AUAS SVC, PERFORMANCE VERIFICATION BY RTDS AND FIELD TESTS

S. Boshoff C. van Dyk L Becker M Halonen, S Rudin, J Lidholm Dr T Maguire

S Boshoff Consulting TAP NamPower, ABB Power Systems, Sweden RTDS, Canada
South Africa South Africa Namibia Sweden Canada

INTRODUCTION BACKGROUND

The new 400 kV interconnection between Namibia
and South Africa was successfully commissioned in
the last quarter of 2000. The 890 km single circuit
400 kV AC transmission line interconnects the two
systems, ESKOM and NamPower, at Aries substation
near Kenhardt in South Africa and Auas substation
near Windhoek in Namibia. With the new
interconnection, the NamPower system is
strengthened but the new 400 kV line is also very long
with a large charging capacitance which aggravates
the inherent problems in the NamPower system;
namely voltage stability and near 50 Hz resonance.
The charging capacitance shifts the existing parallel
resonance very close to 50 Hz and makes the network
more voltage sensitive during system transients such
as 400 kV line energisation or recovery after clearing
of line faults.
The NamPower network consists of a radial network
with its main generation at Ruacana (hydro) in the
north and interconnected to Eskom in the south. At
Auas substation, a SVC (80 MVAr capacitive to
250 MVAr inductive) was installed as part of the new
interconnection with the primary function of
controlling the system voltage and in particular the
extreme (up to 1.6 p.u.) overvoltages expected due to
the near 50 Hz resonance[1]. The Auas SVC is
geographically located in the middle of the
NamPower network, near one of its major load
centres.
The use of this SVC (330 MVAR dynamic range) is
unique in that it is installed in a system with very long
lines, little local generation and low fault levels (from
1500 MVA to less than 300 MVA). Low frequency
system eigen-frequencies (resonances), well below the
second harmonic, is a result of that configuration.

This required careful design considerations and

verification methods for the Auas SVC. Extensive
digital simulations were carried out during various
phases of the project as classical steady state load
flow methods were proven to be inaccurate and unable
to verify the near 50 Hz resonance. The SVC control
system was tested thoroughly on a real time simulator.
This was required due to the difficult and different
network conditions that could occur, making
traditional testing methods or simplifications
impossible. Detailed modelling was required to
ensure that the NamPower system (the hydro
generators including controls, long transmission lines,
distributed loads) as well as the SVC control system
were correctly modelled to give the correct behaviour.

