STABILITY ANALYSIS OF INTEGRATED

POWER SYSTEM WITH RENEWABLE

ENERGY SOURCES
A PROJECT REPORT

Submitted by

In partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

in

ELECTRICAL AND ELECTRONICS ENGINEERING

NARAYANA ENGINEERING COLLEGE, NELLORE

 BONAFIDE CERTIFICATE

Certified that this project report “Stability Analysis of Integrated

Power System with Renewable Energy Sources” is the bonafide
work of who carried out the project work under my supervision.

SIGNATURE SIGNATURE

Submitted to the viva-voce examination held on ____________

INTERNAL EXAMINER EXTERNAL EXAMINER

 ABSTRACT

VIRTUAL-STATCOM is a trendy device to progress voltage of weak-buses

in 2 bus-systems. This exertion covenant with representation and
simulation of closed-loop controlled Three Phase voltage-source-inverter
based VIRTUAL STATCOM in two bus-systems. Closed-loop FOPID & SMC
controlled VIRTUAL STATCOM systems are examined and their results are
evaluated. The evaluation is made through in term of time-domain
response parameters like steady-state error & settling -time. The VIRTUAL
STATCOM with SMC is experiential to be more rapidly than FOPID
controlled system

1
 CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

The integration of renewable energy sources (RESs) into electrical systems has
become a necessary and essential matter to face the large increase in electrical energy
demand and reduce pollution problems caused by using fossil fuels. Different types of
RESs are used in generating electric power, including wind, photovoltaic (PV), Fuel cell,
and biomass. The two most RESs integrated into the electrical systems are the wind and
the PV in favor of their multiple advantages, which is evident from the annual growth
rate of RESs, Fig. 1.1.

Fig 1.1 Annual growth rate of some RESs.

Hybrid power systems based on wind energy conversion systems (WECSs) and
PV systems cannot supply the required reactive power during fault events in the system.
Consequently, the voltage profile at the point of common coupling (PCC) between the
RESs and the grid will fluctuate. These voltage fluctuations have adverse effects on the
power system performance, including system stability, power factor and power quality.
2
Moreover, if not properly controlled, these voltage fluctuations will range to undesirable
levels that will lead to the disconnection of these RESs from the system due to the lack of
supporting the system's reactive power during these faults according to some grid codes,
Nordal grid code as an example is shown in Fig.1.2.

Fig 1.2 Nordal grid code.

The improper control of voltage fluctuations results in undesired disconnection of

RESs from the system because of the lack of supporting the system's reactive power
during these faults according to some grid codes Nordal grid code as an example is
shown in Fig.1.2.

1.2 A BRIEF REVIEW OF LITERATURE

The modeling of STATCOM based on circuit elements in an exact transmission line

model Mahesh K. Mishra, Senior Member, and B. Kalyan Kumar, Member, IEEE -
(SEPTEMPER 2013)

STATCOM is considered and known as one of the best FACTS devices. It is a

combination of series and parallel quick compensation, and can therefore provide active
and reactive control to achieve maximum power transfer, system stability and improve

3
power quality and reliability. Therefore, presenting a suitable model for STATCOM
which enables studying the network and load flow in energy transmission lines, has
gotten the experts’ attention. This paper presents a new model of STATCOM in steady
state based on circuit elements in an exact transmission line model.

Hierarchical Coordination Controllers for STATCOM based on Non-linear Fuzzy

Control S. V. R. Kumar and S. S. Nagaraju, ARPN J. Eng. Appl. Sci., vol. 2, no. 3, pp. 7–
13, Jun. 2007

This paper investigates coordination control between two STATCOM in a

multi-machine system. More than one STATCOM installed in the power system may
interact with each other and this interaction affects system performance or even lead to
system instability. A two-level hierarchical control scheme is proposed which contains
internal and external controllers. The internal controllers regulate the transmission line
real/reactive power flow and the bus voltage. The external controllers generate
supplementary reference signals to the internal controllers to mitigate the interaction
between two STATCOMs. The proposed external controllers using Takagi-Sugeno fuzzy
strategy are more effective in reducing this interaction than conventional PI controllers. A
three-machine nine-bus system example is used to demonstrate the interaction between
STATCOMs and the effectiveness of the proposed control scheme.

