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UnifiedPowerFlowController(PhasorType)
Implementphasormodelofthreephaseunifiedpowerflowcontroller
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FACTS/PowerElectronicsBasedFACTS
Description
TheUnifiedPowerFlowController(UPFC)isthemostversatilememberoftheFlexibleACTransmissionSystems
(FACTS)familyusingpowerelectronicstocontrolpowerflowonpowergrids[1].TheUPFCusesacombinationofa
shuntcontroller(STATCOM)andaseriescontroller(SSSC)interconnectedthroughacommonDCbusasshownon
thefigurebelow.
SinglelineDiagramofaUPFCandPhasorDiagramofVoltagesandCurrents
ControllableRegionfora100MVAUPFCconnectedon500kV,200kmline
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Thisfigurewasobtainedwitha100MVAUPFCcontrollingactiveandreactivepoweratoneendofa500kV,200km
transmissionline.Thefollowingparametershavebeenused:
Line:length=200kmreactance=0.35/km
Systemvoltage:500kVinfinitesourcesV1andV3V1=1.0pu,0degreeV3=1.0pu,7.22degrees
Seriesandshuntconverterrating:100MVA
Seriesconverter:nominalinjectedvoltage=10%ofnominallinetogroundvoltage(28.9kV)impedance
(transformerleakagereactanceandfilters)=0.15pu
WithV3laggingV1by7.22degrees,thenaturalpowerflowwithoutcompensationis450MWor50%ofthelinesurge
impedanceloading(SIL=900MW).WithaninjectedvoltageVs=0.1puanyoperatingpointinsidethelargerellipse
canbeobtainedandactivepowercanbevariedbyapproximately+/300MW.
Inadditiontoallowcontrolofthelineactiveandreactivepower,theUPFCprovidesanadditionaldegreeoffreedom.
ItsshuntconverteroperatingasaSTATCOMcontrolsvoltageV1byabsorbingorgeneratingreactivepower.
BoththeseriesandshuntconvertersuseaVoltageSourcedConverter(VSC)connectedonthesecondarysideofa
couplingtransformer.TheVSCsuseforcedcommutatedpowerelectronicdevices(GTOs,IGBTsorIGCTs)to
synthesizeavoltagefromaDCvoltagesource.ThecommoncapacitorconnectedontheDCsideoftheVSCsacts
asaDCvoltagesource.TwoVSCtechnologiescanbeusedfortheVSCs:
VSCusingGTObasedsquarewaveinvertersandspecialinterconnectiontransformers.Typicallyfourthreelevel
invertersareusedtobuilda48stepvoltagewaveform.Specialinterconnectiontransformersareusedtoneutralize
harmonicscontainedinthesquarewavesgeneratedbyindividualinverters.InthistypeofVSC,thefundamental
componentofvoltageisproportionaltothevoltageVdc.ThereforeVdchastovariedforcontrollingtheinjected
voltage.
VSCusingIGBTbasedPWMinverters.ThistypeofinverterusesPulseWidthModulation(PWM)techniqueto
synthesizeasinusoidalwaveformfromaDCvoltagewithatypicalchoppingfrequencyofafewkilohertz.
HarmonicsarecancelledbyconnectingfiltersattheACsideoftheVSC.ThistypeofVSCusesafixedDC
voltageVdc.VoltageisvariedbychangingthemodulationindexofthePWMmodulator.
TheUPFC(PhasorType)blockmodelsanIGBTbasedUPFC.However,asdetailsoftheinverterandharmonicsare
notrepresented,itcanbealsousedtomodelaGTObasedUPFCintransientstabilitystudies.
ControlSystem
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TheshuntconverteroperatesasaSTATCOM.Foradescriptionofitscontrolsystem,refertotheStaticSynchronous
Compensator(PhasorType).Insummary,theshuntconvertercontrolstheACvoltageatitsterminalsandthevoltage
oftheDCbus.Itusesadualvoltageregulationloop:aninnercurrentcontrolloopandanouterloopregulatingACand
DCvoltages.
