MULTICONVERTER UNIFIED POWER-QUALITY

CONDITIONING SYSTEM: MC-UPQC

ABSTRACT
In order to meet PQ standard limits, it may be necessary to include some sort
of compensation. Modern solutions can be found in the form of active rectification
or active filtering. A shunt active power filter is suitable for the suppression of
negative load influence on the supply network, but if there are supply voltage
imperfections, a series active power filter may be needed to provide full
compensation. In recent years, solutions based on flexible ac transmission systems
(FACTS) have appeared. The application of FACTS concepts in distribution
systems has resulted in a new generation of compensating devices. A unified power
quality conditioner (UPQC) is the extension of the unified power-flow controller
(UPFC) concept at the distribution level. It consists of combined series and shunt
converters for simultaneous compensation of voltage and current imperfections in
a supply feeder.
An IPFC consists of two series VSCs whose dc capacitors are coupled. This
allows active power to circulate between the VSCs. With this configuration, two
lines can be controlled simultaneously to optimize the network utilization. An
interline unified power-quality conditioner (IUPQC), which is the extension of the
IPFC concept at the distribution level. The IUPQC consists of one series and one
shunt converter. It is connected between two feeders to regulate the bus voltage of
one of the feeders, while regulating the voltage across a sensitive load in the other
feeder. In this configuration, the voltage regulation in one of the feeders is
performed by the shunt-VSC. However, since the source impedance is very low, a
high amount of current would be needed to boost the bus voltage in case of a
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voltage sag/swell which is not feasible. It also has low dynamic performance
because the dc-link capacitor voltage is not regulated.
This paper presents a new unified power-quality
conditioning system (MC-UPQC), capable of simultaneous compensation for
voltage and current in multi-bus/multi-feeder systems. In this configuration, one
shunt voltage-source converter (shunt VSC) and two or more series VSCs exist.
The system can be applied to adjacent feeders to compensate for supply-voltage
and load current imperfections on the main feeder and full compensation of supply
voltage imperfections on the other feeders. In the proposed configuration, all
converters are connected back to back on the dc side and share a common dc-link
capacitor. Therefore, power can be transferred from one feeder to adjacent feeders
to compensate for sag/swell and interruption. The proposed topology can be used
for simultaneous compensation of voltage and current imperfections in both
feeders by sharing power compensation capabilities between two adjacent feeders
which are not connected. The system is also capable of compensating for
interruptions without the need for a battery storage system and consequently
without storage capacity limitations. The performance of the MC-UPQC as well as
the adopted control algorithm is illustrated by simulation.

I. INTRODUCTION
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With increasing applications of nonlinear and electronically switched

devices in distribution systems and industries, power-quality (PQ) problems, such
as harmonics, flicker, and imbalance have become serious concerns. In addition,
lightning strikes on transmission lines, switching of capacitor banks, and various
network faults can also cause PQ problems, such as transients, voltage sag/swell,
and interruption. On the other hand, an increase of sensitive loads involving digital
electronics and complex process controllers requires a pure sinusoidal supply
voltage for proper load operation [1].
In order to meet PQ standard limits, it may be necessary to include some sort
of compensation. Modern solutions can be found in the form of active rectification
or active filtering [2]. A shunt active power filter is suitable for the suppression of
negative load influence on the supply network, but if there are supply voltage
imperfections, a series active power filter may be needed to provide full
compensation [3]. In recent years, solutions based on flexible ac transmission
systems (FACTS) have appeared. The application of FACTS concepts in
distribution systems has resulted in a new generation of compensating devices. A
unified power-quality conditioner (UPQC) [4] is the extension of the unified
power-flow controller (UPFC) [5] concept at the distribution level. It consists of
combined series and shunt converters for simultaneous compensation of voltage
and current imperfections in a supply feeder .

Recently, multiconverter FACTS devices, such as an interline power-flow

controller (IPFC) [9] and the generalized unified power-flow controller (GUPFC)
[10] are introduced. The aim of these devices is to control the power flow of
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multilines or a subnetwork rather than control the power flow of a single line by,
for instance, a UPFC.
When the power flows of two lines starting in one substation need to be
controlled, an interline power flow controller (IPFC) can be used. An IPFC
consists of two series VSCs whose dc capacitors are coupled. This allows active
power to circulate between the VSCs. With this configuration, two lines can be
controlled simultaneously to optimize the network utilization. The GUPFC
combines three or more shunt and series converters. It extends the concept of
voltage and power-flow control beyond what is achievable with the known twoconverter UPFC. The simplest GUPFC consists of three convertersone
connected in shunt and the other two in series with two transmission lines in a
substation. The basic GUPFC can control total five power system quantities, such
as a bus voltage and independent active and reactive power flows of two lines. The
concept of GUPFC can be extended for more lines if necessary. The device may be
installed in some central substations to manage power flows of multilines or a
group of lines and provide voltage support as well. By using GUPFC devices, the
transfer capability of transmission lines can be increased significantly.
Furthermore, by using the multiline-management capability of the GUPFC,
active power flow on lines cannot only be increased, but also be decreased with
respect to operating and market transaction requirements. In general, the GUPFC
can be used to increase the transfer capability and relieve congestions in a flexible
way. This concept can be extended to design multiconverter configurations for PQ
improvement in adjacent feeders. For example, the interline unified power-quality
conditioner (IUPQC), which is the extension of the IPFC concept at the
distribution level, has been proposed in [11]. The IUPQC consists of one series and
one shunt converter. It is connected between two feeders to regulate the bus
voltage of one of the feeders, while regulating the voltage across a sensitive load in
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the other feeder. In this configuration, the voltage regulation in one of the feeders
is performed by the shunt-VSC. However, since the source impedance is very low,
a high amount of current would be needed to boost the bus voltage in case of a
voltage sag/swell which is not feasible. It also has low dynamic performance
because the dc-link capacitor voltage is not regulated.
In this paper, a new configuration of a UPQC called the multiconverter
unified power-quality conditioner (MC-UPQC) is presented. The system is
extended by adding a series-VSC in an adjacent feeder. The proposed topology can
be used for simultaneous compensation of voltage and current imperfections in
both feeders by sharing power compensation capabilities between two adjacent
feeders which are not connected. The system is also capable of compensating for
interruptions without the need for a battery storage system and consequently
without storage capacity limitations.

POWER QUALITY
The contemporary container crane industry, like many other industry
segments, is often enamored by the bells and whistles, colorful diagnostic displays,
high speed performance, and levels of automation that can be achieved. Although
these features and their indirectly related computer based enhancements are key
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issues to an efficient terminal operation, we must not forget the foundation upon
which we are building. Power quality is the mortar which bonds the foundation
blocks. Power quality also affects terminal operating economics, crane reliability,
our environment, and initial investment in power distribution systems to support
new crane installations. To quote the utility company newsletter which
accompanied the last monthly issue of my home utility billing: Using electricity
wisely is a good environmental and business practice which saves you money,
reduces emissions from generating plants, and conserves our natural resources. As
we are all aware, container crane performance requirements continue to increase at
an astounding rate. Next generation container cranes, already in the bidding
process, will require average power demands of 1500 to 2000 kW almost double
the total average demand three years ago. The rapid increase in power demand
levels, an increase in container crane population, SCR converter crane drive
retrofits and the large AC and DC drives needed to power and control these cranes
will increase awareness of the power quality issue in the very near future.

