You are on page 1of 6

Visualization and Investigation of Unified Power Flow Controller (UPFC) Non-linearity in Power Flow

Seyed Ali Nabavi-Niaki, Member, IEEE, M. R. Iravani, Fellow, IEEE

Abstract- This paper investigates the nonlinearity of unified power flow controller (WFC) on the power system load flow problem. Since the various W F C parameters equations are non-linear, a form of vector presentation in complex power plane is used to visualize the effect of different control parameters of W F C on line power transfer. This visualization helps to identify the effectiveness of each control parameters on power control region.
Index Terms-Unified

power flow controller, power

flow control, UPFC.

I.

INTRODUCTION

The unified power flow controller (UPFC), with its unique combination of shunt and series compensation, is a powerful device which can independently control up to three power system parameters [I-21. The most important point for considering the UPFC load flow model is to he suitable for incorporation into an existing load flow programs. The first power flow model of UPFC was introduced by the author in [3] while the UPFC is considered as two ideal voltage sources. Several papers have been published on steady-state and power flow analysis based upon this model 14-61. Generally, based on the power flow control strategy chosen for the UPFC at the steady-state, two types of power flow model can he developed as shown in figure 1. In Figure 1 (b) the sending-end bus is transformed into a P Q bus while the receiving-end is transformed into PV bus. The active and reactive power loads in the P Q bus and the voltage magnitude at the PV bus are set at the values to he controlled by the UPFC. The active

Fig. 1- UPFC presentations for power flow study (a) Study system (b) UPFC as PV and P Q buses (c) UPFC as two P Q buses

power injected into PV bus has the same value as the


active power extracted in the P Q bus since the UPFC and the coupling transformers are assumes to be lossless. A standard load flow is carried out to determine the nodal, complex voltages at the W F C terminals. After load flow convergence, an additional set of non-linear equations, relating the various UPFC parameters, is solved by iteration. The same concept is shown in Figure I (c) except that the receiving-end is also transformed into another PQ bus. In order to fully analyze the effect of every limitation and determine UPFC control setting and at the same time easy understanding the rule of each control

0-7803-7989-6/03/$17.00 02003 IEEE

812

parameters, a visualization approach is used in [ 7 ] .The objective of this paper is to visualize and investigate the non-linearity characteristics of a UPFC on power flow.

11.

STEADY-STATE CHARACTERISTICS OF UPFC

A power transmission system composed of a line equipped with a UPFC can adequately demonstrate basic characteristics of the UPFC for steady-state conditions. Figure 3 shows a single-phase equivalent circuit of such a system. The line is connected between two voltage buses VI.G1 and V2L6,. The UPFC is represented by the steady-state model developed in [3]. Series reactance of voltage source V,L6, is included in X,. The UPFC controls power flow of the line through continuous control of V, and 6,. Depending upon the system operating condition, voltage source V,L6B exchanges real and reactive power with the system. Since a UPFC can neither absorb nor deliver real power ( losses are neglected), phase-angle 6E is adjusted to compensate for real power exchange between VEL6B and the system. The amplitude of V, can be used to control the reactive power exchange between VEL6E and the system. V, can he adjusted to compensate for the reactive power exchange between and the . , the net system. In general, by means of controlling V reactive power exchange between the LJPFC and the system can he regulated. Applying KCL to the system of Figure 3, the system current components are obtained.

Where X, = XIX, + X,X, + XIY,, The sending-end expressed as: and receiving-end powers are

SI' = VI I;

(4)

The power exchange of the voltage sources VBL8, and VEhE with the system are:

:
i

_
-

UPFC

Figure 3. Single-line diagram of transmission line and UPFC

from (3) to (6) it is obvious that the equation sets of UPFC are highly non-linear and the effect of every control parameters on power flow is not clear. To set the

813

control parameters and find the borders of limitations of theses parameters a visualized presentation of the UPFC control parameters is very helpful.

1 1 1 . POWER FLOW VECTORDIAGRAM


WITH

UPFC

When the UPFC is in service, the complex power at the sending-end of the system of Figure 3 is given by (3). Equation (3) can be decomposed into four components as given by (7).

pre-specified value V . This constraint must he satisfied , by the UPFC steady-state equations. The constraint P, + PE= 0 implies that: no real-power is exchanged between the UPFC and the system; thus, the dc link voltage remains constant, the two voltage sources V, and V, are mutually dependent (PE+ PE= 0).

S I = sa+ s ,+s , + S,
Where S, to S d are

(7)

Assuming that variable 6, is assigned to regulate the dc link voltage, power flow (both real and reactive) can be simultaneously controlledchanged by variables 6,, V, and V, of the W F C . Among 6,, V , and V,, The control parameter of 6, has the most dominant effect on the magnitude of real power flow. To visualize the parameters affecting on the line power flow, we consider the two following cases, 1- the effect of W F C parameters on tie line power flow and 2-. the effect of system parameters on tie line power flow

(8)
In (8), 6 is equal to 6, - Fj2. The voltage angle of the receiving-end (6,) is chosen as the reference angle. Figure 4 graphically represents SIin t e r m of its four components.

