International Journal of Trend in Scientific Research and Development (IJTSRD)

Volume 3 Issue 5, August 2019 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470

Nonlinear Control of Static Synchronous Compensator

(STATCOM) for Transmission System
Yadana Aung, Phyu Phyu Win, Moe Phyu Thel
Department of Electrical Power Engineering, Technological University, Mandalay, Myanmar

How to cite this paper: Yadana Aung | ABSTRACT

Phyu Phyu Win | Moe Phyu Thel The Static Synchronous Compensator (STATCOM) is a shunt controller, which
"Nonlinear Control of Static Synchronous is a member of FACTS devices. In this paper, an effective and robust controller
Compensator (STATCOM) for for STATCOM device on transmission lines, a Single Machine Infinite Bus
Transmission (SMIB) system is modeled. A state space mathematical model is constructed
System" Published which considers both electromechanical oscillations and reactive current of
in International the STATCOM at the installation site. Based the obtained third-order model,
Journal of Trend in state feedback linearization and linear quadratic regulation (LQR) approach
Scientific Research are applied to obtain a nonlinear control law. The controllers are simulated
and Development and tested under different operating conditions comparing with the
(ijtsrd), ISSN: 2456- IJTSRD28002 conventional PI controller.
6470, Volume-3 |
Issue-5, August 2019, pp.2231-2234, KEYWORDS: FACTS; STATCOM; feedback linearization; nonlinear control; PI
https://doi.org/10.31142/ijtsrd28002 controller
I. INTRODUCTION
Copyright © 2019 by author(s) and The power flows in some of the transmission lines are overloaded, which has as
International Journal of Trend in Scientific an overall situation requires the review of traditional transmission methods
Research and Development Journal. This and practices, and the creation of new concepts, which would allow the use of
is an Open Access article distributed existing generation and transmission lines up to their full capabilities without
under the terms of reduction in system stability and security. Series capacitor, shunt capacitor and
the Creative phase shift are different approaches to increase the power system transmission
Commons Attribution lines load ability. They are very useful in a steady state operation of power
License (CC BY 4.0) systems but from a dynamical point of view, their time response is too slow to
(http://creativecommons.org/licenses/by effectively damp transient oscillations.
/4.0)
In the control of electric power systems, reactive power STEADY STATE MODEL
compensation is an important issue. Reactive power A STATCOM is always connected in shunt with the ac system
compensation is traditionally realized by connecting or through some magnetic coupling, namely, the coupling
disconnecting capacitor or inductor banks to the bus through transformer or interface reactor. A typical STATCOM
mechanical switches that are slow and imprecise. With the connection is shown in Fig.1; it consists of a voltage source
developments in power electronics, a new kind of converter (VSC) using either a GTO or IGBT as a switching
compensator was introduced. This compensator is static device, and a capacitor, Cs, on the DC side as an energy-
synchronous compensator (STATCOM), which is the member storage device. The resistance Rp in parallel with Cs
of FACTS devices [1]. STATCOM is based on self-commutated represents both the capacitor losses and switching losses.
solid state power electronic devices to achieve advanced The STATCOM is connected to the ac system through
reactive power control. magnetic coupling, represented by leakage inductance Ls
and resistance Rs. The STATCOM improves the desired
Much work about STATCOM steady state performance power system performance, including dynamic
control has been done, which is based on steady state vector compensation, mitigating the synchronous resonances (SSR)
(phasor) diagram analysis to power system quantities. This bu modeling the reactive power at the common coupling
kind of control approach, usually a proportional integrated point, and so forth.
control (PI control) is convenient to the traditional power
system analysis method and not necessary to build a special
mathematic model for controller design. However, the
system response is slow due to the calculation of active and
reactive power, that need several periods (T) of the power
system, and not effective when the change of power system
is rapid[3][4].

As power system becomes more complex and more

nonlinear loads are connected, the control of power system
transient response is becoming a very critical issue.
Therefore, it is necessary to study nonlinear control strategy
to control the STATCOM dynamic characteristics and
capabilities to improve transient stability [5]. Fig.1 A Typical STATCOM Connection to AC System

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MATHEMATICAL EQUATION 1
Iq̇ = (-Iq +Ku) (11)
T
A single machine infinite bus system (SMIB) is shown in
Fig.2. The STATCOM is placed at the middle of the
The output equation is
transmission line which is generally considered to be the
ideal site.
y(t) = h(X(t) = δ (12)

The dynamic equation of a synchronous generator can be

written in a state space as
Ẋ(t) = f(X) + g(X)u (13)

y(t) = h(X) (14)

where X = [δ ω I ] ; u is the control variable of the

STATCOM
⎡ ω-ω0 ⎤
ω0 ω0 D
⎢ P - C V +X
f(x)= H m H 1 m0 eq q H I - (ω-ω )
0 ⎥ (15)
Fig.2 A Single Machine Infinite Bus (SMIB) System with ⎢ 1 ⎥
STATCOM ⎣ - Iq ⎦
T