POWER QUALITY PROBLEMS

For the purpose of this article, we shall define power quality problems as:
Any power problem that results in failure or mis operation of customer equipment,
manifests itself as an economic burden to the user, or produces negative impacts on
the environment.
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When applied to the container crane industry, the power issues which degrade
power quality include:
Power Factor
Harmonic Distortion
Voltage Transients
Voltage Sags or Dips
Voltage Swells
The AC and DC variable speed drives utilized on board container cranes are
significant contributors to total harmonic current and voltage distortion. Whereas
SCR phase control creates the desirable average power factor, DC SCR drives
operate at less than this. In addition, line notching occurs when SCRs commutate,
creating transient peak recovery voltages that can be 3 to 4 times the nominal line
voltage depending upon the system impedance and the size of the drives. The
frequency and severity of these power system disturbances varies with the speed of
the drive. Harmonic current injection by AC and DC drives will be highest when
the drives are operating at slow speeds. Power factor will be lowest when DC
drives are operating at slow speeds or during initial acceleration and deceleration
periods, increasing to its maximum value when the SCRs are phased on to
produce rated or base speed. Above base speed, the power factor essentially
remains constant. Unfortunately, container cranes can spend considerable time at
low speeds as the operator attempts to spot and land containers. Poor power factor
places a greater kVA demand burden on the utility or engine-alternator power
source. Low power factor loads can also affect the voltage stability which can
ultimately result in detrimental effects on the
life of sensitive electronic equipment or even intermittent malfunction. Voltage
transients created by DC drive SCR line notching, AC drive voltage chopping, and
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high frequency harmonic voltages and currents are all significant sources of noise
and disturbance to sensitive electronic equipment
It has been our experience that end users often do not associate power
quality problems with Container cranes, either because they are totally unaware of
such issues or there was no economic Consequence if power quality was not
addressed. Before the advent of solid-state power supplies, Power factor was
reasonable, and harmonic current injection was minimal. Not until the crane
Population multiplied, power demands per crane increased, and static power
conversion became the way of life, did power quality issues begin to emerge. Even
as harmonic distortion and power Factor issues surfaced, no one was really
prepared. Even today, crane builders and electrical drive System vendors avoid the
issue during competitive bidding for new cranes. Rather than focus on Awareness
and understanding of the potential issues, the power quality issue is intentionally or
unintentionally ignored. Power quality problem solutions are available. Although
the solutions are not free, in most cases, they do represent a good return on
investment. However,

if power quality is not specified, it most likely will not be delivered.

Power quality can be improved through:
Power factor correction,
Harmonic filtering,
Special line notch filtering,
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 Transient voltage surge suppression,

Proper earthing systems.
In most cases, the person specifying and/or buying a container crane may
not be fully aware of the potential power quality issues. If this article accomplishes
nothing else, we would hope to provide that awareness.
In many cases, those involved with specification and procurement of
container cranes may not be cognizant of such issues, do not pay the utility
billings, or consider it someone elses concern. As a result, container crane
specifications may not include definitive power quality criteria such as power
factor correction and/or harmonic filtering. Also, many of those specifications
which do require power quality equipment do not properly define the criteria. Early
in the process of preparing the crane specification:
Consult with the utility company to determine regulatory or contract
requirements that must be
satisfied, if any.
Consult with the electrical drive suppliers and determine the power quality
profiles that can be
expected based on the drive sizes and technologies proposed for the specific
project.
Evaluate the economics of power quality correction not only on the present
situation, but consider the impact of future utility deregulation and the future
development plans for the terminal.
THE BENEFITS OF POWER QUALITY
Power quality in the container terminal environment impacts the economics of the
terminal operation, affects reliability of the terminal equipment, and affects other
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consumers served by the same utility service. Each of these concerns is explored in
the following paragraphs.
1. Economic Impact
The economic impact of power quality is the foremost incentive to container
terminal operators. Economic impact can be significant and manifest itself in
several ways:
a. Power Factor Penalties
Many utility companies invoke penalties for low power factor on monthly
billings. There is no industry standard followed by utility companies. Methods of
metering and calculating power factor penalties vary from one utility company to
the next. Some utility companies actually meter kVAR usage and establish a fixed
rate times the number of kVAR-hours consumed. Other utility companies monitor
kVAR demands and calculate power factor. If the power factor falls below a fixed
limit value over a demand period, a penalty is billed in the form of an adjustment
to the peak demand charges. A number of utility companies servicing container
terminal equipment do not yet invoke power factor penalties. However, their
service contract with the Port may still require that a minimum power factor over a
defined demand period be met. The utility company may not continuously monitor
power factor or kVAR usage and reflect them in the monthly utility billings;
however, they do reserve the right to monitor the Port service at any time. If the
power factor criteria set forth in the service contract are not met, the user may be
penalized, or required to take corrective actions at the users expense. One utility
company, which supplies power service to several east coast container terminals in
the USA, does not reflect power factor penalties in their monthly billings, however,
their service contract with the terminal reads as follows:
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The average power factor under operating conditions of customers load at

the point where service is metered shall be not less than 85%. If below 85%, the
customer may be required to furnish, install and maintain at its expense corrective
apparatus which will increase the Power factor of the entire installation to not less
than 85%. The customer shall ensure that no excessive harmonics or transients are
introduced on to the [utility] system. This may require special power conditioning
equipment or filters. The IEEE Std. 519-1992 is used as a guide in Determining
appropriate design requirements.
The Port or terminal operations personnel, who are responsible for
maintaining container cranes, or specifying new container crane equipment, should
be aware of these requirements. Utility deregulation will most likely force utilities
to enforce requirements such as the example above. Terminal operators who do not
deal with penalty issues today may be faced with some rather severe penalties in
the future. A sound, future terminal growth plan should include contingencies for
addressing the possible economic impact of utility deregulation.

b. System Losses
Harmonic currents and low power factor created by nonlinear loads, not only
result in possible power factor penalties, but also increase the power losses in the
distribution system. These losses are not visible as a separate item on your monthly
utility billing, but you pay for them each month. Container cranes are significant
contributors to harmonic currents and low power factor. Based on the typical
demands of todays high speed container cranes, correction of power factor
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alone on a typical state of the art quay crane can result in a reduction of system
losses that converts to a 6 to 10% reduction in the monthly utility billing. For most
of the larger terminals, this is a significant annual saving in the cost of operation.
c. Power Service Initial Capital Investments
The power distribution system design and installation for new terminals, as
well as modification of systems for terminal capacity upgrades, involves high cost,
specialized, high and medium voltage equipment. Transformers, switchgear, feeder
cables, cable reel trailing cables, collector bars, etc. must be sized based on the
kVA demand. Thus cost of the equipment is directly related to the total kVA
demand. As the relationship above indicates, kVA demand is inversely proportional
to the overall power factor, i.e. a lower power factor demands higher kVA for the
same kW load. Container cranes are one of the most significant users of power in
the terminal. Since container cranes with DC, 6 pulse, SCR drives operate at
relatively low power factor, the total kVA demand is significantly larger than
would be the case if power factor correction equipment were supplied on board
each crane or at some common bus location in the terminal. In the absence of
power quality corrective equipment, transformers are larger, switchgear current
ratings must be higher, feeder cable copper sizes are larger, collector system and
cable reel cables must be larger, etc. Consequently, the cost of the initial power
distribution system equipment for a system which does not address power quality
will most likely be higher than the same system which includes power quality
equipment.
2. Equipment Reliability
Poor power quality can affect machine or equipment reliability and reduce
the life of components. Harmonics, voltage transients, and voltage system sags
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and swells are all power quality problems and are all interdependent. Harmonics
affect power factor, voltage transients can induce harmonics, the same phenomena
which create harmonic current injection in DC SCR
variable speed drives are responsible for poor power factor, and dynamically
varying power factor of the same drives can create voltage sags and swells. The
effects of harmonic distortion, harmonic currents, and line notch ringing can be
mitigated using specially designed filters.
3. Power System Adequacy
When considering the installation of additional cranes to an existing power
distribution system, a power system analysis should be completed to determine the
adequacy of the system to support additional crane loads. Power quality corrective
actions may be dictated due to inadequacy of existing power distribution systems
to which new or relocated cranes are to be connected. In other words, addition of
power quality equipment may render a workable scenario on an existing power
distribution system, which would otherwise be inadequate to support additional
cranes without high risk of problems.
4. Environment
No issue might be as important as the effect of power quality on our
environment. Reduction in system losses and lower demands equate to a reduction
in the consumption of our natural nm resources and reduction in power plant
emissions. It is our responsibility as occupants
UNIFIED POWER QUALITY CONDITIONER
The provision of both DSTATCOM and DVR can control the power quality
of the source current and the load bus voltage. In addition, if the DVR and
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STATCOM are connected on the DC side, the DC bus voltage can be regulated by
the shunt connected DSTATCOM while the DVR supplies the required energy to
the load in case of the transient disturbances in source voltage. The configuration
of such a device (termed as Unified Power Quality Conditioner (UPQC)) is shown
in Fig. This is a versatile device similar to a UPFC. However, the control
objectives of a UPQC are quite different from that of a UPFC.

CONTROL OBJECTIVES OF UPQC

The shunt connected converter has the following control objectives
1. To balance the source currents by injecting negative and zero sequence
components required by the load
2. The compensate for the harmonics in the load current by injecting the required
harmonic currents
3. To control the power factor by injecting the required reactive current (at
fundamental frequency)
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4. To regulate the DC bus voltage.