SYSTEM DESIGN AND SIMULATION

STRATEGY

General design approach

The 330 MVAr dynamic range of the Auas SVC

Figure 1 – NamPower network makes it one of the dominating devices in the
NamPower network with the ability to control or
blackout the network. The key role that the Auas
SVC has in the 400 kV interconnection between the
NamPower network and Eskom, placed the emphasis
on correct modelling of the SVC and network, to
minimise risk to the NamPower network.
For this project, the following system design,
simulation and verification strategy was used. A
transient network study was done to determine the
impact that the near 50-Hz network resonance will
have on the network equipment. With the
introduction of a SVC to control the resonance, a
typical textbook type SVC was used to derive the
values to compile a SVC specification. After the
contract was awarded to the manufacturer, a detailed
design of the SVC was undertaken. At this stage, a
unique resonance controller was developed and
patented. To verify that the SVC could control the
resonance, a digital simulator, RTDS, was used for the
controller verification tests. Before the controller was
send to site, a thorough verification of the interaction
of the SVC with the network was conducted on the
digital simulator. On site, commissioning verification
was the final step in the process to prove that the
installed SVC is operating as required.
Closed loop control
The closed loop control and the control and protection
functions of the SVC are realised with MACH2.
MACH2 is a microprocessor based control system and
it is one of the most advanced and highest
performance control and protection systems for high
voltage applications on the market. The control
system, MACH2, covers a wide range of applications
(HVDC, SVC, SC and FACTS).
Figure 2 - Blockdiagram of the SVC closed loop
control
Figure 2 gives an overview of the closed loop control
of the Auas SVC. The normal operation mode of the
SVC is steady state voltage control. The conventional
voltage controller used by ABB, for this application,
is of an integrating type and the positive sequence
component of the fundamental frequency voltage is
used as a control signal. As a supplementary function
to the conventional voltage controller, a new type of
resonance controller is implemented which operates
during resonance conditions, i.e. during energisation
of the 400 kV line and recovery after line faults[2].
The resonance controller is the most important feature
in the control system and optimally uses the complete
inductive range of the SVC, from 0 to –250 MVAr.
Eskom network representation
One of the limitations of time domain simulation
software is the size of the network that can be
simulated. From the NamPower network’s
perspective, the Eskom network looks like an infinite
source compared to itself. The Eskom network was
therefore modelled as a fixed source behind an
equivalent impedance. In order to retain the
frequency response behaviour of the Eskom network,
the frequency response is represented with a
combination of series and parallel connected RLC
components. This complex source impedance is
derived from the Eskom network frequency over a
range from 5 to 600 Hz. With the frequency
dependant model, the interaction between the SVC
controller and the rest of the network for both sub-
system resonant frequencies and low order harmonics
can be modelled.
NamPower network fault level considerations
For the NamPower network with low fault levels
(around 300 MVA), the fault current or system
strength is only provided by Eskom which, as
described above, is modelled as an infinite source
behind and complex impedance. Normally, when a
SVC controller is stable during low fault level
conditions, it will also remain stable for high fault
levels in the network. For the NamPower network
under high fault level cases (1000 to 1500 MVA), the
generators at Ruacana and synchronous condensers
(SC’s) at Van Eck substations are modelled as
dynamic machines. This included a full
representation of their field and damper windings as
well as controls such as the power system stabilisers
(PSS), automatic voltage regulator (AVR) and
governor. This ensured that the interaction between
the SVC and other dynamic equipment in the network
could be simulated correctly. This proved to be very
important in determining worst case conditions for the
network and the SVC. For the Auas SVC, the system
with the lowest fault level did not produce the most
onerous condition for the voltage controller, as is
normally the case in traditional SVC applications.
Digital simulations on EMTDC
During the initial development phases of the
interconnection, it was established that the near 50 Hz
resonance phenomena could not be studied using
classical load flow and dynamic simulation software.
To overcome this, the rest of the project focussed all
design and system studies on simulation software
utilising electromagnetic transient principles. The
flexibility of EMTDC made it easy to model the
NamPower Transmission network. The dynamic
behaviour of the hydro generation at Ruacana, the
SVC at Omburu and the SC’s at Van Eck substations
were all modelled. EMTDC is not only capable at
solving the network equations in the time domain, but
it is well suited for control applications. A detailed
model of the Auas SVC and its controller were
developed to incorporate the exact SVC configuration
that was eventually implemented on site.
EMTDC uses an interpolation technique to minimise
inaccurate thyristor firing due to digital simulation
timesteps. When a 50 Hz network is simulated using
a 50 µ s timestep, the firing accuracy is in the order of
1 deg. With the interpolation technique, exact firing
is achieved.
SVC CONTROLLER AND SYSTEM
VERIFICATION ON RTDS
The sensitivity of the NamPower network as well as
the risk of damage to the complete network including
the end-users, required extensive measures in order to
verify that the Auas SVC would perform consistently
correctly during various network conditions. This
necessitated an approach were the optimum
verification process can be followed before the actual
SVC was to be tested and commissioned on site.
During the initial EMTDC system studies, it was
established that the system had a large number of
different configurations. Each configuration resulted
in different type worst case contingencies with respect
to the overvoltages, the frequency and duration
thereof as well as the behaviour of the SVC controller.
A simple network reduction of the NamPower
network could not be considered. This resulted in a
high number of critical conditions being identified.
For the verification of the Auas SVC controller, it was
important that the NamPower network was adequately
represented over a wide range of frequencies. It was
also established that other dynamic devices in the
network such as generators, SVC as well as the long
stretched out network of transmission lines and
distribution networks played an important role.
The standard controller verification methods utilising
TNA (Transient Network Analyser) systems were not
considered adequate due to the following reasons:
1. Correct representation of network components
such as loads, transmission lines, generators,
SVC’s etc. are not easily facilitated in TNA
systems.
2. Damping of the network plays an important role
in level of the overvoltages.
3. Setting up different networks in TNA is very time
consuming.
4. Optimisation of control strategies, which requires
different network conditions to be evaluated in
parallel, cannot be facilitated in TNA systems.
For the real time digital simulator, the configuration
of the RTDS was optimised but it was important that
the behaviour of the whole network was not
compromised. The RTDS system used for the Auas
study comprised of six racks, mostly made up out of
TPC cards. Three 3PC cards was used for the SVC
and Ruacana hydro generator model. The Tandem
Processor Card (TPC) uses two NEC processors
whereas the Triple Processor Card (3PC) is a more
advanced card that uses three SHARC processors.
The frequency dependent source impedance that was
used in EMTDC to represent the Eskom network
