How FACTS Controllers Function in an AC

Transmission System: Series and Combined

Multiterminal Controllers
Brian K. Johnson, Member, IEEE

guidelines for developing switching models of the power

Abslruc-An overview of how series connected and combined converters are presented, along with basic guidelines for the
sendshunt connected FACTS controllers are studied in an ac control circuits. Then a set of sample power systems will be
system is Presented*s@fieauY, the TCSC* sssc, and GUPFc described, and the simulation results show the impact of the
(or CSC) is presented. The basic performance attributes of
FACTS controllers on the system and the impact of their
several FACTS controllers are presented. The impacts of the
FACTS controller and its control setting on power system controlsettingS.
performance are also presented in the form of case studies
MODELING
11. CONVERTER ISSUES
Index Terms-FACTS, EMTP, Electromagnetic transients There are many references on general principles and
programs, TCSC, SSSC, GUPFC, CSC.
modeling guidelines for the simulation of power systems
transients [5,6].The modeling of power electronic circuits
I. INTRODUCnON such as those in FACTS or Custom Power converters requires
modeling the power electronic circuit itself, the controls for
Power electronic based flexible ac transmission systems
the power converter, and the relevant part of the power
(FACTS) [1,2] or Custom Power [2,3] devices are added to transmission or distribution system. In general, the converter
power transmission and distribution systems at strategic model will be a switching model, although non-switching
locations to improve system performance. When power
models based on averaged or fundamental component
system disturbances occur, synchronous’ generators aren’t behavior are also useful for initial control development
always able to respond rapidly enough to keep the system studies.
stable. If high-speed real or reactive power control is The ability to model.the converter controls in sufficient
available, load shedding or generator dropping may be detail is also of key importance to developing accurate models
avoided during the disturbance. High-speed reactive for the converter. The controls can be divided into three
compensation is possible through the use of FACTS devices.
levels.
In a few cases, these devices are also able to provide some The lower level creates the firing pulses for the thyristors.
measure of high-speed real power control through power This requires a method to synchronize the switching with the
circulation within the converter, with the real power coming
power system frequency, based on either voltage or current
from the same line or in some cases from adjacent lines measurements. Many converters use a phase-locked-loop
leaving the same substation. (PLL) to track the system frequency. The lower level control
This paper shows the performance of several FACTS also generates the gate pulses with the appropriate phase
controllers in power systems case studies. The controllers
delay as commanded by the upper level (or outer loop)
presented here are the thyristor controller series capacitor controller. Computer simulation at this level can be difficult,
(TCSC), the static synchronous series compensator (SSSC), since the details of the controls are difficult to obtain
and the generalized universal power flow controller (GUPFC) especially the time delays and the error tolerances in the
which is also known as the convertible series compensator sensing circuits.
(CSC). These simulation studies are performed using an
However. the gate pulse generator model should also be set
electromagnetic transients program (emtp program) such as
up to generate gate pulses that are suitable for the switch
those based on the electromagnetic transients program
model, rather than trying to produce a perfect match of the
(EMTP) developed with support from the Bonneville Power gate pulses sent to the devices in the actual converter. One
Administration 141. The simulations will be performed using source of concern in obtaining an accurate model is the
ATP and EMTDC. First a brief description of the modeling
imuact of the time steu discretization on the -gate uulses.
- Some
emtp-like programs are able to adjust for this, usually through
B. K. Johnson is with the Department Of Ekmi* and some form of interpolation in switching and in some cases
Engineering. University of Idaho. Moscow ID 83844-1023 USA (e-mail
[email protected]) interpolation is used in generating the gate pulses. These

0-7803-8 110-6/03/$17.00 02003 IEEE 959

 programs are then able to run simulations with larger time- these quantities hack to produce the firing delay angle through
steps. With other programs, smaller time-steps are required to a lookup table. Converter overcurrent protection functions
avoid difficulties with switch firings needing to occur between need to he modeled carefully if the TCSC is to he included in
time-steps. system protection studies.
The outer control loop(s) relate the control objective for the This includes the external overvoltage protection such as
converter in the power system. For example a SVC may he MOVs and bypass breakers. A key concern in these studies
used to regulate ac bus voltage, control reactive power, or will he the response of the TCSC controls prior to the action
provide dynamic damping. The TCSC could he controlled to of the external protection, and how they will impact the
insert a specific reactance in the line, or insert a specified response of this protection and the relays protecting the line.
voltage, control line current, control real power flow, or Fig. 2 shows an example of the extemal protection circuitry.
provide damping of suhsynchronous resonance or dynamic This circuitry is described in the system protection literature
power swings. In many cases a general picture of the control [XI.

