Damping interarea and torsional oscillations using FACTS devices

A problem of interest in the power industry is the mitigation of interarea and torsional oscillations. Interarea oscillations are due to the dynamics of interarea power transfer and often exhibit poor damping when the aggregate power transfer over a corridor is high relative to the transmission strength. These oscillations can severely restrict system operations and, in some cases, can lead to widespread system disturbances. Torsional oscillations are induced due to the interaction between transmission system disturbances and turbine-generator shaft systems. The high torsional stresses induced due to some of these disturbances reduce the life expectancy of the turbine-generators and, in severe cases, may cause shaft damage. This thesis reports the development of novel control techniques for Flexible AC Transmission System (FACTS) devices for the purpose of damping power system interarea and torsional oscillations. In this context, investigations are conducted on a typical three-area power system incorporating FACTS devices. The Genetic Algorithm (GA) and fuzzy logic techniques are used for designing the FACTS controllers. Although attention is focused in the investigations of this thesis on the Unified Power Flow Controller (UPFC), studies are also conducted on two other FACTS devices, a three voltage-source converter Generalized Unified Power Flow Controller (GUPFC) and a voltage-source converter back-to-back HVdc link. The results of the investigations conducted in this thesis show that the achieved control designs are effective in damping interarea oscillations as well as the high torsional torques induced in turbine-generator shafts due to clearing and high-speed reclosing of transmission system faults. The controller design procedures adopted in this thesis are general and can be applied to other FACTS devices incorporated in a power system. The results and discussion presented in this thesis should provide valuable information to electric power utilities engaged in planning and operating FACTS devices.

[1]  H. E. Lokay,et al.  Turbine-generator shaft loss-of-life concepts for power system disturbances , 1978 .

[2]  G. J. Rogers,et al.  A fundamental study of inter-area oscillations in power systems , 1991 .

[3]  Saul Goldberg,et al.  Subsynchronous Resonance in Series Compensated Transmission Lines , 1973 .

[4]  H. F. Wang,et al.  Selection of robust installing locations and feedback signals of FACTS-based stabilizers in multi-machine power systems , 1999 .

[5]  Lalit M. Patnaik,et al.  Genetic algorithms: a survey , 1994, Computer.

[6]  H. F. Wang,et al.  A unified model for the analysis of FACTS devices in damping power system oscillations. I. Single-machine infinite-bus power systems , 1997 .

[7]  Cesare Alippi,et al.  Genetic-algorithm programming environments , 1994, Computer.

[8]  C. S. Chang,et al.  Optimal multiobjective SVC planning for voltage stability enhancement , 1998 .

[9]  T. J. Hammons,et al.  Analysis of Continuum and Reduced Shaft Models in Evaluating Turbine-Generator Shaft Torsional Response following Severe Disturbances on the System Supply , 1987 .

[10]  James D. McCalley,et al.  TCSC controller design for damping interarea oscillations , 1998 .

[11]  First benchmark model for computer simulation of subsynchronous resonance , 1977, IEEE Transactions on Power Apparatus and Systems.

[12]  J. Penman,et al.  Dynamic modelling of a unified power flow controller , 1997 .

[13]  D. Lambrecht,et al.  Effect of clearing short circuits and automatic reclosing on torsional stress and life expenditure of turbine-generator shafts , 1976, IEEE Transactions on Power Apparatus and Systems.

[14]  李幼升,et al.  Ph , 1989 .

[15]  J. F. Hauer,et al.  Keeping an eye on power system dynamics , 1997 .

[16]  Ali Feliachi,et al.  Stabilization of inter-area oscillation modes through excitation systems , 1994 .

[17]  Kaneyoshi Murotani,et al.  Subsynchronous resonance oscillations of series-compensated transmission system and their suppressions , 1976 .

[18]  Imad M. Jaimoukha,et al.  Mixed-sensitivity approach to H/sub /spl infin// control of power system oscillations employing multiple FACTS devices , 2003, 2003 IEEE Power Engineering Society General Meeting (IEEE Cat. No.03CH37491).

[19]  Mladen Kezunovic,et al.  Synchronized sampling and phasor measurements for relaying and control , 1994 .

[20]  Mariesa L. Crow,et al.  STATCOM control for power system voltage control applications , 2000 .

[21]  S. C. Srivastava,et al.  Neural network based power system damping controller for SVC , 1999 .

[22]  Laszlo Gyugyi,et al.  AEP unified power flow controller performance , 1999 .