could not be implemented directly in the RTDS. The
RTDS had only a limited amount of nodes available
for the source impedance and RTDS cannot
implement negative resistance values. A reduction of
the source impedance used in EMTDC was made to
give the same response over a frequency range of 5 to
150 Hz.
The NamPower network model was further optimised
in order to utilise the available RTDS capacity. This
was achieved through reduction of the radial systems
supplying small loads into single lumped branches.
The RTDS controls compiler was used to create an
exact model of the Ruacana PSS, AVR and governor.
All the electrical components of the SVC were
modelled in the RTDS. The SVC control system used
for the RTDS tests consisted of the MACH2 control
system identical to the hardware implemented at site.
The actual controller that was connected to the RTDS
had access to the same VT and CT signals as
implemented on site and returned the firing pulses to
the RTDS. The ± 10 V analogue output signals of the
RTDS are amplified to 110 V input signals to the
actual MACH 2 control. The firing pulses from the
Valve Control Unit (VCU) are connected to a DITS
card on the RTDS. The DITS card enables the RTDS
to model the switching of the thyristors digitally with
almost the same accuracy as an analogue system.
The SVC controller was able to switch its 400 kV
breaker in the RTDS. This made it possible to do
comprehensive SVC energisation and de-energisation
studies to verify that the start-up and shutdown
sequences of the SVC are correct.
The RTDS proved itself very accurate. During the
control verification phase, a problem with the
synchronising PLL (phase lock loop) for the valve
firing system was detected and rectified. This
problem could not be detected with an analogue
simulator running at 49.99 Hz or 50.01 Hz while the
RTDS can run at exactly 50 Hz.
Using the RTDS made it possible to investigate a
large number of cases despite the compressed time
schedule. Extensive network simulations were done
to ensure that the controller is operating correctly. A
large number of fault cases and system conditions
were tested, many of which can not be performed or
would not be permitted on the real NamPower system.
Various control irregularities were detected and
improved well before the commissioning tests began
which resulted in a fast, effective and successful
commissioning.
FIELD TESTING
The new 400 kV interconnection was commissioned
in October year 2000, only after the SVC had been
successfully commissioned and tested. The critical
nature of overvoltages on the NamPower system made
it impossible to conduct system tests without the SVC.
At the end of the SVC commissioning phase, in
addition to the normal commissioning tests, a number
of stringent acceptance tests were carried out in order
to prove the effectiveness of the Auas SVC. Of
particular importance was the resonance controller.
The following system performance test were carried
out with the Auas SVC and the NamPower
transmission system:
1. Voltage step response test. An external
100 MVAr 400 kV busbar reactor was switched at
Auas substation in order to determine the step
response of the SVC.
2. Reactive Power control.
3. Black start of the SVC.
4. Maximum reactive power output.
5. Staged fault tests. Various phase to earth faults
were applied in different branches inside the SVC
such as the TCR, filter and auxiliary.
6. Staged fault tests on the SVC control and
measurement system.
7. Simulated transmission line trips and re-closure.
8. Line energisation of the 400 kV line from Auas to
Kokerboom and vice versa.
The most onerous condition for the SVC and the
system is energisation of the 400 kV line from the
northern section (Auas substation) of the 400 kV line.
Energising the 400 kV line from the north forces the
NamPower system into the critical 50 Hz resonance.
This extreme test was eventually performed in the
field, based on the high degree of confidence that the
simulator studies on RTDS established with respect to
the effectiveness of the resonance controller.
RESULTS
For comparison between the simulation results in
EMTDC, RTDS and the results obtained from the
system performance test performed in October 2000,
the following cases have been selected:
1. EMTDC and RTDS, energisation of the 400 kV
system from north to south, low fault level. The
simulations were performed without the
resonance controller.
2. EMTDC and RTDS, line energisation from north
to south, high fault level (Ruacana generators in
service) - without the resonance controller.
3. RTDS and Field, energisation of the 400 kV
system from north to south, (Ruacana generators
in service). The results are obtained with the new
resonance controller in operation.
Results from EMTDC vs. RTDS
In Figure 3 and Figure 4 the same line energisation is
shown for a very low fault level case (no generation in
the NamPower system) and a higher fault level case
(Ruacana generators in service) respectively. The
RTDS model shows slightly less damping than the
EMTDC model. This is due to the more reduced
network that is used in the representation of the
NamPower system on the RTDS.
It is important to note here the difference between the
low and high fault level cases. For the low fault level
condition (weak system), the resonance is very close
to 50 Hz which was difficult for the SVC to control
the voltage effectively. Under these conditions, the
first voltage peak was not too critical (1.2 p.u.).
However, for conditions when the fault level was
higher due to the Ruacana generators or Van Eck SC’s
being in service, the first voltage peak was
significantly higher (1.6 p.u.).
Figure 3 – Low fault level case comparison between
EMTDC and RTDS
Figure 4 - High fault level case comparison between
EMTDC and RTDS
Results of RTDS vs. Field testing
To compare the RTDS results with the field test
results, the most onerous condition is presented here:
line energisation from north (Auas) to south
(Kokerboom), with Ruacana generators in service and
with the new resonance controller active. Figure 5
and Figure 6 show the voltage response at Auas
substation, the SVC controller output (Bref_DI) and
the contribution from the resonance controller
(Bref_Add).
Figure 5 - RTDS, high fault level case for comparison
between RTDS and field tests
Figure 6 - Field, high fault level case for comparison
between RTDS and field test
From these figures, it can be seen that there are 2
resonance frequencies, 56 Hz and 81 Hz,
corresponding to the first and second pole in the
system. The resulting overvoltage at Auas during
energisation of the 400 kV line is below 1.21 p.u. It
can be seen that the additional contribution from the
resonance controller is rapidly forcing the SVC to go
inductive. Comparison of results from the RTDS test
and the system performance test shows good
agreement and illustrates the improvement capability
of the new resonance controller under resonance
conditions. It was found that the results from RTDS
have less damping than the results obtained from the
system performance tests. However, the frequencies
and time constants showed very good corresponding
results.
The most significant factor here is the remarkable
reduction in the first voltage peak to around 1.2 p.u.
compared to the results obtained as shown in Figure 4.
This is attributed to the effectiveness of the new
resonance controller.
CONCLUSION
The Auas SVC project created an opportunity to
investigate and compare alternative methods in the
design and verification of SVC systems to be applied
in transmission and distribution systems. A major
advantage in the process followed, was the ability to
verify the initial detailed EMTDC studies via RTDS
with either identical or similar complexity. Classical
methods utilising TNA would have necessitated large
reductions in network in order to get the flexibility.
However, this would have reduced the level of
confidence and introduced more errors. In a project of
this nature, it is necessary that a high level of
confidence be achieved, with the minimum risk, while
under the constraint of cost and time. The utilisation
of EMTDC and RTDS provided the optimal solution.