The series connected converter has the following control objectives
1. To balance the voltages at the load bus by injecting negative and zero sequence
voltages to compensate for those present in the source.
2. To isolate the load bus from harmonics present in the source voltages, by
injecting the harmonic voltages
3. To regulate the magnitude of the load bus voltage by injecting the required
active and reactive components (at fundamental frequency) depending on the
power factor on the source side
4. To control the power factor at the input port of the UPQC (where the source is
connected. Note that the power factor at the output port of the UPQC (connected to
the load) is controlled by the shunt converter.

Operation of UPQC

The operation of a UPQC can be explained from the analysis of the idealized
equivalent circuit shown in Fig. 14.16. Here, the series converter is represented by
a voltage source VC and the shunt converter is represented by a current source IC.
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Note that all the currents and voltages are 3 dimensional vectors with phase
coordinates. Unlike in the case of a UPFC (discussed in chapter 8), the voltages
and currents may contain negative and zero sequence components in addition to
harmonics. Neglecting losses in the converters, we get the relation

where X,Ydenote the inner product of two vectors, defined by

Let the load current IL and the source voltage VS be decomposed into two
Components given by

Where I1p L contains only positive sequence, fundamental frequency components.

Similar comments apply to V 1pS . IrL and V rS contain rest of the load current
and the source voltage including harmonics. I1pL is not unique and depends on the
power factor at the load bus. However, the following relation applies for I1p L .

This implies that hIrL ; VLi = 0. Thus, the fundamental frequency, positive
sequence component in IrL does not contribute to the active power in the load. To
meet the control objectives, the desired load voltages and source currents must
contain only positive sequence, fundamental frequency components and

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where V L and IS are the reference quantities for the load bus voltage and the
source current respectively. l is the power factor angle at the load bus while s is
the power factor angle at the source bus (input port of UPQC). Note that V L(t)
and IS (t) are sinusoidal and balanced. If the reference current (IC ) of the shunt
converter and the reference voltage (V C) of the series converter are chosen as

Note that the constraint (14.30) implies that V 1p C is the reactive voltage in
quadrature with the desired source current, IS . It is easy to derive that
The above equation shows that for the operating
conditions assumed, a UPQC can be viewed as a inaction of a DVR and a
STATCOM with no active power ow through the DC link. However, if the
magnitude of V L is to be controlled, it may not be feasible to achieve this by
injecting only reactive voltage. The situation gets complicated if V 1p S is not
constant, but changes due to
system disturbances or fault. To ensure the regulation of the load bus voltage it
may be necessary to inject variable active voltage (in phase with the source
current). If we express

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This implies that both VC and IC are perturbations involving positive sequence,
fundamental frequency quantities (say, resulting from symmetric voltage sags). the
power balance on the DC side of the shunt and series converter. The perturbation in
VC is initiated to ensure that

Thus, the objective of the voltage regulation at the load bus may require exchange
of power between the shunt and series converters.
Remarks:
1. The unbalance and harmonics in the source voltage can arise due to
uncompensated nonlinear and unbalanced loads in the upstream of the UPQC.
2. The injection of capacitive reactive voltage by the series converter has the
advantage of raising the source voltage magnitude.

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VOLTAGE SOURCE CONVERTERS (VSC):

A voltage-source converter is a power electronic device, which can generate
a sinusoidal voltage with any required magnitude, frequency and phase angle.
Voltage source converters are widely used in adjustable-speed drives, but can also
be used to mitigate voltage dips. The VSC is used to either completely replace the
voltage or to inject the missing voltage. The missing voltage is the difference
between the nominal voltage and the actual. The converter is normally based on
some kind of energy storage, which will supply the converter with a DC voltage.
The solid-state electronics in the converter is then switched to get the desired
output voltage. Normally the VSC is not only used for voltage dip mitigation, but
also for other power quality issues, e.g. flicker and harmonics.
The voltage source rectifier operates by keeping the dc link voltage at a
desired reference value, using a feedback control loop as shown in Fig. 12.36. To
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accomplish this task, the dc link voltage is measured and compared with a
reference VREF. The error signal generated from this comparison is used to switch
the six valves of the rectifier ON and OFF. In this way, power can come or return
to the ac source according to dc link voltage requirements. Voltage VD is measured
at capacitor CD. When the current ID is positive (rectifier operation), the capacitor
CD is discharged, and the error signal ask the Control Block for more power from
the ac supply. The
Control Block takes the power from the supply by generating the appropriate
PWM signals for the six valves. In this way, more current flows from the ac to the
dc side, and the capacitor voltage is recovered. Inversely, when ID becomes
negative (inverter operation), the capacitor CD is overcharged, and the error signal
asks the control to discharge the capacitor and return power to the ac mains. The
PWM control not only can manage the active power, but also reactive power,
allowing this type of rectifier to correct power factor. In addition, the ac current
waveforms can be maintained as almost sinusoidal, which reduces harmonic
contamination to the mains supply. Pulsewidth-modulation consists of switching
the valves ON and OFF, following a pre-established template. This template could
be a sinusoidal waveform of voltage or current. For example, the modulation of
one phase could be as the one shown in Fig. 12.37. This PWM pattern is a
periodical waveform whose fundamental is a voltage with the same frequency
of the template. The amplitude of this fundamental, called VMOD in Fig. 12.37, is
also proportional to the amplitude of the template.
To make the rectifier work properly, the PWM pattern must generate a fundamental
VMOD with the same frequency as the power source. Changing the amplitude of
this fundamental

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Operation principle of the voltage source rectifier.

FIGURE A PWM pattern and its fundamental VMOD. and its phase-shift with
respect to the mains, the rectifier can be controlled to operate in the four quadrants:
leading power factor rectifier, lagging power factor rectifier, leading power factor
inverter, and lagging power factor inverter. Changing the pattern of modulation, as
shown in Fig. 12.38, modifies the magnitude of VMOD. Displacing the PWM
pattern changes the phase-shift. The interaction between VMOD and V (source
voltage) can be seen through a phasor diagram. This interaction permits
understanding of the four-quadrant capability of this rectifier. In Fig. 12.39, the
following operations are displayed: (a) rectifier at unity power factor; (b) inverter
at unity power factor; (c) capacitor (zero power factor); and (d) inductor (zero
power factor). In Fig. 12.39 Is is the rms value of the source current is . This
current flows through the semiconductors in the same way as shown in Fig. 12.40.
During the positive half cycle, the transistor TN connected at the negative side of
the dc link is switched ON, and the current is begins to flow through TN .iTn.. The
current returns to the mains and comes back to the valves, closing a loop with
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another phase, and passing through a diode connected at the same negative
terminal of the dc link. The current can also go to the dc load (inversion) and return
through another transistor located at the positive terminal of the dc link. When the
transistor TN is switched OFF, the current path is interrupted, and the current
begins to flow through diode DP, connected at the positive terminal of the dc link.
This current, called iDp in Fig, goes directly to the dc link, helping in the
generation of the current idc . The current idc charges the capacitor CD and permits
the rectifier to produce dc power. The inductances LS are very important in this
process, because they generate an induced voltage that allows conduction of the
diode DP. A similar operation occurs during the negative half cycle, but with TP
and DN

Changing VMOD through the PWM pattern.

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Four-quadrant operation of the force-commutatedrectifier: (a) the PWM forcecommutated rectifier; (b) rectifier operation at unity power factor; (c) inverter
operation at unity power factor; (d) capacitor operation at zero power factor; and
(e) inductor operation at zero power factor.
Under inverter operation, the current paths are different because the currents
flowing through the transistors come mainly from the dc capacitor CD. Under
rectifier operation, the circuit works like a Boost converter, and under inverter
operation it works as a Buck converter. To have full control of the operation of the
rectifier, their six diodes must be polarized negatively at all values of instantaneous
ac voltage supply. Otherwise, the diodes will conduct, and the PWM rectifier will
behave like a common diode rectifier bridge. The way to keep the diodes blocked
is to ensure a dc link voltage higher than the peak dc voltage generated by the
23

diodes alone, as shown in Fig. 12.41. In this way, the diodes remain polarized
negatively, and they will conduct only when at least one transistor is switched ON,
and favorable instantaneous ac voltage conditions are given. In Fig. 12.41 VD
represents the capacitor dc voltage, which is kept higher than the normal diodebridge rectification value nBRIDGE. To maintain this condition, the rectifier must
have a control loop like the one displayed in Fig.