Iv.

POWER R O W CHARACTRRlSTICS WITH UPFC

To visualize the effect of W F C parameters on tie line power flow, we rewrite (3) as follows:

1.67

PI

SI= A + BVEe-j'E
where
VI = 1LW

+ CVge-J'B

(9)

A = S.
1 3 ~

+ S, in (7).

v, = 0.9~9.4v,=0.15 ~

XI= X2= 0.5 pu

..' ........,._...__......
I ,
0
01

02

03

04

05

06

07

PI (PU)

Figure 4. Graphical representation of SIin the complex power plane. Neglecting W F C losses, during steady-state operation the UPFC neither absorbs real power from the system nor injects real power in the system (PE + PE = 0 ) . Physical interpretation of this statement is that the voltage of the dc link capacitor remains constant at its

In this form, the tie line power is expressed by UPFC control parameters (V,, 6,, VE and 6). If system parameters are kept unchained, A,B and C remain constant. Therefore the tie line power flow becomes only as a function of UPFC control parameters. Now, we can visualize the effect of these control parameters on power flow. Figure 5 represents Figure 4 in the form of (9). As 6, and (or) V , are changed to regulate power flow, also changes to ensure that P, +PE = 0. Thus, the tip of vector S, traces a closed path in the complex power plane of Figure 5. This closed path is the power diagam of the tie line when the UPFC is in service. To

814

01

02

03

04

05

06

07

PI (PU)

Figure 5 . Graphical representation of SI as a function of UPFC control parameters in form of (9). identify the power diagram corresponding to (9), it can he decomposed to real and reactive powers as (IO).
Ej = a + c s i n 6 B
Qi =h+ccosSg
0.2
0.1

where

0
4. I
-0.2

Qol
0.3
0.1

0.15

0.2

0.3 0.35

0.4

0.45 0.5

P d

p (PU)

from (IO), the following expression is deduced

Figure 8. The tie line complex power region for 6 = 20" when the UPFC is located at the middle of the line.

(PR- a ) + (QR - b) = c2
Q (PU)
1.5

(11)

If a and b are assumed as constant values, then ( I 1) can represent a circle in the complex power plane. However, In general a and b in ( I 1) can not he assumed as fixed values, since it is functions of 6E and V, which in turn are varied as a result of changing 6, and/or V,. Thus for different values of 6,. there are some different values for 6E as shown in Figure 6. Therefore (I 1 ) identifies a closed path, with constant radius c and centers on arc ef as shown in Figures 7. Figure 8 shows the sending-end complex power regions at 6 = 20" when the UPFC is located at the middle of the line. Based upon controlling V, and FE, any complex power associated with a point within the enclosed areas, can he controlled by the UPFC.

0.5

0
-0.5 t
, 0

0.1

0.2

0.3

0.4

0.5

Figure 6. The tie line Power vector f&r'p% different values of 6, .

815

Figure 8 clearly demonstrates that for any value of real power transfer (e.g. Po). there are two distinct values of reactive power transfer (Q,, and Qm) for any fixed value of other parameters. Shaded area in Figure 8 identifies the control regions where real power flow is achieved at lower reactive power.
V.

2
1.5

EFFECT O F VEO N THE POWER FLOW

0.5

Terminal voltage at the connection of parallel part of UPFC ( V ,in Figure 3) can he regulated by VE.When V, is larger than V,,, the UPFC injects reactive power into the system and vice versa. As a result, the amount of required reactive power to be provided by the sendingend will be less. This corresponds to the length of S, in Figure 4.

-0.5

0.2

0.4

0.6

0.8

1.2

Figure 11. The tie line power vectors for system power angles 6 = 15" and 6 = 75". transfer when the UPFC is in service. Figure 11 shows the tie line power vectors for system power angles 6 = 15' and 6 = 7 5 ' . This figure conducts that the voltage amplitude of the parallel,voltage (VE)can be used for the real power control for the large value of 6 b y changing the magnitude of S,. However the tie line reactive power can he control by V, for the small power angle condition. Figure 12 also depicts the complex power region that can he controlled by changing aB from 0 ' to 360" for two different values of power angle

VI.

THE SYSTEM PARAMETERS EFFECTS O N POWER FLOW

When two systems are inter connected, we can assume two kind of connections, either two systems are at the same level of strength (same Thevenan equivalent impedance) or one is weaker than the other (different Thevenan equivalent impedance). Figure 10 depicts the effect of the strength (or weakness) of the system on complex power regions of the receiving-end. The system strength's (or weakness') is changed by varying XI and Xz of Figure 3. Figure 10 shows that for a given level of real power transfer, reactive power demanded from the receiving-end depends on the system's strength. The system power angle (6) is another system parameter that can have the significant effect on tie line power

(6).

