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IEEE Transactions on Power Delivery, Vol. 12, No.

4, October 1997 1629


USE OF UPFC FOR OPTIMAL POWER FLOW CONTROL

M. Noroozian L. Angquist M. Ghandhari G. Anderson


Member Non-Member Non-Member Senior Member
Reactive Power Compensation Division Dept. of Electric Power Engineering
ABB Power Systems Royal Institute of Technology
S-721 64 Vasterh, Sweden S-100 44 Stockholm, Sweden

Abstract active power through a transmission line. Both devices exert


This paper deals with optimal power flow control in electric a voltage in series with the line. For a series capacitor, the
power systems by use of unified power flow controller inserted voltage lags the line current by 90 degrees. For a
(UPFC). Models suitable for incorporation in power flow phase shifting transformer, the inserted voltage is in
programs are developed and analysed. The application of quadrature to the voltage. Recent advances in high power
UPFC for optimal power flow control is demonstrated technology has made it possible to implement all solid state
through numerical examples. It is shown that a UPFC has the power flow controllers using power switching converters.
capability of regulating the power flow and minimising the The unified powerflow controller (UPFC) is a new device in
power losses simultaneously. An algoriithm is proposed for FACTS family which consists of series and shunt connected
determining the optimum size of UPFC for power flow converters.
applications. The performance of UPFC is compared with The unified power flow controller (UPFC) can provide the
that of a phase shifting transformer (PST). necessary functional flexibility for optimal power flow
Keywords: FACTS, series connected voltage source, unified control. This approach allows the combined application of
power flow controller, PST, injection model, power flow phase angle control with controlled series and shunt reactive
control, loss minimisation, optimal powerflow compensation. Also, the real-time transition from one
selection compensation mode into another mode for handling
particular system conditions in an optimum manner is
1. INTRODUCTION attainable [2, 3,4,5].
The possibility of controlling power flow in an electric This paper investigates the performance of the UPFC for
power system without generation rescheduling or topology power flow control. A mathematical model for UPFC
changes can improve the power system performance [ 11. By which will be referred as UPFC injection model is derived.
use of controllable components, the line flows can be This model is helpful in understanding the impact of the
changed in such a way that thermal limits are not exceeded, UPFC on power system. Furthermore, the UPFC injection
losses minimised, stability margins increased, contractual model can easily be incorporated in the steady state power
requirements fulfilled, etc. without violating the economic flow model.
generation dispatch.
The proposed model is used to demonstrate some of the
Investigating the power through a transmission line shows features of UPFC for optimal power flow control
that reactance and phase angle control of a transmission line applications. This paper shows that a UPFC has the
are effective means for power flow control in AC capability of regulating the power flow and minimising the
transmission systems. In principle, thyristor-switched losses at the same time. This outstanding feature can be
series capacitors (TCSC) and thyristor switched phase utilised for various power flow control applications, for
shifting transformer (TCPST) could provide fast control of example, overload relief, loop flow minimisation, etc. Since
the size of UPFC has a great impact on power system
performance and also in view of the device cost, the optimal
PE-008-PWRD-0-01-1997 A paper recommended and approved
by the IEEE Transmission and Distribution Committee of the IEEE dimensioning of UPFC for a specific application is quite
Power Engineering Society for publication in the IEEE Transactions important. Such a subject is handled in this paper and a
on Power Delivery. Manuscript submitted .January 3, 1996; made dimensioning algorithm is proposed.
available for printing January 8, 1997. This paper is organised as follows: Section 2 describes the
operating principle of UPFC. Section 3 develops a steady
state model for UPFC and discusses the implementation of
the model for power flow studies. Section 4 demonstrates the
application of UPFC in optimal power flow control through
numerical examples. Section 5 is devoted to dimensioning of
UPFC.
0885-8977/97/$10.00 0 1997 IEEE

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1630

INCIPLE OF UPFC The series voltage source is controllable in magnitude


and phase, i.e:
The unified power flow controller consists of two switching
converters. These converters are operated from a common dc
link provided by a dc storage capacitor (Fig. 1).
Q = rFeJy ( 2)

where 0 < r < rmaxand 0 < y < 276.

