator or centrifugal purier). The external disturbances sometimes force the induction motor to act as an induction generator and the power is fed back to the DC bus during these instances. This phenomenon is very typical in the industrial applications and students should be familiar with these concepts. Since the power electronics panel contains two inverter circuits, one will act as a converter and the other as an inverter. Thus, power can be fed back to the source by reversing the triggering signal in the inverter 1. All these operations can be graphically displayed, which provides students with more detailed knowledge of industrial drives. Though the setup will be capable of automatic operation for speed and torque control, manual operation is preferred for students understanding. We have already implemented various switching strategies, such as regular sampling PWM, sub optimal PWM and state vector PWM, of 3 inverters, and designed an efcient center-aligned

hardware control structure [7]. 4.2. FACTS APPLICATIONS IN POWER SYSTEM OPERATIONS Using two 3 PWM inverters in the power electronics panel, we can also implement several FACTS devices, such as static VAR compensator (SVC), series compensator (SC) and unied power ow controller (UPFC). Since we are using a high frequency switching PWM technique, it suppresses low frequency harmonics and reduces the size of the capacitors. FACTS devices are recently developed technology and intensive researches are still going on those topics. Our lab already has a 3-bus power system, as shown in gure 3. Several experiments are conducted in the undergraduate course to experience the power system operation. With the incorporation of FACTS devices, we will be able to demonstrate the latest power ow control technology. The introduction of FACTS devices in the undergraduate lab would be a revolutionary step to attract students into the eld of power systems. UPFC is one of the most promising devices in the FACTS family since it can control three basic parameters of power ow for AC transmission: voltage magnitude, phase shifting angle, and VAR injection. Thus, it has the capability of phase shifter, SVC and SC. The UPFC consists of a controllable series voltage source , the current representing the reactive power compensation, and

is under development. Based on our preliminary implementation of the 3 inverter and the OPF with UPFC, we are now incorporating power electronics in the lab. The lab upgrade will result in better and modern experimental environments for the undergraduate students as well as graduate students. The new laboratory setup will certainly help students grasp the recent developments in the eld of power system and power electronics, as well as removing the common impression that power is a dead area, rather than the dynamic eld it is. 6. ACKNOWLEDGEMENT Figure 5: General Circuit for UPFC the current source associated with the real power injection, as shown in gure 5. The UPFC output voltage, which consists of the UPFC input voltage and the injected series voltage, is given by The rst-phase lab upgrade in Stillwater was funded in part by the National Science Foundation under grant ECS-9501648. We are thankful to the PSO/Albrecht Naeter Professorship at OSU, National Instruments, and Analog Devices for their contributions for the laboratory equipment upgrade. For the Tulsa lab, we thank Analog Devices for their generous support. 7. REFERENCES [1] M. S. Chen, R. R. Shoults, and W. J. Lee. Physical simulation power system laboratory. In IEE International Conference on Advances in Power System Control, Operation and Management, pages 859864, Hong Kong, November 1991. [2] S. P. Carullo, R. Bolkus, J. Hartie, J. Foy, C. O. Nwankpa, R. Fischl, and J. Gilerman. Interconnected power system laboratory: Fault analysis experiment. IEEE Transactions on Power Systems, 11(4):19131919, November 1996. [3] J. M. Ngundam, E. R. Ngalemo Ngalemo, and F. Kenfack. Virtual lab for power system simulation, Part 1: Interactive design of power networks and load-ow analysis. Power Engineering Journal, 15(4):211215, August 2001. [4] Thomas W. Gedra. Innovations in OSUs undergraduate machines course. In Proceedings of the 1996 Midwest Symposium on Circuits and Systems, Iowa State University, Ames, IA, August 1996. [5] Thomas W. Gedra. Virtual instrumentation in an undergraduate electrical machines lab. In Proceedings of the Midwest Section ASEE Conference, Columbia, MO, April 1997. [6] Thomas W. Gedra. Computer-aided instrumentation in OSUs machines lab. In Proceedings of the Frontiers of Power Conference, pages VIII.1VIII.5, Oklahoma State University, Stillwater, OK, October 1997. [7] Seungwon An and R. Ramakumar. Induction motor speed control using a PWM inverter. In Proceedings of the Frontiers of Power Conference, pages XV.1XV.9, Oklahoma State University, Stillwater, OK, October 1999. [8] Seungwon An and Thomas W. Gedra. Estimation of UPFC value using rst- and second-order OPF sensitivities. In Proceedings of the Frontiers of Power Conference, pages VII.1 VII.8, Oklahoma State University, Stillwater, OK, October 2001.

(1)

where and are the UPFC input voltage phase angle and output current phase angle, respectively. The important thing to note about the output voltage is that the inserted series voltage can be resolved into in-phase component and quadrature component with respect to . Then, the injected complex power can be resolved as

(2)

The in-phase voltage is associated with a real power supply and the quadrature voltage with an inductive or capacitive reactance in series with the transmission line. The real power (which may be negative) is provided by the current , which is in-phase with the input voltage . Therefore, we can derive the following relationship: (3)

To obtain the optimal values of , and , we run the Optimal Power Flow using LabVIEW. Since the UPFC is installed in the system, we need include extra equality constraints related with the following UPFC operations:

(4) (5) (6)

Detailed information of the OPF with UPFC is described in our previous study in [8]. For the application of SVC to control the reactive power ow on line 1-2 in gure 3, we install the SVC on line 1-2 and remove the synchronous condenser. The input of the inverter 1 in gure 1 is connected to a shunt transformer, which is connected to line 1-3, and the output of the inverter 1 is connected to the capacitor, which acts as a storage element. The inverter 2 is not used for this application. 5. CONCLUSION The proposed introduction of advanced power electronics to unify power systems and power electronics in the electric machines lab