Current waveforms through the mains, the valves, and the dc link.
VOLTAGE SOURCE INVERTER
Single-phase voltage source inverter can be found as half-bridge and fullbridge topologies. Although the power range they cover is the low one, they are
widely used in power supplies, single-phase UPSs, and currently to form elaborate
high-power static power topologies, such as for instance, the multi cell

24

configurations that are reviewed The main features of both approaches are
reviewed and presented in the following.

Types of VSI:
Half-Bridge VSI:
The power topology of a half-bridge VSI, where two large capacitors are
required to provide a neutral point N, such that each capacitor maintains a constant
voltage=2. Because the current harmonics injected by the operation of the inverter
are low-order harmonics, a set of large capacitors (C. and C) is required. It is clear
that both switches S. and S cannot be on simultaneously because short circuit
across the dc link voltage source vi would be produced. There are two defined
(states 1 and 2) and one undefined (state 3) switch state as shown in Table. In order
to avoid the short circuit across the dc bus and the undefined ac output voltage
condition, the modulating technique should always ensure that at any instant either
the top or the bottom switch of the inverter leg is on.

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shows the ideal waveforms associated with the half-bridge inverter shown in Fig.
14.2. The states for the switches S. and S are defined by the modulating
technique, which in this case is a carrier-based PWM.
The Carrier-Based Pulse width Modulation (PWM) Technique: As
mentioned earlier, it is desired that the ac output voltage. Va N follow a given
waveform (e.g., sinusoidal) on a continuous basis by properly switching the power
valves. The carrier-based PWM technique fulfils such a requirement as it defines
the on and off states of the switches of one leg of a VSI by comparing a
modulating signal vc (desired ac output voltage) and a triangular waveform vD
(carrier signal). In practice, when vc > vD the switch S. is on and the switch is off;
similarly, when vc < vD the switch S. is off and the switch S is on. A special case
is when the modulating signal vc is a sinusoidal at frequency fc and amplitude
^vc , and the triangular signal vD is at frequency fD and amplitude ^vD. This is the
sinusoidal PWM (SPWM) scheme. In this case, the modulation index ma (also
known as the amplitude-modulation ratio) is defined as

and the normalized carrier frequency mf (also known as the frequency-modulation

ratio) is

. vaN is basically a sinusoidal waveform plus harmonics, which features: (a)

the amplitude of the fundamental component of the ac output voltage ^vo1
satisfying the following expression:
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27

will be discussed later); (b) for odd values of the normalized carrier frequency mf
the harmonics in the ac output voltage appear at normalized frequencies fh
centered around mf and its multiples, specifically,

Where k . 2; 4; 6; . . . for l . 1; 3; 5; . . . ; and k . 1; 3; 5; . . .for l . 2; 4;

6; . . . ; (c) the amplitude of the ac output voltage harmonics is a function of the
modulation index ma and is independent of the normalized carrier frequency mf
form f > 9; (d) the harmonics in the dc link current (due to the modulation) appear
at normalized frequencies fp centered around the normalized carrier frequency mf
and its multiples, specifically,

where k . 2; 4; 6; . . . for l . 1; 3; 5; . . . ; and k . 1; 3; 5; . .for l . 2; 4; 6; . . . .

Additional important issues are: (a) for small values of mf (mf < 21), the carrier
28

signal vD and the modulating signal vc should be synchronized to each other(mf

integer), which is required to hold the previous features; if this is not the case, sub
harmonics will be present in the ac output voltage; (b) for large values of mf (mf >
21), the sub harmonics are negligible if an asynchronous PWM

technique is used, however, due to potential very low-order sub harmonics,

its use should be avoided; finally (c) in the over modulation region (ma > 1) some
intersections between the carrier and the modulating signal are missed, which leads
to the generation of low-order harmonics but a higher fundamental ac output
voltage is obtained; unfortunately, the linearity between ma and ^vo1achieved in
the linear region does not hold in the over modulation region, moreover, a
saturation effect can be observed
The PWM technique allows an ac output voltage to be generated that tracks
a given modulating signal. A special case is the SPWM technique (the modulating
signal is a sinusoidal) that provides in the linear region an ac output voltage that
varies linearly as a function of the modulation index and the harmonics are at welldefined frequencies and amplitudes.

29

These features simplify the design of filtering components. Unfortunately, the

maximum amplitude of the fundamental ac voltage is vi=2 in this operating mode.
Higher voltages are obtained by using the over modulation region (ma > 1);
however, low-order harmonics appear in the ac output voltage.

Square-Wave Modulating Technique:

Both switches S. and S are on for one-half cycle of the ac output period.
This is equivalent to the SPWM technique with an infinite modulation index ma.
Figure 14.5 shows the following: (a) the normalized ac output voltage harmonics
are at frequencies h . 3; 5; 7; 9; . . . , and for a given dc link voltage; (b) the
fundamental ac output voltage features an amplitude given by

and the harmonics feature an amplitude given by

Selective Harmonic Elimination:

The main objective is to obtain a sinusoidal ac output voltage waveform
where the fundamental component can be adjusted arbitrarily within a range and
the intrinsic harmonics selectively eliminated. This is achieved by mathematically
generating the exact instant of the turn-on and turn-off of the power valves.
The ac output voltage features odd half- and quarter wave

symmetry;

therefore, even harmonics are not present(voh . 0; h . 2; 4; 6; . . .). Moreover, the

30

per-phase voltage waveform (vo . vaN), should be chopped N times per half-cycle
in order to adjust the fundamental and eliminate N 1 harmonics in the ac output
voltage waveform. For instance, to eliminate the third and fifth harmonics and to
perform fundamental magnitude control (N. 3), the equations to be solved are the
following:

where the angles a1, a2, and a3 are defined as shown. The angles are found by
means of iterative algorithms as no analytical solutions can be derived. The angles
a1, a2, and

31

are plotted for different values of

in Fig. 14.7a. The general expressions to

eliminate an even N 1 .N 1 . 2; 4; 6; . . .) number of harmonics is

where a1, a2; . . . ; aN should satisfy a1 < a2 < _ _ _ < aN <p=2. Similarly, to
eliminate an odd number of harmonics, for instance, the third, fifth and seventh,
and to perform

32

Fundamental magnitude control (N 1 . 3), the equations to be solved are:

where the angles a1; a2; a3, and a4 are defined as shown in Fig.b. The angles a1;
a2, a3 and a4 are plotted for different values of

The general expressions to

eliminate an odd N -1 (N 1 . 3; 5; 7; . . .) number of harmonics are given by

33

Full-Bridge VSI:
The power topology of a full-bridge VSI. This inverter is similar to the halfbridge inverter; however, a second leg provides the neutral point to the load. As
expected, both switches S1. and S1 (or S2. and S2) cannot be on simultaneously
because a short circuit across the dc link voltage source vi would be produced.
There are four defined and one undefined
The undefined condition should be avoided so as to be always capable of
defining the ac output voltage. In order to avoid the short circuit across the dc bus
and the undefined ac output voltage condition, the modulating technique should
ensure that either the top or the bottom switch of each leg is on at any instant. It
can be observed that the ac output voltage can take values up to the dc link value vi
, which is twice that obtained with half-bridge VSI topologies. Several modulating
techniques have been developed that are applicable to full-bridge VSIs. Among
them are the PWM (bipolar and unipolar) techniques.

Bipolar PWM Technique:

34

States 1 and 2 (Table) are used to generate the ac output voltage in this
approach. Thus, the ac output voltage waveform features only two values, which
are vi and vi. To generate the states, a carrier-based technique can be used a sine
half-bridge configurations where only one sinusoidal modulating signal has been
used. It should be noted that the on state in switch S. in the half-bridge corresponds
to both switches S1. and S2 being in the on state in the full-bridge configuration.
Similarly, S in the on state in the half-bridge corresponds to both switches
S1 andS2. being in the on state in the full-bridge configuration. This is called
bipolar carrier-based SPWM. The ac output voltage waveform in a full-bridge VSI
is basically a sinusoidal waveform that features a fundamental component of
amplitude ^vo1that satisfies the expression

In the linear region of the modulating technique (ma _ 1),which is twice that
obtained in the half-bridge VSI. Identical conclusions can be drawn for the
frequencies and amplitudes of the harmonics in the ac output voltage and dc link
current, and for operations at smaller and larger values of odd mf(including the
over modulation region (ma > 1)), than in half bridge VSIs, but considering that
the maximum ac output voltage is the dc link voltage vi . Thus, in the over
modulation region the fundamental component of amplitude ^vo1 satisfies the
expression

In contrast to the bipolar approach, the unipolar PWM technique uses the
states 1, 2, 3, and to generate the ac output voltage. Thus, the ac output voltage
waveform can instantaneously take one of three values, namely
35

The signal

vc is used to generate van, and

is used to generate vbN ;

other hand,

thus

.On the
This is called

unipolar carrier-basedPWM.
Identical conclusions can be drawn for the amplitude of the fundamental
component and harmonics in the ac output voltage and dc link current, and for
operations at smaller and larger values of mf , (including the over modulation
region (ma > 1)), than in full-bridge VSIs modulated by the bipolar SPWM.
However, because the phase voltages

are identical but 180_ out of

phase, the output voltage

will not contain even harmonics.