Energy Function Based Neural Networks STATCOM for Transient Stability

Enhancement of Network-Preserving Power Systems B. T. Ooi, J. C. Salmon, J. W.
Dixon, and A. B. Kulkarni, IEEE Trans. Ind. Appl., vol. IA-23, no. 1, pp. 78–84, Jan.
1987.

An energy function STATCOM is developed for improving transient stability of

network-preserving power systems. In order to consider model uncertainties, we also
propose a forward neural networks controller to deal with such model uncertainties. This
controller can be treated as neural network approximations of energy function control
actions and provides online learning ability. Simulations on two power systems
demonstrate that the proposed control strategy is very effective for suppressing power
swing even under severe system conditions.
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1.3. SCOPE OF THE PROJECT

• To simulate without STATCOM system

• To simulate with STATCOM system
• To simulate with E-STATCOM system
• To simulate PI closed loop E-STATCOM system
• To simulate MPC closed loop E-STATCOM system
• To develop the hard setup and test it.

1.4. ORGANIZATION OF THE PROJECT

In chapter 1, Introduction, the literature review for understanding the fundamental

concepts of Stability Analysis of Integrated Power System with Renewable Energy
Sources, and the various performance parameters are discussed. Scope of the projects and
organization of the thesis are presented in this chapter.

In Chapter 2, presents the operation and analysis of Stability Analysis of

Integrated Power System with Renewable Energy Sources, proposed system advantages,
advantages of embedded controller, drawbacks & applications.

In Chapter 3, presents MALAB and simulation results of Stability Analysis of

Integrated Power System with Renewable Energy Sources, in open loop and closed
systems with PI controller and SM controller.

In Chapter 4, the hardware and experimental result of Stability Analysis of

Integrated Power System with Renewable Energy Sources, control circuit; driver,
MOSFETS and power circuit are explained.

In chapter 5, deals with the conclusions of the present work. The main
contribution and the novelty of the present work are summarized.

5
1.4. CONCLUSION

Introduction of the Stability Analysis of Integrated Power System with Renewable

Energy Sources, a brief literature survey; scope of the project and organization of the
project work are presented in this chapter.

6
 CHAPTER-2

STABILITY ANALYSIS OF INTEGRATED POWER SYSTEM WITH

RENEWABLE ENERGY SOURCES

2.1. INTRODUCTION

The integration of renewable energy sources (RESs) into electrical systems has
become a necessary and essential matter to face the large increase in electrical energy
demand and reduce pollution problems caused by using fossil fuels. Different types of
RESs are used in generating electric power, including wind, photovoltaic (PV), Fuel cell,
and biomass. The two most RESs integrated into the electrical systems are the wind and
the PV in favor of their multiple advantages, which is evident from the annual growth
rate of RESs. Hybrid power systems based on wind energy conversion systems (WECSs)
and PV systems cannot supply the required reactive power during fault events in the
system. Consequently, the voltage profile at the point of common coupling (PCC)
between the RESs and the grid will fluctuate. These voltage fluctuations have adverse
effects on the power system performance, including system stability, power factor and
power quality.
Various types of electrical generators were utilized in WECSs, such as self-
excited induction generators (SEIGs), doubly-fed induction generators (DFIGs) and
switched reluctance generators (SRGs). Despite the simple construction of the SEIGs,
they are sensitive to wind speed variations and cannot operate wide speed ranges. DFIGs
are not sensitive to wind speed variations and can operate at wide speed ranges. However,
DFIGs have high faulty sensitivity and need continuous maintenance due to the rotor
slip-ring structure. Owing to their advantages, SRGs are commonly used in many WECS
applications. Their cheapness, robustness and lack of continuous maintenance are among
the SRGs' particular features despite the requirement of reactive power support. Reactive
power support for hybrid power systems needs some external devices during faulty
events, using flexible AC transmission systems (FACTS) devices. These devices play an
essential role in improving the connection of RESs into the power system by supporting
reactive power. FACTS devices can be categorized according to their connection to the
7
system into series, shunt and series/shunt combination. Each category has its own usage
and characteristics. Series FACTS devices are used for increasing the transmission line
capacity and adjusting the line reactances. The series compensators used in hybrid
renewable systems, dynamic voltage restorer (DVR) are highlighted. Shunt devices
support the voltage by injecting/absorbing reactive power during voltage sag/swell
conditions, respectively.