Shunt
transformer Fig. 2: Representation of a series connected VSC

The equivalent circuit vector diagram is shown in Fig. 3:


Fig. 1: Basic circuit arrangement of UPFC

Converter 2 provides the main function of the UPFC by


injecting an ac voltage with controllable magnitude and
.,P
phase angle in series with the transmission line via a series 'ij

transformer. The basic function of converter 1 is to supply or Fig. 3: Vector diagram of the equivalent circuit of VSC
absorb the real power demand by converter 2 at the common
dc link. It can also generate or absorb controllable reactive
power and provide independent shunt reactive compensation The injection model is obtained by replacing the voltage
for the line. Converter 2 supplies or absorbs locally the E
source by the current source I, = -jb, in parallel with
required reactive power and exchanges the active power as a
result of the series injection voltage.

3. UPFC FLOW STUDIES

In the following section, a model for UPFC which will be


referred as UPFC injection model is derived. This model is
helpful in understanding the impact of the UPFC on the
power system in the steady state. Furthermore, the UPFC Fig. 4: Replacement of a series voltage source by a current
injection model can easily be incorporated in the steady state source
power flow model. Since the series voltage source converter
does the main function of the UPFC, it is appropriate to
discuss the modelling of a series voltage source converter
The current sources
- -
7, corresponds to the injection powers
first. S,, and SI,, where:

3.1. Series Conneete Voltage Source Converter Model


S,, = V , ( -is )* (3)

Suppose a series connected voltage source is located


s,, = v/ ( I , )* -
(4)
between nodes i and j in a power system. The series voltage The injection power $, and S,s are simplified to:
source converter can be modelled with an ideal series
voltage 5
in series with a reactance X,. In Fig. 2, 5 si,= Q
-
[ jb, r vi e j r I*
models an ideal voltage source and represents a fictitious
= -b, rQ2 sin y - jb, rQ 2 cosy
voltage behind the series reactance. We have:
If we define: B i j = 8, - 8j , we have:

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1631

v;. L O I
.
vj Lej
=b,rV,. V j sin 0 . , + y + j b s r V i V j c o s ( 0 o + y ) ( 6 )
( l J

Based on the explanation above, the injection model of a


series connected voltage source can be seen as two P,; = rb, y Vj sin ( 0 +~y ) P,. = -rbs V, vj sin (e + y )
ji
dependent loads as shown in Fig. 5. QSi=rb,r/;.2cosy Qs, =-rb, V, V, cos(6,.+y)
v;. L O vi L e , Fig. 6: UPFC model

3.3. UPFC Injection Model For Load Flow Studies

The UPFC injection model can easily be incorporated in a


load flow program. If a UPFC is located between node i and
node j in a power system, the admittance matrix is modified
by adding a reactance equivalent to X, between node i and
node j. The Jacobian matrix is modified by addition of
appropriate injection powers. If we consider the linearized
Fig. 5 : Injection model for a series connected VSC
load flow model as:
3.2. UPFC MODEL

In UPFC, the shunt connected voltage source ( Converter 1)


is used mainly to provide the active power which is injected
to the network via the series connected voltage source. We The Jacobian matrix is modified as given in Table 1. (The
have: superscript o denotes the Jacobian elements without UPFC).
'CONVl = 'CONV2 (7)
The equality above is valid when the losses are neglected.
The apparent power supplied by he series voltage source
converter is calculated from:

Active and reactive power supplied by Converter 2 are


distinguished as:

= r b, y V, sin (0, - 0, + y)- r b, y' sin y


PcoNvz (9)
&orjvz = - r b , y ?cos ( 0 , - 0 , + y ) + r b , y Z c o s y + r Z b , y 2
(10)
The reactive power delivered or absorbed by converter 1 is
independently controllable by UPFC and can be modelled as
a separate controllable shunt reactive source. In view of
above, we assume that GoNVl = O (In Sec. 3.2, the Table 1: Modijication of Jacobian matrix
possibility to control GoNVl is investigated). Consequently,
the UPFC injection model is construcled from the series
connected voltage source model (Fig. 5 ) with the addition of 4. UPFC IN OPTIMAL POWER FLOW
a power equivalent to PcoNV,+ j O to node i. Thus, the UPFC
injection model is shown in Fig. 6. The model shows that the The possibility of controlling the magnitude and angle of the
net active power interchange of UPFC with the power system series voltage source in a UPFC, makes it a powerful device
is zero, as is it expected for a lossless UPFC. for optimal power flow control applications. This section
examines, through numerical examples, some applications
which can be realised in a power system.