Thus, if mf is taken even, the harmonics in the ac output voltage appear at

normalized odd frequencies fh centered around twice the normalized carrier
frequency mf and its multiples. Specifically,

where k . 1; 3; 5; . . . and the harmonics in the dc link current appear at normalized

frequencies fp centered around twice the normalized carrier frequency mf and its
multiples. Specifically,

where k . 1; 3; 5; . . .. This feature is considered to be an advantage because it

allows the use of smaller filtering components to obtain high-quality voltage and
current waveforms while using the same switching frequency as in VSIs modulated
by the bipolar approach.

Selective Harmonic Elimination:

36

In contrast to half-bridge VSIs, this approach is applied in a per-line fashion

for full-bridge VSIs. The ac output voltage features odd half- and quarter-wave
symmetry; therefore, even harmonics are not present
Moreover, the ac output voltage waveform

in Fig. 14.8), should feature N

pulses per half-cycle in order to adjust the fundamental component and eliminate N
1 harmonics. For instance, to eliminate the third, fifth and seventh harmonics and
to perform fundamental magnitude control (N . 4), the equations to be solved are:

The general expressions to eliminate an arbitrary N

number of

harmonics are given by

Shows a special case where only the fundamental ac output voltage is controlled.
This is known as output control by voltage cancellation, which derives from the
fact that its implementation is easily attainable by using two phase-shifted squarewave switching signals as shown in

37

38

39

Fig. Chopping angles for SHE and fundamental voltage control in half-bridge
VSIs: (a) fundamental control and third, fifth, and seventh harmonic elimination;
(b) fundamental control.
Thus, the amplitude of the fundamental component and harmonics in the ac
output voltage are given by

40

It can also be observed in Fig. 14.12c that for a1 . 0 square wave operation is

achieved. In this case, the fundamental a output voltage is given by

where the fundamental load voltage can be controlled by the manipulation of the
dc link voltage
II. MODELLING OF THE UPQC
Figure shows the equivalent single-phase representation of the UPQC.

Figure . Equivalent single-phase representation of the UPQC.

The distorted supply voltage vs at the PCC can be represented by the sum of
two voltages, vf (fundamental) and vh (harmonics). The nonlinear load is modeled
by a current source iL composed of both fundamental and harmonics that will be
changed with different loads. The supply current is denoted by is and the voltage
across the nonlinear load is denoted by vL. The voltage vz in Figure is the voltage
drop across the line impedance Rl + jwLl. The series active filter of the UPQC is
modeled by a series Voltage Source Inverter (VSI) with Lse and Cse as the second
order low-pass interfacing filter and Rse as the losses of the series VSI. The shunt
active filter of the UPQC is represented by a shunt VSI with Lsh and Csh as the
second order low-pass interfacing filter and Rsh as the losses of the shunt VSI.
41

iCsh is the leakage capacitor current of the shunt low-pass interfacing filter.

represent the switching voltages across the series and the shunt
VSI outputs of the UPQC respectively.
The injected voltage of the series active filter is denoted by vinj, while the
injected current of the shunt active filter is denoted by iinj. Both u1 and u2 treated
as manipulated variables and take continuous values between -1 and +1. The
voltage

is the desired voltage level of each capacitor unit for the UPQC.

A state-space model for the UPQC is given by [8], [9]:

42

where the state-variables are is (the supply current), ise (the current flowing
through the inductance Lse), iinj (the injected current), vinj (the injected voltage)
and vch (the voltage across the capacitance Csh, which is the same as the load
voltage vL). In this state-space model, the supply voltage vs and the load current iL
are considered as exogenous inputs to the plant,
which act like disturbances, while the load voltage vL and the supply current is are
considered as outputs of the plant. The variables u1 and u2 are regarded as the
manipulated control inputs to the plant. The control objective is to regulate vL and
is to sine waves of 50Hz without any harmonics, even though harmonics exist in vs
and iL.

43

Three-Phase Voltage Source Inverters:

Single-phase VSIs cover low-range power applications and three-phase VSIs cover
the medium- to high-power applications. The main purpose of these topologies is
to provide a three-phase voltage source, where the amplitude, phase, and frequency
of the voltages should always be controllable. Although most of the applications
require sinusoidal voltage waveforms (e.g., ASDs, UPSs, FACTS, var
compensators), arbitrary voltages are also required in some emerging applications
(e.g., active filters, voltage compensators). The standard three-phase VSI topology
is shown in Fig. 14.13 and the eight valid switch states are given in Table 14.3. As
in single-phase VSIs, the switches of any leg of the inverter (S1 and S4, S3 and S6,
or S5 and S2) cannot be switched on simultaneously because this would result in a
short circuit across the dc link voltage supply. Similarly, in order to avoid
undefined states in the VSI, and thus undefined ac output line voltages, the
switches of any leg of the inverter cannot be switched off simultaneously as this
will result in voltages that will depend upon the respective line current polarity. Of
the eight valid states, two of them (7 and 8 in Table 14.3) produce zero ac line
voltages. In this case, the ac line currents freewheel through either the upper or
lower components. The remaining states (1 to 6 in Table 14.3) produce nonzero ac
output voltages. In order to generate a given voltage waveform, the inverter moves
from one state to another. Thus the resulting ac output line voltages consist of
discrete values of voltages that are vi , 0, and vi for the topology shown in Fig.
The selection of the states in order to generate the given waveform is done by the
modulating technique that should ensure the use of only the valid states.

44

II. PROPOSED MC-UPQC SYSTEM

A. Circuit Configuration
The single-line diagram of a distribution system with an MC-UPQC is shown in
Fig.

Fig. Single-line diagram of a distribution system with an MC-UPQC.

As shown in this figure, two feeders connected to two different substations
supply the loads L1 and L2. The MC-UPQC is connected to two buses BUS1 and
45

BUS2 with voltages of

and

, respectively. The shunt part of the MC-UPQC

is also connected to load L1 with a current of

while load voltages are
by

. Supply voltages are denoted by

Finally, feeder currents are denoted

and load currents are

Bus voltages

are distorted

and may be subjected to sag/swell. The load L1 is a nonlinear/sensitive load which

needs a pure sinusoidal voltage for proper operation while its current is nonsinusoidal and contains harmonics. The load L2 is a sensitive/critical load which
needs a purely sinusoidal voltage and must be fully protected against distortion,
sag/swell, and interruption. These types of loads primarily include production
industries and critical service providers, such
B. MCUPQC Structure
The internal structure of the MCUPQC is shown in Fig.

Fig. Typical MC-UPQC used in a distribution system.

It consists of three VSCs (VSC1, VSC2, and VSC3) which are connected
back to back through a common dc-link capacitor. In the proposed configuration,
VSC1 is connected in series with BUS1 and VSC2 is connected in parallel with
load L1 at the end of Feeder1. VSC3 is connected in series with BUS2 at the

46

Feeder2 end. Each of the three VSCs in Fig. 2 is realized by a three-phase

converter with a commutation reactor and high-pass output filter as shown in Fig.

Fig. Schematic structure of a VSC.