[23]  E. J. Stacey,et al.  UPFC-unified power flow controller: theory, modeling, and applications , 1998 .

[24]  P. Aree,et al.  Block diagram model for fundamental studies of a synchronous generator-static VAr compensator system , 1999 .

[25]  Stefan Johansson,et al.  POWER SYSTEM STABILITY BENEFITS WITH VSC DC-TRANSMISSION SYSTEMS , 2004 .

[26]  Matti Lehtonen,et al.  Voltage sag distributions caused by power system faults , 2003 .

[27]  A. A. El-Emary.  Formula for the effect of a static VAr compensator on synchronising torque coefficient , 1996 .

[28]  K.Y. Lee,et al.  Choice of FACTS device control inputs for damping interarea oscillations , 2004, IEEE Transactions on Power Systems.

[29]  Boon-Teck Ooi,et al.  Mid-point siting of FACTS devices in transmission lines , 1997 .

[30]  R. R. Mohler,et al.  An EMTP study of SSR mitigation using the thyristor controlled series capacitor , 1995 .

[31]  X. Zhou,et al.  Overview of control schemes for TCSC to enhance the stability of power systems , 1999 .

[32]  John S. Joyce,et al.  Torsional Fatigue of Turbine-Generator Shafts Caused by Different Electrical System Faults and Switching Operations , 1978, IEEE Transactions on Power Apparatus and Systems.

[33]  T. T. Lie,et al.  Application of an NLPID controller on a UPFC to improve transient stability of a power system , 2001 .

[34]  M. R. Iravani,et al.  Optimal robust control design of static VAr compensators , 1998 .

[35]  Jan Stein,et al.  The Torsional Stress Analyzer for Continuously Monitoring Turbine-Generators , 1980, IEEE Transactions on Power Apparatus and Systems.

[36]  Vladimir Terzija,et al.  A new approach to the arcing faults detection for fast autoreclosure in transmission systems , 1995 .

[37]  T. Margotin,et al.  Physical interpretation of state feedback controllers to damp power system oscillations , 2004, IEEE Transactions on Power Systems.

[38]  K. L. Lo,et al.  Strategy for the control of multiple series compensators in the enhancement of interconnected power system stability , 1999 .

[39]  Kwok W. Cheung,et al.  BC Hydro's on-line transient stability assessment (TSA) model development, analysis and post-processing , 1995 .

[40]  Ganapati Panda,et al.  Damping multimodal power system oscillation using a hybrid fuzzy controller for series connected FACTS devices , 2000 .

[41]  T. Hammons.  Accumulative Fatigue Life Expenditure of Turbine/Generator Shafts Following Worst-Case System Disturbances , 1982, IEEE Transactions on Power Apparatus and Systems.

[42]  James D. McCalley,et al.  Damping controller design for power system oscillations using global signals , 1996 .

[43]  Lance D. Chambers.  Practical handbook of genetic algorithms , 1995 .

[44]  G. Asplund,et al.  Sustainable energy systems with HVDC transmission , 2004, IEEE Power Engineering Society General Meeting, 2004..

[45]  T. Margotin,et al.  Design of robust controllers for damping interarea oscillations: application to the European power system , 2004, IEEE Transactions on Power Systems.

[46]  C. Fuerte-Esquivel,et al.  Unified power flow controller: a critical comparison of Newton-Raphson UPFC algorithms in power flow studies , 1997 .

[47]  B. L. Agrawal,et al.  Fourth supplement to a bibliography for the study of subsynchronous resonance between rotating machines and power systems , 1997 .

[48]  Joe H. Chow,et al.  Robust decentralised design for multiple FACTS damping controllers , 1997 .

[49]  Y.-Y. Hsu,et al.  Damping of power system oscillations using adaptive thyristor-controlled series compensators tuned by artificial neural networks , 1999 .

[50]  Jos Arrillaga,et al.  High Voltage Direct Current Transmission , 2014 .

[51]  Graham Rogers,et al.  Power System Oscillations , 1999 .

[52]  Udaya Annakkage,et al.  Design of decentralised output feedback TCSC damping controllers by using simulated annealing , 1998 .

[53]  A.H.M.A. Rahim,et al.  Control of subsynchronous resonant modes in a series compensated system through superconducting magnetic energy storage units , 1996 .

[54]  H. F. Wang,et al.  Indices for selecting the best location of PSSs or FACTS-based stabilisers in multimachine power systems: a comparative study , 1997 .

