Mechanism Analysis and Simulation for STATCOM

Damping Subsynchronous Oscillation

Fan Yang, Xiangning Xiao, Jian Zhang
School of Electrical and Electronic Engineering
North China Electric Power University
Beijing, China


AbstractSTATCOM exclusively for subsynchronous
oscillation(SSO) mitigation use is presented in this paper , which
is based on sinusiodal pulse width modulation(SPWM) for
subsynchronous voltage. The fundermental principle and
damping characteristic are analysed for STATCOM damping
SSO by complex torque coefficient approach and frequency
scanning method. The analysis result demonstrates that if the
phase difference between system voltage of access point and
voltage of STATCOM satisfies some condition, STATCOM can
provide maximal positive damping. The controller of STATCOM
is designed by dq transformation, which can mitigate SSO and
maintain voltage on dc side of inverter by active and reactive
power decoupled control. The simulation result reveals that this
kind of STATCOM can mitigate SSO effectively.
Keywords-SSO;STATCOM; SPWM; damping
I. INTRODUCTION
Due to the inverse distribution of coal endowment
and economic development in China, fixed series
compensation(FSC) is an economical and effective
measure to solve the problem of output limit of active
power at the power stations, which is caused by long
distance power supply by high voltage pattern. However,
FSC may induce subsynchronous oscillation(SSO)
between the series compensated transmission lines and
neighbouring generators, which may cause torsional
vibration of generators shaft. Quite a lot of measures
have been taken to damp SSO by researchers at home and
abroad, such as supplementary excitation damping
control(SEDC) and block filter(BF). These methods all
played a certain role in SSO mitigation, however, when
serious disturbance happens, these methods may be
inoperative. In recent years, Flexible Ac Transmission
Systems(FACTS) have been used to mitigate SSO because
of their fast response speed and control ability, such as
static var compensator(SVC) [1-3].
Static synchronous compensator(STATCOM) has
better control characteristic and smaller size than SVC in
the same capacity, so some researchers also use it to damp
SSO[4-5]. Now, most of FACTS which can damp SSO use
an auxiliary control strategy. STATCOM exclusively for
SSO mitigation use is presented in this paper, which is
based on sinusiodal pulse width modulation(SPWM) for
subsynchronous voltage. The fundermental principle and
damping characteristic are analysed for STATCOM
damping SSO by complex torque coefficient approach and
frequency scanning method. The controller of STATCOM
is designed by dq transformation, which can mitigate SSO
and maintain voltage on dc side of STATCOM by active
and reactive power decoupled control. The first
benchmark model is used to prove the effect of this kind
of control.
II. MECHANISM ANALYSIS AND CONTROLLER DESIGN OF
STATCOM
Now STATCOM is mainly used to supply reactive power
to maintain system voltage. So they are usually connected to
the middle of the transmission line. But when this kind of
connection is also adopted for SSO mitigation, the
conventional voltage control can not offer effective positive
damping. Moreover, the speed signals of generators need to be
got by wide area measurement system(WAMS) [6]. Compared
with this method, STATCOM exclusively for SSO mitigation
use has more advantages. It can be connected to the bus at the
generators terminal or at high voltage side of generator
transformers, which is convenient for speed signal acquisition
and has better effect of SSO mitigation. System connection
diagram of STATCOM exclusively for SSO mitigation is as
figure 1.
VSC
|
),
|{,
STATCOM
|]
VSI
|,

Fig.1 System connection diagram of STATCOMexclusively
for SSO(VSI stands for voltage sourced inverter)
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978-1-4244-8165-1/11/$26.00 2011 IEEE
A. Mechanism Analysis
When the control of STATCOM adopts SPWM, its ouput
fundamental voltage has the same frequency and phase as the
modulating signal[7]. So when the modulating signal with
power frequency includes signal at subsynchronous
frequencies which are the complement of the frequencies of
torsional vibration at generator shaft, STATOM can inject
subsynchronous current into the system, which forms
electromagnetic torque to damp SSO. If the phase difference
between system voltage of access point and voltage of
STATCOM satisfies some condition, STATCOM can provide
maximal positive damping.
Linearizng equivalent circuit of system with single
generator as figure 2 can be used to analyse the damping
characteristic by complex torque coefficient method before
and after STATCOM connected.
+
-

E
L j
m
) (
0
C j
m
) (
1
0

R g m
L j ) (
0
r
g

Fig.2 Linearizng equivalent circuit of system
with single generator
When the generator shaft vibrates at a subsynchronous
frequency which is the complement of resonant frequency in
the transmission line, the subsynchronous current under
the coordinate is :

+
+
=
+
+
=
] ) sin[( ) (
) ( 2
] ) cos[( ) (
) ( 2
0 0
0
0 0
0
s m m
g
s m m
g
t
r R
A
i
t
r R
A
i

1
Where
0
denotes fundamental frequency, A and
m
denotes
the amplitude and frequency of vibration,
s
denotes the phase
of current,
0
denotes main flux,
g
r and
g
L denotes the
resistance and inductance of generator, R and L denotes the
resistance and inductance of transmission line and generator
transformer, C denotes series compensating capacitor of the
transmission line.
The damping torque coefficients offered by this sub-
synchronous current can be computed as[8]:

) ( 2
) (
0
2
0
g m
m
e
r R
D
+

2
It is obvious that this system has negative damping
characteristic without STATCOM connected to it.
When STATCOM is connected to the bus at the
generator terminal, it can be equivalent to a controlled current
source as figure 3.
L j
m
) (
0
R
C j
m
) (
1
0

g m
L j ) (
0

r
g
i
1
i

Fig.3 System connection diagram with STATCOM
at generator terminal
The subsynchronous current provided by STATCOM
under the coordinate is:

(

+
+

=
(

) ) sin((
) ) cos((
) (
0
0
0

t
t
L
U m
i
i
m
m
s m
dc a
3

Where
dc
U denotes the dc voltage of STATCOM,
a
m denotes
amplitude modulation rates of subsynchronous voltage of
STATCOM, denotes the phase of subsynchronous voltage
produced by STATCOM.
The damping torque coefficients offered by STATCOM
can be computed as:
) cos(
) ( ) (
0
0

=
s
g m s m
dc a
e
r R AL
R U m
D 4
It can be seen that if the phase difference between system
voltage of access point and subsynchronous voltage of
STATCOM is equal to 180 degree, STATCOM can provide
maximal positive damping.
B. Controller Design of STATCOM
The principle of control in dq frame is as figure 4. The
reference current direction is from system to STATCOM. If
three-phase voltage of system is balanced, only the component
in d axis remains after dq transformation, so the space vector
of system voltage lies in d axis. Active power exchanged
between the system and STATCOM is determined by system
voltage and the component of current in d axis injected into
system by STATCOM. Reactive power exchanged between
the system and STATCOM is determined by system voltage
and the component of current in q axis injected into system by
STATCOM. Thus active and reactive power output by
STATCOM can be decoupled.
The control strategy of STATCOM only used for SSO
mitigation is as figure 5, which is designed by dq
transformation. The speed difference of generator including all
the torsional vibration modes of shaft is used as one of input
signals of controller to control the subsychronous current by
forming subsynchronous voltage for damping SSO in the q
axis. Due to the loss caused by IGBT or GTO , the dc voltage
of STATCOM can not keep constant, so dc voltage difference
is got to be used as the other input signal to maintain it.
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q
d
I

d
I

q
I

i
U

s
U

q
I

i
U

d
I

Fig.4 Phasor diagram of control of STATCOM in dq frame

sq
u
PI j
s
L
s
L
PI j PI j
PI j

dc
U
+

q
i
d
i

+
q s
i L
d s
i L
ord q
i
_
ord d
i
_
dt
di
L
q
s
dt
di
L
d
s
sd
u

+
+
+

iq
u
id
u

Fig.5 Schematic diagram of control of STATCOM
III. SIMULATION BASED ON THE FIRST BENCHMARK MODE
WITH STATCOM
The effect of STATCOM on damping SSO is simulated
based on the first benchmark model[9].The system connection
diagram of the first benchmark model with STATCOM is as
figure 6. The transmission line uses equivalent impedance and
infinite bus system is equivalent to a voltage source.
STATCOM exclusively for SSO mitigation is connected to the
bus at the generators terminal by a transformer.
,
j0.14

0. 02

.
|


j0.06 j0.5 -j0.4

VSC
STATCOM
VSI

Fig.6 System connection diagram of the first benchmark
model with STATCOM
A. Simulation of damping characteristic with STATCOM
When the damping characteristic of system needs to be
analysed, the shaft of generator uses the mode of single rigid
body. Frequency scanning method is used to analyse the
damping coefficient before and after STATCOM connected,
which is as figure 7. It can be seen from the figure that the
system has bigger negative damping near 20Hz before
STATCOM connected, which is represented by the solid line.
And it also can be seen that the damping characteristic is
improved after STATCOM connected, which is represented
by the dashed line, especially at the frequency of torsional
vibration of generator shaft.


Fig.7 The contrast of damping characteristicwith STATCOM in
and out of operation
B. Time domain simulation with STATCOM
Time domain simulation is adopted to verify the effect of
STATCOM exclusively for SSO mitigation. In this case, the
shaft of generator uses the mode of multi-rigid-body. Three-
phase-to-ground short circuit fault is set at the end of the
transmission line at the 5th second after simulation begins,
which lasts for 0.1 second. The torsional vibration of shaft is
as figure 8.
It can be seen from figure 8(a) that, with STATCOM out
of operation, after transitory convergence, the torsional
vibration of generator shaft finally tends to be diverging. On
the other hand, it can be seen from figure 8(b) that, with
STATCOM in operation, after fault beginning, the torsional
vibration of generator shaft is gradually converging. And the
system finally tends to be steady.STATCOM has a remarkable
effect on mitigating SSO.


aWith STATCOM out of operation
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bWith STATCOM in operation
Fig.8 The mitigation effect of STATCOM
IV. CONCLUSION
STATCOM exclusively for SSO mitigation use is
presented in this paper , which is based on SPWM for
subsynchronous voltage. The fundermental principle and
damping characteristic are analysed for STATCOM damping
SSO by complex torque coefficient approach and frequency
scanning method. The analysis result demonstrates that if the
phase difference between system voltage of access point and
subsynchronous voltage of STATCOM is equal to 180 degree,
STATCOM can provide maximal positive damping. The
controller of STATCOM is designed by dq transformation,
which can mitigate SSO and maintain voltage on dc side of
inverter by active and reactive power decoupled control. The
simulation result reveals that this kind of STATCOM can
mitigate SSO effectively and has a good perspective for
engineering applications.
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