The commutation reactor

and high- pass output filter

are connected to

prevent the flow of switching harmonics into the power supply. As shown in Fig,
all converters are supplied from a common dc-link capacitor and connected to the
distribution system through a transformer. Secondary (distribution) sides of the
series-connected transformers are directly connected in series with BUS1 and
BUS2, and the secondary (distribution)side of the shunt-connected transformer is
connected in parallel with load L1. The aims of the MC-UPQC shown in Fig are:
1) to regulate the load voltage

against sag/swell and disturbances in the system

to protect the nonlinear/sensitive load L1;

2) to regulate the load voltage

against sag/swell, interruption, and

disturbances in the system to protect the sensitive/ critical load L2;

3) to compensate for the reactive and harmonic components of nonlinear load
current

In order to achieve these goals, series VSCs (i.e., VSC1 and VSC3) operate as
voltage controllers while the shunt VSC (i.e., VSC2) operates as a current
controller.
C. Control Strategy
As shown in Fig., the MC-UPQC consists of two series VSCs and one shunt VSC
which are controlled independently. The switching control strategy for series VSCs
47

and the shunt VSC are selected to be sinusoidal pulse width-modulation (SPWM)
voltage control and hysteresis current control, respectively. Details of the control
algorithm, which are based on the dq method [12], will be discussed later. ShuntVSC: Functions of the shunt-VSC are:
1) to compensate for the reactive component of load L1 current;
2) to compensate for the harmonic components of load L1 current;
3) to regulate the voltage of the common dc-link capacitor.
Fig. shows the control block diagram for the shunt VSC.
The measured load current

is transformed into the synchronous dq0

reference frame by using

where the transformation matrix is shown in (2), at the bottom of the page.
By this transform, the fundamental positive-sequence component, which is
transformed into dc quantities in the d and q axes, can be easily extracted by lowpass filters (LPFs). Also, all harmonic components are transformed into ac
quantities with a fundamental frequency shift

where

are d-q components of load current,

are dc components, and

are the ac components of

.
If

is the feeder current and

is the shunt VSC current and knowing

, then dq components of the shunt VSC reference current are defined

as follows:
48

Consequently, the dq components of the feeder current are

This means that there are no harmonic and reactive components in the feeder
current. Switching losses cause the dc-link capacitor voltage to decrease. Other
disturbances, such as the sudden variation of load, can also affect the dc link. In
order to regulate the dc-link capacitor voltage, a proportionalintegral (PI)
controller is used as shown in Fig. The input of the PI controller is the error
between the actual capacitor voltage
of the PI controller

and its reference value

. The output

is added to the d component of the shunt-VSC

reference current to form a new reference current as follows:

As shown in Fig., the reference current in (9) is then transformed back into
the abc reference frame. By using PWM hysteresis current control, the outputcompensating currents in each phase are obtained

Series-VSC: Functions of the series VSCs in each feeder are:

1) to mitigate voltage sag and swell;
2) to compensate for voltage distortions, such as harmonics;
3) to compensate for interruptions (in Feeder2 only).
49

The control block diagram of each series VSC is shown in Fig. The bus voltage
is detected and then transformed into the synchronous dq0 reference frame
using

Where

are fundamental frequency positive-, negative-, and zero-sequence

components, respectively, and

is the harmonic component of the bus voltage.

According to control objectives of the MC-UPQC, the load voltage should be kept
sinusoidal with a constant amplitude even if the bus voltage is disturbed.
Therefore, the expected load voltage in the synchronous dq0 reference frame
only has one value.

where the load voltage in the abc reference frame

is

The compensating reference voltage in the synchronous dq0 reference frame

is defined as
50

This means

in (12) should be maintained at

while all other unwanted

components must be eliminated. The compensating reference voltage is then

transformed back into the abc reference frame. By using an improved SPWM
voltage control technique (sine PWM control with minor loop feedback) [8], the
output compensation voltage of the series VSC can be obtained.
III. POWER-RATING ANALYSIS OF THE MC-UPQC
The power rating of the MC-UPQC is an important factor in terms of cost. Before
calculation of the power rating of each VSC in the MC UPQC structure, two
models of a UPQC are analyzed and the best model which requires the minimum
power rating is considered. All voltage and current phasors used in this section are
phase quantities at the fundamental frequency. There are two models for a UPQC
quadrature compensation (UPQC-Q) and inphase compensation (UPQC-P). In
the quadrature compensation scheme, the injected voltage by the series- VSC
maintains a quadrature advance relationship with the supply current so that no real
power is consumed by the series VSC at steady state. This is a significant
advantage when UPQC mitigates sag conditions. The series VSC also shares the
volt ampere reactive (VAR) of the load along with the shunt-VSC, reducing the
power rating of the shunt-VSC.
Fig. shows the phasor diagram of this scheme under a typical load power factor
condition with and without a voltage sag.

51

Fig. Phasor diagram of quadrature compensation. (a) Without voltage sag. (b) With
voltage sag.

When the bus voltage is at the desired value

voltage

, the series-injected

is zero [Fig.(a)]. The shunt VSC injects the reactive component of

load current

, resulting in unity input-power factor. Furthermore, the shunt VSC

compensates for not only the reactive component, but also the harmonic
components of the load current

. For sag compensation in this model, the

quadrature series voltage injection is needed as shown in Fig. (b). The shunt VSC
injects

in such a way that the active power requirement of the load is only drawn

from the utility which results in a unity input-power factor. In an inphase

compensation scheme, the injected voltage is inphase with the supply voltage when
the supply is balanced. By virtue of inphase injection, series VSC will mitigate the
voltage sag condition by minimum injected voltage. The phasor diagram of Fig.
explains the operation of this scheme in case of a voltage sag.

Fig. Phasor diagram of inphase compensation (supply voltage sag).

52

A comparison between in phase (UPQC-P) and quadrature (UPQC-Q)

models is made for different sag conditions and load power factors in [13]. It is
shown that the power rating of the shunt-VSC in the UPQC-Q model is lower than
that of the UPQC-P, and the power rating of the series-VSC in the UPQC-P model
is lower than that of the UPQC-Q for a power factor of less than or equal to 0.9.
Also, it is shown that the total power rating of UPQC-Q is lower than that of
UPQC-P where the VAR demand of the load is high.
As discussed in Section II, the power needed for interruption compensation
in Feeder2 must be supplied through the shunt VSC in Feeder1 and the series VSC
in Feeder2. This implies that power ratings of these VSCs are greater than that of
the series one in Feeder1. If quadrature compensation in Feeder1 and inphase
compensation in Feeder2 are selected, then the power rating of the shunt VSC and
the series VSC (in Feeder2) will be reduced. This is an important criterion for
practical applications.
Based on the aforementioned discussion, the power-rating calculation for the
MC-UPQC is carried out on the basis of the linear load at the fundamental
frequency. The parameters in Fig. are corrected by adding suffix 1, indicating
Feeder1, and the parameters in Fig. are corrected by adding suffix 2, indicating
Feeder2. As shown in Figs. 6 and 7, load voltages in both feeders are kept constant
at

regardless of bus voltages variation, and the load currents in both feeders are

assumed to be constant at their rated values (i.e.,

53

, respectively)

The load power factors in Feeder1 and Feeder2 are assumed to be

and the per-unit sags, which must be compensated in Feeder1 and Feeder2, are
supposed to be x1 and x2, respectively.
If the MC-UPQC is lossless, the active power demand supplied by Feeder1
consists of two parts:
1) the active power demand of load in Feeder1;
2) the active power demand for sag and interruption compensation in Feeder2.
Thus, Feeder1 current

can be found as

From Fig., the voltage injected by the series VSC in Feeder1 and thus the power
rating of this converter

can be calculated as

The shunt VSC current is divided into two parts.

1) The first part (i.e.,

) compensates for the reactive component (and harmonic

components) of Feeder1 current and can be calculated from Fig. as

54

where

is calculated. This part of the shunt VSC current only exchanges reactive

power (Q) with the system.

2) The second part provides the real power (P), which is needed for a sag or
interruption compensation in Feeder2. Therefore, the power rating of the shunt
VSC can be calculated as

where

is calculated. Finally, the power rating of the series-VSC in Feeder2 can

be calculated. For the worst-case scenario (i.e., interruption compensation), one

must consider

. Therefore

IV. SIMULATION RESULTS

The proposed MC-UPQC and its control schemes have been tested through
extensive case study simulations using PSCAD/ EMTDC. In this section,
simulation results are presented, and the performance of the proposed MC-UPQC
system is shown.
A. Distortion and Sag/Swell on the Bus Voltage
Let us consider that the power system in Fig. 2 consists of two three-phase threewire 380(v) (rms, L-L), 50-Hz utilities. The BUS1 voltage
seventh-order harmonic with a value of 22%, and the BUS2 voltage

contains the
contains

the fifthorder harmonic with a value of 35%. The BUS1 voltage contains 25% sag
between

and 20% swell between

voltage contains 35% sag between

. The BUS2
and 30% swell between

. The nonlinear/sensitive load L1 is a three-phase rectifier

55

load which supplies an RC load of 10 and 30 F. Finally, the critical load L2

contains a balanced RL load of 10 and 100mH.
The MCUPQC is switched on at t=0.02 s. The BUS1 voltage, the corresponding
compensation voltage injected by VSC1, and finally load L1 voltage are shown in
Fig.