+
functions may he available, while the specific gains of the DamDina
control functions may not he available when developing a
model.
Breaker
The final controls to represent are the converter protection
functions. Depending on the types of studies to he performed,
these control functions could he neglected. Key functions to
model include TCR overcurrent protection and capacitor I MOV

m.THYRISTOR
CONTROLLED SERIES CAF'ACITOR
"
A. Basic Power Circuit
The TCSC power circuit is similar to that of the SVC. The
key difference is that it is connected in series with the
transmission line. In this case a 12-pulse configuration is not
necessary, since the current harmonics from the TCR are able
to complete their path through the capacitor more easily than
through the rest of the transmission system. Fig. 2 TCSC with external overvoltag protenion

IV. STATIC SERIESCOMPENSATOR

SYNCHRONOUS

A. Basic Power Circuit

The static synchronous series compensator of (SSSC) has a
structure similar to that of the STATCOM described in the
previous presentation. The SSSC is based on the use of a
voltage sourced converter (VSC) to synthesize a voltage
waveform to inject into the power system, unlike the TCSC
lline which is a controlled impedance placed into the power
Fig. I : T h y r i s t ~controlled series capacitor power circuit
system. The SSSC is interfaced to the power system through a
series injection transformer. Therefore, it behaves as a
controlled voltage source inserted into the line, as shown in
Fig. 3.
B. Controls
"4
The TCSC will have low level controls that generate the
firing pulses. In this case the f ~ n gpulses will he
v
synchronized with the line current. The line current should be
used, not the TCR current, which will he discontinuous
whenever there is any firing delay present. The response of
the synchronization circuit can have a significant impact on
system performance, so it is important to match this to the U I
system to he modeled. If the TCSC has multiple modules
Fig. 3: Basic SSSC circuit
U
connected in series, it is also important to model all of them
for system studies.
The global controls will generally produce a commanded V,
The VSC may consist of a single converter operated in a
pulse width modulated mode, or several converters operated
or X to insert in the line. Again, it will he necessary to map

960
with specific relative phase shifts to aid in the harmonic (71 A. M. Gole, Albert Ken. C. Nwank~a,E. W. Gunther. H.W. D o m l , I.
cancellation. Hassan, J.R. M a d , 1. A. Martinez, K.G. khde,L.Tang(Chauman), M.F.
McGranaghan, 0. B. Nay& P. F. Ribeiro. R. Iravani. R. lasseter, Power
Since the SSSC does not have an internal power source, Electronics Modeling Task Force & Digital Simulation Working Group.
just the temporary stored energy in the capacitor, it will he “Guidelines for Modeling Power Electronics in Electric Power
unable to supply or sink real power from the system. Engineering Applications,” IEEE Trommtionr on Power Delivev. Vol.
Therefore, it will only appear as a reactive power injection. Na’.‘ ‘,JanW 1997.~.505-514.
181 A.F. Ellneweihi, F.P. Plumpue, et. al. IEEE Power Systems Relaying
However, this injection can he controlled so to appear purely . WG K13, se,ies Cnpociror-Pmteerion., IEEE Tp-126.0,
capacitive or purely inductive. The magnitude of the this
~~
1998.
reactive injection can he vaned rapidly as dictated by the
converter controls. VIII. BIOGRAPHIES
B. Controls Brian K. Johnson (M’1992) received the Ph.D. in Electrical Engineering
t?om the University of Wiswnsin-Madison in August 1992. He is currently an
The SSSC will have low level controls that generate the associate proressor in the D e m n t of Electrical ~ngineeringat the University
firing pulses. In this case the firing pulses will be of Idaho. His interests include HVdc transmission, power sytem protenion, and
ule application of power electrohics to utility systems and rea-tim simulation of
synchronized with the Line current, The response of the traffic system.
synchronization circuit can have a significant impact on
system performance, so it is important to match this to the
system to he modeled. If the SSSC has multiple converters to
for multipulse operation , it is also important to model all of
them for system studies.
The global controls will generally produce a commanded V,
or X, to insert in the line. Again, it will he necessary to map
these quantities hack to produce the fuing delay angle through
a lookup table. Converter overcurrent protection functions
need to be modeled carefully if the SSSC is to be included in
system protection studies.

V. GENERALIZEDUPFC
The generalized universal power flow controller combines a
shunt connected VSC (STATCOM) connected on one
transmission line leaving a substation. In addition, there are
SSSCs connected in two or more of the lines leaving the
substation. This allows more complete control of the power
flows on the lines, and the distribution of power between
parallel transmission loops.

VI. CONCLUSION
This paper has presented modeling issues for representing
TCR based FACTS/Custom Power devices in emtp-like
programs. General guidelines for modeling the power circuit,
fuing controls, outer control loops, and protection circuits are
described. The

VII. REFERENCES

111 N. G. Hingorani and L. GyupYi. Understanding FACTS Concepts and

Technology of Flexible AC Transnduion System. New York, lEEE
Press. 2m.
I21 Y.H. Song and A.T. Johns (Ed.) Flexible AC Transmission(FACTS). IEE
Power Engineering Series, 1999.
131 N. Hingorani, “Introducing Custom Power,” IEEE Spectrum. Vol. 32. No.
6, pp. 41-48.
141 H.W. D o m l , “Digital Computer Simlation of Elecuonwgetic
Transients in Single- and Multi-Phase Networks,” IEEE Transactions on
Power A p p o r o t u s a n d S y ~ rVol. , No. 2, pp. 734-741, April 1969.
~ ~ ~88.
151 A.M. Gole. 1. Mminez-Velasco, A.J.F. Ken (Ed.), “Modeling and
Analysis of System Transients Using Digital Propaw,” IEEE 99TP133-
0,1998.
161 J.A. Martinez-Velasco (Ed.), Computer Analysis of Electric Power
System Transients. IEEE Press, 1997.

96 1