[55]  Ying Jiang-Hafner,et al.  Improvement of subsynchronous torsional damping using VSC HVDC , 2002, Proceedings. International Conference on Power System Technology.

[56]  Tadeusz Kulig,et al.  The Impact of High-Speed Reclosure of Single and Multi-Phase Systems Faults on Turbine-Generator Shaft Torsional Fatigue , 1980, IEEE Transactions on Power Apparatus and Systems.

[57]  C. W. Taylor.  Improving grid behaviour , 1999 .

[58]  Laszlo Gyugyi,et al.  Unified power-flow control concept for flexible AC transmission systems , 1992 .

[59]  EDWARD D. COPS,et al.  The Survival of the Fittest , 1872, Nature.

[60]  Michael Wyckmans.  Innovation in the Market: HVDC Light, the New Technology , 2003 .

[61]  Effects of Switching Network Disturbances on Turbine-Generator Shaft Systems , 1982, IEEE Transactions on Power Apparatus and Systems.

[62]  F. Pourboghrat,et al.  Local sliding control for damping interarea power oscillations , 2004, IEEE Transactions on Power Systems.

[63]  T. T. Lie,et al.  Design and application of co-ordinated multiple FACTS controllers , 2000 .

[64]  H. F. Wang,et al.  Application of the controllable series compensator in damping power system oscillations , 1996 .

[65]  Saul Goldberg,et al.  Subsynchronous Resonance and Torsional Stresses in Turbine-Generator Shafts , 1979, IEEE Transactions on Power Apparatus and Systems.

[66]  Shaopeng Wang,et al.  Power system damping controller design-using multiple input signals , 2000 .

[67]  H. F. Wang,et al.  A unified model for the analysis of FACTS devices in damping power system oscillations. II. Multi-machine power systems , 1998 .

[68]  C.E.J. Bowler,et al.  Evaluation of the Effect of Power Circuit Breaker Reclosing Practices on Turbine-Generators Shafts , 1980, IEEE Transactions on Power Apparatus and Systems.

[69]  Michio Sugeno,et al.  Fuzzy identification of systems and its applications to modeling and control , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[70]  Second Benchmark Model for Computer Simulation of Subsynchronous Resonance , 1985, IEEE Transactions on Power Apparatus and Systems.

[71]  Djalma M. Falcao,et al.  Robust decentralised control design using genetic algorithms in power system damping control , 1998 .

[72]  R. J. Piwko,et al.  Subsynchronous resonance performance tests of the Slatt thyristor-controlled series capacitor , 1996 .

[73]  X. X. Zhou,et al.  Nonlinear adaptive control of TCSC to improve the performance of power systems , 1999 .

[74]  Katsuhiko Ogata,et al.  Modern Control Engineering , 1970 .

[75]  H. F. Wang,et al.  Capability of the static VAr compensator in damping power system oscillations , 1996 .

[76]  Udaya Annakkage,et al.  Output feedback TCSC controllers to improve damping of meshed multi-machine power systems , 1997 .

[77]  Hao Ying,et al.  Fuzzy Control and Modeling: Analytical Foundations and Applications , 2000 .

[78]  Y. Jiang-Hafner,et al.  On the short circuit current contribution of HVDC Light , 2002, IEEE/PES Transmission and Distribution Conference and Exhibition.

[79]  Michael D. Vose,et al.  The simple genetic algorithm - foundations and theory , 1999, Complex adaptive systems.

[80]  A. Feliachi,et al.  Genetic algorithm based inter-area oscillation damping controller design using MATLAB , 2002, IEEE Power Engineering Society Summer Meeting,.

[81]  Christer Liljegren,et al.  HVDC Light Experiences applicable for power transmission from offshore wind power parks. , 2004 .

[82]  A. Feliachi,et al.  Robust TCSC control design for damping inter-area oscillations , 2001, 2001 Power Engineering Society Summer Meeting. Conference Proceedings (Cat. No.01CH37262).

[83]  Jin Jiang,et al.  Application of STATCOM for damping torsional oscillations in series compensated AC systems , 1998 .

[84]  H. A. Othman,et al.  Analytical modeling of thyristor-controlled series capacitors for SSR studies , 1996 .

[85]  Balarko Chaudhuri,et al.  Mixed-sensitivity approach to H/sub /spl infin// control of power system oscillations employing multiple FACTS devices , 2003 .

[86]  B. K. Perkins,et al.  Dynamic modeling of a TCSC with application to SSR analysis , 1997 .