Fig. BUS1 voltage, series compensating voltage, and load voltage in Feeder1.
In all figures, only the phase a waveform is shown for simplicity. Similarly, the
BUS2 voltage, the corresponding compensation voltage injected by VSC3, and
finally, the load L2 voltageare shown in Fig.

56

Fig. BUS2 voltage, series compensating voltage, and load voltage in Feeder2.
As shown in these figures, distorted voltages of BUS1 and BUS2 are satisfactorily
compensated for across the loads L1 and L2 with very good dynamic response. The
nonlinear load current, its corresponding compensation current injected by VSC2,
compensated Feeder1 current, and,
finally, the dc-link capacitor voltage are shown in Fig.

57

Fig. Nonlinear load current, compensating current, Feeder1 current, and capacitor
voltage.
The distorted nonlinear load current is compensated very well, and the total
harmonic distortion (THD) of the feeder current is reduced from 28.5% to less than
5%. Also, the dc voltage regulation loop has functioned properly under all
disturbances, such as sag/swell in both feeders.
B. Upstream Fault on Feeder2
When a fault occurs in Feeder2 (in any form of L-G, L-L-G, and L-L-L-G faults),
the voltage

across the sensitive/critical load L2 is involved in sag/swell or

interruption. This voltage imperfection can be compensated for by VSC2. In this

case, the power required by load L2 is supplied through VSC2 and VSC3. This
implies that the power semiconductor switches of VSC2 and VSC3 must be rated
58

such that total power transfer is possible. This may increase the cost of the device,
but the benefit that may be obtained can offset the expense. In the proposed
configuration, the sensitive/critical load on Feeder2 is fully protected against
distortion, sag/swell, and interruption. Furthermore, the regulated voltage across
the sensitive load on Feeder1 can supply several customers who are also protected
against distortion, sag/swell, and momentary interruption. Therefore, the cost of the
MC-UPQC must be balanced against the cost of interruption, based on reliability
indices, such as the customer average interruption duration index (CAIDI) and
customer average interruption frequency index (CAIFI). It is expected that the
MC-UPQC cost can be recovered in a few years by charging higher tariffs for the
protected lines. The performance of the MC-UPQC under a fault condition on
Feeder2 is tested by applying a three-phase fault to ground on Feeder2 between
0.3s<t<0.4 s. Simulation results are shown in Fig.

59

Fig. Simulation results for an upstream fault on Feeder2: BUS2 voltage,

compensating voltage, and loads L1 and L2 voltages.

C. Load Change
To evaluate the system behavior during a load change, the nonlinear load L1 is
doubled by reducing its resistance to half at t=0.5 s. The other load, however, is
kept unchanged. The system response is shown in Fig.

60

Fig. Simulation results for load change: nonlinear load current, Feeder1 current,
load L1 voltage, load L2 voltage, and dc-link capacitor voltage.
It can be seen that as load L1 changes, the load voltages

remain

undisturbed, the dc bus voltage is regulated, and the nonlinear load current is
compensated.
D. Unbalance Voltage
The control strategies for shunt and series VSCs, which are introduced in Section
II, are based on the dq method. They are capable of compensating for the
61

unbalanced source voltage and unbalanced load current. To evaluate the control
system capability for unbalanced voltage compensation, a new simulation is
performed. In this new simulation, the BUS2 voltage and the harmonic
components of BUS1 voltage are similar to those given in Section IV. However,
the fundamental component of the BUS1 voltage
three-phase voltage with an unbalance factor

is an unbalanced
of 40%. This unbalance

voltage is given by

The simulation results for the three-phase BUS1 voltage series compensation
voltage, and load voltage in feeder 1 are shown in Fig.

Fig. BUS1 voltage, series compensating voltage, and load voltage in Feeder1 under
unbalanced source voltage.
The simulation results show that the harmonic components and unbalance of BUS1
voltage are compensated for by injecting the proper series voltage. In this figure,
the load voltage is a three-phase sinusoidal balance voltage with regulated
amplitude.
62

V. CONCLUSION
In this paper, a new configuration for simultaneous compensation of voltage and
current in adjacent feeders has been proposed. The new configuration is named
multi-converter unified power-quality conditioner (MC-UPQC). Compared to a
conventional UPQC, the proposed topology is capable of fully protecting critical
and sensitive loads against distortions, sags/swell, and interruption in two-feeder
systems. The idea can be theoretically extended to multibus/multifeeder systems by
adding more series VSCs. The performance of the MC-UPQC is evaluated under
various disturbance conditions and it is shown that the proposed MC-UPQC offers
the following advantages:
1) power transfer between two adjacent feeders for sag/swell and interruption
compensation;
2) compensation for interruptions without the need for a battery storage system
and, consequently, without storage capacity limitation;
3) sharing power compensation capabilities between two adjacent feeders which
are not connected.

63

INTRODUCTION TO MATLAB

MATLAB is a software package for computation in engineering, science, and

applied mathematics.

64

It offers a powerful programming language, excellent graphics, and a wide

range of expert knowledge. MATLAB is published by and a trademark of The
MathWorks, Inc.

The focus in MATLAB is on computation, not mathematics: Symbolic

expressions and manipulations are not possible (except through the optional
Symbolic Toolbox, a clever interface to maple). All results are not only numerical
but inexact, thanks to the rounding errors inherent in computer arithmetic. The
limitation to numerical computation can be seen as a drawback, but its a source of
strength too: MATLAB is much preferred to Maple, Mathematical, and the like
when it comes to numerics.

On the other hand, compared to other numerically oriented languages like

C++ and FORTRAN, MATLAB is much easier to use and comes with a huge
standard library.1 the unfavorable comparison here is a gap in execution speed.
This gap is not always as dramatic as popular lore has it, and it can often be
narrowed or closed with good MATLAB programming (see section 6). Moreover,
one can link other codes into MATLAB, or vice versa, and MATLAB now
optionally supports parallel computing. Still, MATLAB is usually not the tool of
choice for maximum-performance Computing.
65

The MATLAB niche is numerical computation on workstations for non-experts in

computation.

This is a huge nicheone way to tell is to look at the number of MATLABrelated books on mathworks.com. Even for supercomputer users, MATLAB can be
a valuable environment in which to explore and fine-tune algorithms before more
laborious coding in another language.
Most successful computing languages and environments acquire a distinctive
character or culture.
In MATLAB, that culture contains several elements: an experimental and graphical
bias, resulting from the interactive environment and compression of the writecompile-link-execute analyze cycle; an emphasis on syntax that is compact and
friendly to the interactive mode, rather than tightly constrained and verbose; a
kitchen-sink mentality for providing functionality; and a high degree of openness
and transparency (though not to the extent of being open source software).

The fifty-cent tour

When you start MATLAB, you get a multi paneled desktop. The layout and
behavior of the desktop and its components are highly customizable (and may in
fact already be customized for your site).
The component that is the heart of MATLAB is called the Command
Window, located on the 1Here and elsewhere I am thinking of the old
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FORTRAN, FORTRAN 77. This is not a commentary on the usefulness of

FORTRAN 90 but on my ignorance of it.
INTRODUCTION

Right by default. Here you can give MATLAB commands typed at the
prompt, >>. Unlike FORTRAN and other compiled computer languages,
MATLAB is an interpreted environmentyou give a command, and MATLAB
tries to execute it right away before asking for another.

At the top left you can see the Current Directory. In general MATLAB is
aware only of files in the current directory (folder) and on its path, which can be
customized. Commands for working with the directory and path include cd, what,
add path, and edit path (or you can choose File/Set path. . . from the menus).
You can add files to a directory on the path and thereby add commands to
MATLAB; we will return to this subject in section 3.
Next to the Current Directory tab is the Workspace tab. The workspace shows you
what variable names are currently defined and some information about their
contents. (At start-up it is, naturally, empty.) This represents another break from
compiled environments: variables created in the workspace persist for you to
examine and modify, even after code execution stops. Below the Command
Window/Workspace window is the Command History window. As you enter
commands, they are recorded here. This record persists across different MATLAB
sessions, and commands or blocks of commands can be copied from here or saved
to files.
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As you explore MATLAB, you will soon encounter some toolboxes. These
are individually packaged sets of capabilities that provide in-depth expertise on
particular subject areas. There is no need to load them explicitlyonce installed,
they are always available transparently. You may also encounter Simulink, which
is a semi-independent graphical control-engineering package not covered in this
document.
Graphical versus command-line usage

MATLAB was originally entirely a command-line environment, and it

retains that orientation.