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1632

60
A UPFC is assumed to be located on the line between North- Q [Mvarl r=0,09

@@-)
Lake in Hale network [7]. The base active power flow
through the line is about 41 MW. 40 -

y=90

20 -

y=270

0-

y=O
[MWl
-20

The UPFC is planned for: The results of a study to achieve minimum losses are shown
in Fig. 10. (The minimum losses are determined by varying
e Regulating the active power flow ( p in Fig. 7) by rand Y for a given PI. Also, the results of a study using a
120 MW (f50%). phase shifting transformer (PST) is shown for comparison.
The following data for PST is selected:
Minimising the total power losses.

rmax = 0.09p.u., = tan-' rmax = 5.40


Based on the algorithm which is discussed in Section 4 the
following UPFC data is selected (It is assumed that 'shunt-eans = 'series-trans = 6MVA
= 0 in this design):
Fig. 10 shows that a UPFC can regulate the power flow and
rmax= 0.0%. u., ScONVl = 4.8 MVA, S,--NV* = 6 MVA minimise the total power losses simultaneously with the
properly selected control parameters. The change in the total
Figs. 8 show the influence of UPFC on active power flow of
system losses for the base loading (41 MW) is negative(-
the line for variations of y from zero to 277 and r from zero
3.67%) and for the variation of power flow from 26 MW to
54 MW, the trend is still remained. PST can also affect the
power flow and minimise losses, but the impact is less when
compared to UPFC. This is because a UPFC yields two
choices of reactive power flow for any desired active power
flow and a given r , while the irelation of active and reactive
power flows for PST is unique.

Y Ldeg.1
0
0 90 180 270 360

Fig. 8: Variation of P against rand y


.
4

20 30 40 50 60
The variation of Q against P for the same variation of r and
y are shown in Fig. 9. Fig 10: Optimum powerPow for UPFC and PST (P ~ o oiss sthe
total system losses for base loading and without any FACTS
device

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1633

4.2. Use of Reactive Capacity of Conveirter 1 5. DIMENSIONING OF UPFC

A UPFC consists of several components and has the


So far, we have assumed that the converter 1 only delivers capability to influence the power system through three
active power flow. In this way, the dimension of converter 1 control variables. For a given requirement of power flow
was selected, namely: control, the dimensioning of UPFC needs to be determined
through an iterative process. The flow chart of Fig. 11 shows
how the dimension of a UPFC can be determined. The first
step is to estimate rmaxand the size of series transformer (S,).
The effective reactance of UPFC ( X , ) can be determined in
the next step ( X , is the short circuit reactance of series
However, this capacity is only utilised for a certain operating transformer). The load flow solutions for the whole range of
condition and for the rest of the time, there is some available y verifies if the power flows are satisfied. From (9) and
capacity. This remaining capacity can be utilised if the
(lo), the apparent power of the converter 2 is checked to be
converter 1 delivers or absorbs reactive power. In any
less than the series transformer rating. If these requirements
operating point ( r ,y), the reactive power available is:
are fulfilled, the algorithm tries to minimise the series
transformer rating. The iteration stops when the power flow
y,)”rs
gonvi(r9 7) = [ ( S C ~ V I ) ?- (pCoNvr(r7 (13) are within the specified limits, the rating of converter 2 is less
than the series transformer rating and the size of series
Based on this control strategy, the optimal power flow for the transformer is minimised. If the parameters y and rmaxare
same example is calculated and is shown in Table 2. known, the rating of converter 1 (ScoNv,) and the rating of
the shunt transformer ( S p = SCONV1) are easily calculated.