Q (PU)
1

Xh= 0.8

Figure 12. Sending-end complex power for 6 = 25'and 6 = 45". A vector of Sd for 6 , = 130" is also shown.
P (P4
0.1

-1

0.2

0.3

0.4

0.5

0.6

VII. UPFC PARAMETERS CONSTRAIT


Figure 10. Effect of system weakness on the tie line power flow. The volt-ampere rating of the series transformer of UPFC is defined by the maximum injected voltage V,,

816

and the maximum line current. V8 is determined based upon the operational requirement(s) of the UPFC. The maximum line current is determined by the power system. The volt-ampere (VA) rating of the series converter, shunt converter, and the excitation transformer are the same as that of the series transformer. The voltage rating of the system-side of the shunt transformer is the same as the system rated voltage. Having specified the VA rating and voltage rating for the shunt transformer, the maximum shunt current (I,) can he determined. This current is a nonlinear function of V,. 6,, V, and 6B.Figure 13 shows the variation of 1, as a function of 6 , and VE for the system of Figure 1. From this figure and Figure 12 with the consideration of UPFC parameters constraints, the real power and reactive power set points of Figure 1 to run the power flow program can be determjned. For example, based on the parallel converter rating, 1,- is set and then from Figure 13 the permitted operating values of V, and 6, are given. By setting these values , ~ , Ql~pero,lng ,~~ in Figure 12 are set. the P ~ o ~ . and

IX. . REFERENCES
[ I ] L. Gyugyi, A Unified Power Flow Control concept for Flexible AC Transmission Systems, IEE Proceedings-C, Vol. 139, No 4, July 1992. [Z] S.A. Nahavi-Niaki, M.R. Iravani, Investigation of Static Phase-shifter Behavior under Steady-State Conditions, ICEE-94, pp. 126-134. [3] S.A. Nabavi-Niaki, M.R. Iravani, Steady-State and Dynamic Models of Unified Power Flow Controller (UPFC) for Power System Studies, IEEE Transactions on Power System, vol. 1 1 , No. 4, pp. 1937-1943, November 1996. [4] C R. Fuerte-Esquivei, E. Aeha, Unified Power Flow Controller A Critical Comparison of NewtonRaphson UPFC Algorithms in Power Flow Studies, IEE Proceedings, Generation. Transmission & Distribution. vol. 144, no. 5, September 1997, pp. 437-

444. [5] W. L. Fang and H. W. Ngan, Control setting of unified power flow controllers through a robust load flow calculation, IEE Procegdings, Gene-ation, Transmission & Dist-ibution, vol. 146, no. 4, July 1999, pp. 365-369. [6] Jun-Yong Liu et al., Strategies for Handeling UPFC
Constraint in Steady-State Power Flow and Voltage Control, IEEE Transactions on Power Systems, Vol. 15, No. 2, May 2000, pp.566-571 [7] SA. Nabavi-Niaki, Visualization of UPFC Control Parameters Effects on the Tie-Line Power Flow, Proceeding o f LESCOPE 2002, Halifax, Nova Scotia, Canada, May 2002, pp103-107

Fig. 13 Variation of 1, as a function of V, and 6,

VIII.

CONCLUTIONS

This paper investigates the ability of UPFC on controlling tie line power flow. Since the UPFC has four control parameters, to identify the effect of each parameter on power flow, a form of vector presentation in complex power plane is used. This form helps to visualize the effect of different control parameters of UPFC on tie line power transfer. The amplitude (V,) and phase angle of series injected voltage (6,) have the most effect on real power transfer if the power angle between two systems is small. For the large power angle, in addition to 6, and VB,the voltage amplitude of the parallel voltage ( V , ) can he used for the real power control. However the tie line reactive power can he control by V, for the small power angle. The phase angle of parallel voltage is set to regulate the dc link capacitor voltage.

S A . Nabavi-Niaki (M92) is assistant professor of electrical engineering department at University of Mazandaran. He received his B.Sc. and M.Sc. degrees both in Electrical Engineerins from Amirkabir University of Technology (Tehran Polyfechnique) in 1987 and 1990 respectively. He obtained the Ph.D. degree in Electrical Engineering from University of Toronto (1996). His current research interests include analysis, operation and control of power system and FACTS applications.

M. Reza Iravani received the B.Sc. degree in electrical engineering in 1976 from Tehran Polytechnique University and started his career as a consulting engineer. He received the M.Sc. and Ph.D. degrees also in electrical engineering from the University of Manitoba, Canada in 1981 and 1985, respectively. Presently, he is a professor at the University of Toronto. His research interests include power lectronics and power system dynamics and control.

817

You might also like