But it is now possible to access a great deal of the

functionality from graphical interfacesmenus, buttons, and so on. These

interfaces are especially useful to beginners, because they lay out the available
choices clearly.2 As a rule, graphical interfaces can be more natural for certain
types of interactive work, such as annotating a graph or debugging a program,
whereas typed commands remain better for complex, precise, repeated, or
reproducible tasks. One does not always need to make a choice, though; for
instance, it is possible to save a figures styles as a template that can be used with
different data by pointing and clicking. Moreover, you can package code you want
to distribute with your own graphical interface, one that itself may be designed
with a combination of graphical and command-oriented tools. In the end, an
advanced MATLAB user should be able to exploit both modes of work to be
productive.

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That said, the focus of this document is on typed commands. In many

(most?) cases these have graphical interface equivalents, even if I dont explicitly
point them out.
In particular, feel free to right-click (on Control-click on a Mac) on various objects
to see what you might be able to do to them.
WHAT IS SIMULINK

Simulink (Simulation and Link) is an extension of MATLAB by Math works

Inc. It works with MATLAB to offer modeling, simulating, and analyzing of
dynamical systems under a graphical user interface (GUI) environment. The
construction of a model is simplified with click-and-drag mouse operations.
Simulink includes a comprehensive block library of toolboxes for both linear and
nonlinear analyses. Models are hierarchical, which allow using both top-down and
bottom-up approaches. As Simulink is an integral part of MATLAB, it is easy to
switch back and forth during the analysis process and thus, the user may take full
advantage of features offered in both environments. This tutorial presents the basic
features of Simulink and is focused on control systems as it has been written for
students in my control systems .

Getting Started
69

To start a Simulink session, you'd need to bring up Matlab program first. From
Matlab command window, enter:
>> simulink

Alternately, you may click on the Simulink icon located on the toolbar as shown

70

To see the content of the blockset, click on the "+" sign at the beginning of each
toolbox.
To start a model click on the NEW FILE ICON as shown in the screenshot
above.
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Alternately, you may use keystrokes CTRL+N.

A new window will appear on the screen. You will be constructing your model in
this window. Also in this window the constructed model is simulated. A screenshot
of a typical working (model) window that looks like one shown below:

To become familiarized with the structure and the environment of Simulink, you
are encouraged to explore the toolboxes and scan their contents.
You may not know what they are all about but perhaps you could catch on
the organization of these toolboxes according to the category. For instant, you may
see Control System Toolbox to consist of the Linear Time Invariant (LTI) system
72

library and the MATLAB functions can be found under Function and Tables of the
Simulink main toolbox. A good way to learn Simulink (or any computer program
in general) is to practice and explore. Making mistakes is a part of the learning
curve. So, fear not, you should be.

A simple model is used here to introduce some basic features of Simulink.

Please follow the steps below to construct a simple model.
STEP 1: CREATING BLOCKS:

From BLOCK SET CATEGORIES section of the SIMULINK LIBRARY

BROWSER window, click on the "+" sign next to the Simulink group to expand
the tree and select (click on) Sources.

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A set of blocks will appear in the BLOCKSET group. Click on the Sine
Wave blockand drag it to the workspace window (also known as model window)

74

I am going to save this model under the filename: "simexample1". To save a

model, you may click on the floppy diskette icon. Or from FILE menu, select Save
or CTRL+S. All Simulink model file will have an extension ".mdl". Simulink
recognizes file with .mdl extension as a simulation model (similar to how
MATLAB recognizes files with the extension .m as an MFile).

Continue to build your model by adding more components (or blocks) to

your model window. We'll continue to add a Scope from Sinks library, an
Integrator block from Continuous library, and a Mux block from Signal Routing
library.

75

NOTE: If you wish to locate a block knowing its name, you may enter the name in
the SEARCH WINDOW (at Find prompt) and Simulink will bring up the specified
block.

To move the blocks around, simply click on it and drag it to a desired

location.
Once all the blocks are dragged over to the work space should consist of the
following components:

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You may remove (delete) a block by simply clicking on it once to turn on the
"select mode" (with four corner boxes) and use the DEL key or keys combination
CTRL-X.

STEP 2: MAKING CONNECTIONS

To establish connections between the blocks, move the cursor to the output port
represented by ">" sign on the block. Once placed at a port, the cursor will turn
into a cross "+" enabling you to make connection between blocks.
To make a connection: left-click while holding down the control key (on your
keyboard) and drag from source port to a destination port.

The connected model is shown below.

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A sine signal is generated by the Sine Wave block (a source) and is displayed
by the scope. The integrated sine signal is sent to scope for display along with the
original signal from the source via the Mux, whose function is to multiplex signals
in form of scalar, vector, or matrix into a bus.

STEP 3: RUNNING SIMULATION

You now can run the simulation of the simple system above by clicking on
the play button (alternatively, you may use key sequence CTRL+T, or choose Start
submenu under Simulation menu).

Double click on the Scope block to display of the scope.

78

INTRODUCTION

SimPowerSystems and other products of the Physical Modeling product

family work together with Simulink to model electrical, mechanical, and control
systems.
SimPowerSystems operates in the Simulink environment. Therefore, before
starting this users guide, you should be familiar with Simulink. For help with
79

Simulink, see the Simulink documentation. Or, if you apply Simulink to signal
processing and communications tasks (as opposed to control system design tasks),
see the Signal Processing Block set documentation.

THE ROLE OF SIMULATION IN DESIGN

Electrical power systems are combinations of electrical circuits and

electromechanical devices like motors and generators. Engineers working in this
discipline are constantly improving the performance of the systems.
Requirements for drastically increased efficiency have forced power system
designers to use power electronic devices and sophisticated control system
concepts that tax traditional analysis tools and techniques. Further complicating the
analysts role is the fact that the system is often so nonlinear that the only way to
understand it is through simulation.

Land-based power generation from hydroelectric, steam, or other devices is

not the only use of power systems. A common attribute of these systems is their
use of power electronics and control systems to achieve their performance
objectives.

What Is SimPowerSystems
80

SimPowerSystems is a modern design tool that allows scientists and

engineers to rapidly and easily build models that simulate power systems.
SimPowerSystems uses the Simulink environment, allowing you to build a model
using simple click and drag procedures. Not only can you draw the circuit topology
rapidly, but your analysis of the circuit can include its interactions with
mechanical, thermal, control, and other disciplines. This is possible because all the
electrical parts of the simulation interact with the extensive Simulink modeling
library. Since Stimulant uses MATLAB as its computational engine, designers
can also use MATLAB toolboxes and Simulink block sets. SimPowerSystems and
Sim Mechanics share a special Physical Modeling block and connection line
interface.

SIMPOWERSYSTEMS LIBRARIES

You can rapidly put SimPowerSystems to work. The libraries contain models
of typical power equipment such as transformers, lines, machines, and power
electronics. These models are proven ones coming from textbooks, and their
validity is based on the experience of the Power Systems Testing and Simulation
Laboratory of Hydro-Qubec, a large North American utility located in Canada,
81

and also on the experience of cole de Technologie Suprieure and Universities

Laval.
The capabilities of SimPowerSystems for modeling a typical electrical
system are illustrated in demonstration files. And for users who want to refresh
their knowledge of power system theory, there are also self-learning case studies.
The SimPowerSystems main library, power lib, organizes its blocks into
libraries according to their behavior. The power lib library window displays the
block library icons and names. Double-click a library icon to open the library and
access the blocks. The main SimPowerSystems power lib library window also
contains the Powergui block that opens a graphical user interface for the steadystate analysis of electrical circuits.

NONLINEAR

SIMULINK

BLOCKS

FOR

SIMPOWERSYSTEMS

MODELS
The nonlinear Simulink blocks of the power lib library are stored in a
special\block library named powerlib_models. These masked Simulink models are
used by SimPowerSystems to build the equivalent Simulink model of your circuit.
See Chapter 3, Improving Simulation Performance for a description of the
powerlib_models library

You must have the following products installed to use SimPowerSystems:

MATLAB
82

 Simulink

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[9] L. Gyugyi, K. K. Sen, and C. D. Schauder, Interline power flow controller

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