The synchronous generator is represented by the classical g(x) = 0 0 (16)

second order model. The system dynamics is described by
the following equations.
h(x)=δ (17)
δ̇ = ω − ω (1)
and
ω E'q
ω̇ = [P − P − (ω − ω )] (2) C1 = sin⁡(δ-δm ) (18)
ω X1

′ NONLINEAR CONTROL DESIGN OF THE STATCOM

where P = sin(δ − δ ) (3) The development of the feedback linearization techniques
provides a powerful tool for the design of controllers for
The voltage magnitude and angle at bus m can be written as nonlinear systems. The first step in the design procedure is
′ (δ δ ) δ the establishment of the linearization condition for the SMIB
V = + I (4) system. Hence the SMIB system has relative degree r=3,
which is equal to the system order. A nonlinear system in X
=V +X I (5) coordinate can be transferred into the following Z
coordination
′ δ 𝑧 =δ (19)
δ = tan ′ (6)
δ
z = ω − ω = ∆ω (20)
When the STATCOM is installed at the transmission line, the
ω ω
STATCOM reacrive output current is given by the STATCOM z = ω̇ = P − C V +X I − ∆ω (21)
control theory as
I ̇ = (−I + Ku) (7) Then the nonlinear system can be transferred into a linear
system of the form
The target of the nonlinear control strategy here is to keep Ż = AZ + Bv (22)
the whole system stable by regulating the reactive power
exchange between the STATCOM and ac system. For the y = CZ (23)
system shown in Fig.2, the system stability can be evaluated
by checking the absolute value of the relative angle of the where ‘v’ is the control input of the linear system and
z 0 1 0 0
generator within 180° . This relative angle is used as a
stability index of the connected power systems. After a large Z= z ,A = 0 0 1 ,B = 0 (24)
z 0 0 0 1
disturbance, the smaller the relative angle is, the more stable
will be. Therefore, the relative rotor angle of the generator is C = [1 0 (25)
0], D = [0]
taken as the output equation for the nonlinear control
design. The optimal control vector ‘v’ is
y(t) = δ (8)
v = −K ∗ Z = −k ∗ z − k ∗ z − k ∗ z (26)
Combining equations (1), (2) and (8), obtain the state
equation and the output equation of the power system v = −k ∗ δ − k ∗ ∆ω − k ∗ ω̇ (27)
installed with the STATCOM
δ̇ = ω − ω (9) where k ∗
= 1.0, k ∗
= 7.6, k ∗
= 3.9
ω
ω̇ = P −P − (ω − ω ) (10) The nonlinear control design for the system using
ω
STATCOM is obtained as

@ IJTSRD | Unique Paper ID – IJTSRD28002 | Volume – 3 | Issue – 5 | July - August 2019 Page 2232
 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
α( )
u=− + v (28)
β( ) β( )

ω
α(x) = C X I (29)

ω
β(x) = − C X (30)

u= (k ∗ δ + k ∗ ∆ω + k ∗ ω̇ ) + I (31)
ω

PI CONTROL SCHEME OF STATCOM

The effectiveness of the proposed nonlinear controller in
damping power system oscillations is evaluated through a
comparison with a conventional PI controller shown in Fig.3.
The gains of controller were selected based on a pole
placement technique.

Fig.4 Transient Response of Rotor Angle (Generator

was Loaded to P=0.8 p.u )

Fig.3 Block Diagram of Conventional PI Control

The method produces an optimum control function for linear

system designed for a specific operating point. The transfer
function of PI controller is given as
K
GPID (s)=KP + I (32)
s

The controller transfer function can be written as

sT K
Gc (s)= w KP + I (33)
1+sTw s

Here, KP and KI are the gains in proportional and integral

loops, Tw is the washout time constant.

SIMULATION RESULTS
The performance of the STATCOM for the stabilization of
Fig.5 Transient Response of Mid-bus Voltage
synchronous generator is evaluated by computer simulation
(Generator was Loaded to P=0.8 p.u )
studies. The STATCOM is installed at the middle of the
transmission line. The time constant of the STATCOM
reactive output current is set to 0.01 sec. The transient
performances of the rotor angle are shown in Fig.4 when the
generator is loaded at power 0.8 p.u. Fig.5 shows the
transient response of the mid-bus voltage. It can be seen that
from the simulation results, the nonlinear control is superior
over the conventional PI control not only in suppressing the
STATCOM bus voltage fluctuation, but also in restraining the
power oscillation.

The transient performances of the rotor angle are shown in

Fig.6 when the generator is loaded at power 1.0 p.u. Fig.7
shows the transient response of the mid-bus voltage. When
the generator load was increased (P=1.0 p.u), STATCOM with
conventional PI control are more unstable, but the STATCOM
using nonlinear control is effectively damp the system
oscillation and completely stable at 7 second. This proved
that nonlinear control technology provides new promising
way to further improve the operation security and dynamic
Fig.6 Transient Response of Rotor Angle (Generator
performance of the system.
was Loaded to P=1.0 p.u )

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 International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
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