ControloftheseriesbranchisdifferentfromtheSSSC.InaSSSCthetwodegreesoffreedomoftheseriesconverter
areusedtocontroltheDCvoltageandthereactivepower.IncaseofaUPFCthetwodegreesoffreedomareusedto
controltheactivepowerandthereactivepower.Asimplifiedblockdiagramoftheseriesconverterisshownbelow.
SimplifiedBlockDiagramoftheSeriesConverterControlSystem
Theseriesconvertercanoperateeitherinpowerflowcontrol(automaticmode)orinmanualvoltageinjectionmode.In
powercontrolmode,themeasuredactivepowerandreactivepowerarecomparedwithreferencevaluestoproduceP
andQerrors.ThePerrorandtheQerrorareusedbytwoPIregulatorstocomputerespectivelytheVqandVd
componentsofvoltagetobesynthesizedbytheVSC.(VqinquadraturewithV1controlsactivepowerandVdinphase
withV1controlsreactivepower).Inmanualvoltageinjectionmode,regulatorsarenotused.Thereferencevaluesof
injectedvoltageVdrefandVqrefareusedtosynthesizetheconvertervoltage.
TheUPFCblockisaphasormodelwhichdoesnotincludedetailedrepresentationofthepowerelectronics.Youmust
useitwiththephasorsimulationmethod,activatedwiththePowerguiblock.Itcanbeusedinthreephasepower
systemstogetherwithsynchronousgenerators,motors,dynamicloadsandotherFACTSandRenewableEnergy
systemstoperformtransientstabilitystudiesandobserveimpactoftheUPFConelectromechanicaloscillationsand
transmissioncapacityatfundamentalfrequency.
DialogBoxandParameters
TheUPFCparametersaregroupedinthreecategories:Powerdata,Controlparameters(shuntconverter),and
Controlparameters(seriesconverter).UsetheDisplaylistboxtoselectwhichgroupofparametersyouwant
tovisualize.
PowerTab
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Nominalvoltageandfrequency
ThenominallinetolinevoltageinVrmsandthenominalsystemfrequencyinhertz.
ShuntConverterrating
ThenominalratingoftheshuntconverterinVA.
ShuntConverterimpedance
ThepositivesequenceresistanceRandinductanceLoftheshuntconverter,inpubasedonthenominalconverter
ratingandnominalvoltage.RandLrepresenttheresistanceandleakageinductanceoftheshunttransformerplus
theresistanceandinductanceoftheseriesfilteringinductorsconnectedattheVSCoutput.
ShuntConverterinitialcurrent
Theinitialvalueofthepositivesequencecurrentphasor(MagnitudeinpuandPhaseindegrees).Ifyouknowthe
initialvalueoftheshuntcurrentcorrespondingtotheUPFCoperatingpointyoumayspecifyitinordertostart
simulationinsteadystate.Ifyoudon'tknowthisvalue,youcanleave[00].Thesystemwillreachsteadystate
afterashorttransient.
SeriesConverterrating
TheratingsoftheseriesconverterinVAandthemaximumvalueoftheinjectedvoltageV_convontheVSCsideof
thetransformer(seesinglelinediagram),inpuofnominalphasetogroundvoltage.
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SeriesConverterimpedance
Thepositivesequenceresistanceandinductanceoftheconverter,inpu,basedontheconverterratedpowerand
voltage.RandLrepresenttheresistanceandleakageinductanceoftheseriestransformerplustheresistanceand
inductanceoftheseriesfilteringinductorsconnectedattheVSCoutput.
SeriesConverterinitialcurrent
Theinitialvalueofthepositivesequencecurrentphasor(MagnitudeinpuandPhaseindegrees).Ifyouknowthe
initialvalueoftheseriescurrentcorrespondingtotheUPFCoperatingpointyoumayspecifyitinordertostart
simulationinsteadystate.Ifyoudon'tknowthisvalue,youcanleave[00].Thesystemwillreachsteadystate
afterashorttransient.