and determine size of

28
30
32
34
- 1.41
- 2.12
- 2.83
- 3.26
0.9653
0.9643
0.9663
0.9659
- 2.25
- 2.93
- 3.65
- 4.05
0.9681

I--
7 Perform load flow

Reducer,,,
36 - 3.56 0.9682 - 4.40 0.9709
~

I I I I
38
40
42
I
I
- 3.75
- 3.75
- 3.42
I
I
0.9683
0.9687
0.9718
I
I
- 4.54
- 4.53
-4.21
I
I 0.9745
II Power Flow
Requiremalts

j Yes

Gmv2 less

58 I 3.22 I 0.9732 I 2.83 I i:;):: I


60 I 4.85 I 0.9765 I 3.98 I
Table 2: Optimal powerjlow table when zhe reactive
power through converter 1 is controlled.

Table 2 shows the improvement of UPFC performance in Fig. 11: Flow chart for determining optimum size of UPFC
view of loss minimisation and voltage stabilisation when the
capacity of converter1 is fully utilised.

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1634

A steady state mathematical model for the UPFC was Mojtaba Noroozian: (M’92) He received his B.SC. in
proposed. The proposed model can easily be incorporated in electrical engineering from Arya-Mehr (sharif) University in
existing power flow programs. The capability of UPFC in Tehran, M.Sc. in power systems from University of
optimal power flow applications was demonstrated and Manchester, Institute of Technology (UMIST) and Ph.D.
compared with that of a PST. It was shown that a UPFC can from Royal Institute of Technology, Sweden. He has been
be controlled in a power system to satisfy the following with ASEA (ABB) since 1984. He is now with ABB Power
objectives simultaneously: Systems AB, Reactive Power Compensation Division.
Lennart Angquist:. He received his M.Sc. degree in
* Regulating power $ow through a transmission line electrical engineering from Lund Institute of Technology,
(over-load reliej loop $ow minimisation, contractual Sweden. He joined ASEA in Vasteris, working with motor
power$owfulfilment, etc. ). drives and power electronics for industrial and traction
applications. Since 1987 he has been with ABB Power
Systems AB, Reactive Power Compensation Division.
0 Minimisation of power losses without generation
rescheduling. Mehrdad Ghandhari: He is a graduate student at the Royal
Institute of Technology, Sweden. His interest is power
system dynamics.
Goran Andersson: (M’86-SM’91) He received his M.Sc.
and Ph.D. degree from the University of Lund. In 1980 he
joined ASEA:s HVDC-division and in 1986 he was
appointed professor in Electric Power Systems at the Royal
[11 N.Hingorani, “FACTS, Flexible Transmission Systems”,
Institute of Technology, Stockholm. He is a member of the
In Proceedings of Fifth International Conference on AC and
Royal Swedish Academy of Engineering Sciences and the
DC Power Transmission, London, September 1991, pp. 1-7.
Royal Swedish Academy of Sciences.
[2] L. Gyugyi, “Dynamic Compensation of AC Transmission
Lines by Solid-state Synchronous Voltage Sources”,
Presented at IEEE 1993 Summer Meeting, Paper No. 93 SM
434-1 PWRD.
[3] R. Mihalic, et.al, “Improvement of Transient Stability
Using Unified Power Flow Controller”, Presented at IEEE
Winter Meeting, Paper 95 WM 269-1 PWRD.
[4] E. Lerch, et.al, “ Simulation and Performance Analysis of
Unified Power Flow Controller”, Cigre, 1994 session, Pages
14-205.
[ 5 ] L.Gyugyi, et.al, “The unified Power Flow Controller: A
New Approach To Power Transmission Control”, Presented
at 1994 IEEE Summer Meeting, Paper No. 94-SM 474-7
PWRD.
[6] M. Noroozian, 6. Andersson, “Power Flow Control by
Use of Controllable Series Components“, IEEE Transactions
on Power Delivery, vol. 8, no. 3, pages 1420-1429, July
1993.
[7] G. W. Stagg and A. Abiad, “Computer Methods in Power
System Analysis”, McGraw-Hill, New York, First Edition.

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