The ability of the RTDS simulator to produce

repetitive identical results instils a high level of
confidence in the results obtained but more so in the
SVC and its controller. This in itself created the ideal
situation to optimally tune the SVC controller as well
as fast and effective fault tracing. A major advantage
in the RTDS testing was the effective utilisation of
time through teamwork (ability to work in parallel
between the operation of the RTDS and the analysis of
results) and the ease in the documentation of results.

This process ultimately lead to a project being

completed with a very successful performance testing
without any surprises!

In conclusion, the project demonstrated that the

technology is available to achieve effective and
optimal solutions utilising systems such as RTDS. It
also pointed the need to remain focused due to the
almost endless flexibility that new technology
provides. This requires a sensible and experienced
engineering approach to ensure that time and cost
constraints are always kept in mind and to avoid
endless investigations just for the sake of it.

REFERENCES

1. Hammad A., Boshoff S., Van der Merwe W.C.,

Van Dyk C.J.D., Otto W.S. and Kleyenstüber U.H.E.,
“SVC for Mitigating 50 Hz Resonance of a Long 400
kV ac Interconnection”, 1999, CIGRE Symposium
Singapore
2. Halonen M., Rudin S., Thorvaldsson B.,
Kleyenstüber U.H.E., Boshoff S. and Van der Merwe
W.C., “SVC for resonance control in NamPower
electrical power system”, 2001, IEEE Summer
Meeting Vancouver.