DClinknominalvoltage
ThenominalvoltageoftheDClinkinvolts.
DClinktotalequivalentcapacitance
ThetotalcapacitanceoftheDClinkinfarads.ThiscapacitancevalueisrelatedtotheUPFCconverterratingsand
totheDClinknominalvoltage.Theenergystoredinthecapacitance(injoules)dividedbytheconverterratedpower
(inVA)isatimedurationwhichisusuallyafractionofacycleatnominalfrequency.Forexample,forthedefault
2
parameters,(C=750F,Vdc=40000V,Snom=100MVA)thisratio 1/2 C V dc /Snom is6.0ms,whichrepresents
0.36cyclefora60Hzfrequency.IfyouchangethedefaultvaluesofthenominalpowerratingandDCvoltage,you
shouldchangethecapacitancevalueaccordingly.
ShuntConverterTab
Mode
Specifiestheshuntconvertermodeofoperation.SelecteitherVoltageregulationorVarControl.
ReferencevoltageVref
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.
Referencevoltage,inpu,usedbythevoltageregulator.WhenExternalisselected,aSimulink inputnamedVref
appearsontheblock,allowingyoutocontrolthereferencevoltagefromanexternalsignal(inpu).TheReference
voltageVrefparameteristhereforeunavailable.
Maximumrateofchangeofreferencevoltage
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.
Maximumrateofchangeofthereferencevoltage,inpu/s,whenanexternalreferencevoltageisused.
Droop
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.
Droopreactance,inpu/shuntconverterratingSnom,definingtheslopeoftheVIcharacteristic.
VacRegulatorGains:[KpKi]
ThisparameterisnotvisiblewhentheModeparameterissettoVarControl.
GainsoftheACvoltagePIregulator.SpecifyproportionalgainKpin(puofI)/(puofV),andintegralgainKi,in(puof
I)/(puofV)/s,whereVistheACvoltageerrorandIistheoutputofthevoltageregulator.
ReactivepowersetpointQref
ThisparameterisnotvisiblewhentheModeparameterissettoVoltageControl.
Referencereactivepower,inpu,whentheshuntconverterisinVarControl.
MaximumrateofchangeofreactivepowersetpointQref
ThisparameterisnotvisiblewhentheModeparameterissettoVoltageControl.
Maximumrateofchangeofthereferencereactivepower,inpu/s.
VdcRegulatorgains:[KpKi]
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GainsoftheDCvoltagePIregulatorwhichcontrolsthevoltageacrosstheDCbuscapacitor.Specifyproportional
gainKpin(puofI)/Vdc,andintegralgainKi,in(puofI)/Vdc/s,whereVdcistheDCvoltageerrorandIistheoutput
ofthevoltageregulator.
CurrentRegulatorsgains:[KpKi]
Gainsoftheinnercurrentregulationloop.
SpecifyproportionalgainKpin(puofV)/(puofI),integralgainKi,in(puofV)/(puofI)/s,whereVistheoutputof
thedorqcurrentregulatorandIistheIdorIqcurrenterror.
Thecurrentregulatorisassistedbyafeedforwardregulator.Thefeedforwardgainin(puofV)/(puofI)istheshunt
converterreactance(inpu)givenbyparameterLintheShuntconverterimpedance[RL]parameters.
SeriesConverterTab
BypassBreaker
SpecifiesthestatusofthebypassbreakerconnectedinsidetheblockacrossterminalsA1,B1,C1andA2,B2,C2.
SelecteitherExternalControl,OpenorClosed.Ifthebypassbreakerisinexternalcontrol,aSimulinkinput
namedBypassappearsontheblock,allowingtocontrolthestatusofthebypassbreakerfromanexternalsignal(0
or1).
Mode
Specifiestheseriesconvertermodeofoperation.SelecteitherPowerflowcontrolorManualvoltage
injection.
Referencepowers
ThisparameterisnotvisiblewhentheModeparameterissettoManualvoltageinjection.
Specifyreferencesvalues,inpu.WhenExternalisselected,aSimulinkinputnamedPQrefappearsontheblock,
allowingyoutocontroltheactiveandreactivepowersfromanexternalsignal(inpu).TheReferencepowers
parameteristhereforeunavailable.
Maximumrateofchangeofreferencepowers
ThisparameterisnotvisiblewhentheModeparameterissettoManualvoltageinjection.
SpecifymaximumrateofchangeofPrefandQref,inpu/s.
PowerRegulatorgains:[KpKi]
ThisparameterisnotvisiblewhentheModeparameterissettoManualvoltageinjection.
GainsofthePIregulatorswhichcontrolthelineactivepowerandreactivepower.SpecifyproportionalgainKpin(pu
ofVdq)/(puofPQ),andintegralgainKi,in(puofVdq)/(puofPQ)/s,whereVdqistheVdorVqinjectedvoltageand
PQisthePorQvoltageerror.
Referencevoltages
ThisparameterisnotvisiblewhentheModeparameterissettoPowerflowcontrol.
SpecifythedirectaxisandquadratureaxiscomponentsofthevoltageinjectedontheVSCsideoftheseries
transformer,inpu.WhenExternalisselected,aSimulinkinputnamedVdqrefappearsontheblock,allowingyouto
controltheinjectedvoltagefromanexternalsignal(inpu).TheReferencevoltagesparameteristherefore
unavailable.
Maximumrateofchangeforreferencesvoltages
ThisparameterisnotvisiblewhentheModeparameterissettoPowerflowcontrol.
SpecifymaximumrateofchangeoftheVdrefandVqrefvoltages,inpu/s.
InputsandOutputs
A1B1C1
ThethreeinputterminalsoftheUPFC.
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A2B2C2
ThethreeoutputterminalsoftheUPFC.
Trip
ApplyaSimulinklogicalsignal(0or1)tothisinput.Whenthisinputishightheshuntconverterisdisconnectedand
theseriesconverterisbypassed.Inaddition,whenthetripsignalishightheshuntandseriescontrolsystemsare
disabled.Usethisinputtoimplementasimplifiedversionoftheprotectionsystem.
Bypass
ThisinputisvisibleonlywhentheBypassBreakerparameterissettoExternalControl.
ApplyaSimulinklogicalsignal(0or1)tothisinput.Whenthisinputishighthebypassbreakerisclosed.
Vdqref
ThisinputisvisibleonlywhentheExternalcontrolofinjectedvoltageVdref_Vqrefparameterischecked.
ApplyaSimulinkvectorizedsignalspecifyingthereferencevoltagesVdrefandVqref,inpu.
PQref
ThisinputisvisibleonlywhentheExternalcontrolofpowerreferencesPref_Qrefparameterischecked.
ApplyaSimulinkvectorizedsignalspecifyingthereferencepowersPrefandQref,inpu.
m
Simulinkoutputvectorcontaining34UPFCinternalsignals.Thesesignalsareeithervoltageandcurrentphasors
(complexsignals)orcontrolsignals.TheycanbeindividuallyaccessedbyusingtheBusSelectorblock.Theyare,
inorder:
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Example
Seethepower_upfcexample,whichillustratestheuseofaUPFCcontrollingpowerona500kV,60Hz,system.
References
[1]N.G.Hingorani,L.Gyugyi,"UnderstandingFACTSConceptsandTechnologyofFlexibleACTransmission
Systems,"IEEEPressbook,2000
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SeeAlso
StaticSynchronousCompensator(PhasorType),StaticSynchronousSeriesCompensator(PhasorType)
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