Shunt compensators like static VAR compensators (SVCs) and static synchronous
compensators (STATCOMs) and superconductors are presented for controlling different
grid-connected RESs [13], [14]. Moreover, the compound type, which is a combination
of series and shunt FACTS devices, such as the unified power flow controller (UPFC),
was introduced to improve the connection of RESs to the grid [15]. The compound type
can play the role of series and shunt FACTS devices. Various FACTS devices'
applications in improving the connection of RESs to the system are summarized in Table
2.1.
TABLE 2.1.
Different applications of facts devices in RESs.

8
 So far, the classical PI controllers are still used in many applications related to the
electrical generating field owing to their simplicity and straightforwardness features. PI
controllers were used for enhancing hybrid power systems' performance, including fuel
cell, PV, and wind [3], [20], [22], [24]. Despite all PI controllers' features, their assigned
role will not correctly or adequately perform if their parameters are not appropriately
determined. The typical hybrid system structure contains different power electronic
devices such as converters and inverters, RESs, and controllable devices, making these
systems non-linear, complex, and uncertain. The adjustment of PI controller parameters
for such non-linear, uncertain, and complex systems is challenging by conventional
techniques such as linear programming [25]. This challenge paves the way for modern
optimization methods to tune the PI controller parameters for reaching systems optimal
operating performance. The use of PI controllers for improving the connection of
STATCOM to the grid.

This paper presents two optimized PI controllers for STATCOM to regulate the
connection of two RESs, namely WECS based-SRG and PV systems, to the electrical
grid. STATCOM is integrated into RES at the PCC to handle voltage fluctuation during
grid side disturbance by interchanging the reactive power flow between the STATCOM
and the system. By regulating the PCC voltage, the system performance is improved.
Besides, it complies with grid codes and maintains the continuous operation of RESs
even under fault events.

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2.2. SYSTEM MODELING

A. SWITCHED RELUCTANCE GENERATOR

The studied system consists of two RESs, SRG-WECS and PV. These two RESs
are connected to the system at a common coupling bus. This common coupling bus is
connected to the grid through two transformers and two transmission lines. STATCOM is
connected to the system at PCC to improve the system performance, as depicted in Fig.
2.1.

Fig 2.1 STATCOM is connected to the system at PCC

The manufacture of SRG is modest as related to other kinds of electric generators.

The stator windings are concentrated type and with simple architecture. For the typical
structure, diametrically opposite stator windings are series-connected, forming a two-pole
_eld pattern. The rotor is winding-less, without magnets and with possible relative low
inertia. The SRG has a doubly salient pole construction (stator and rotor are salient)
excited by asymmetric bridge converter. In this study, four phases, 8/6 poles SRG with
the construction given in Fig.2.2 (a) is used. Fig.2.2 (b) illustrates the converter structure
of a four-phase 8/6 SRG.

10
 Fig 2.2 SRG structure.

The phase currents of the SRG can be independently controlled by feeding the
four-phase using an asymmetrical power converter. The rotor position is sensed.
Therefore, the (turn-on and off) angles (µ and β) respectively of each phase can faultless
performed. The four independent hysteresis controller is used for controlling the currents
in stator phases [33]. The magnetic flux linkage to the windings is determined by
integrating the difference between both signals: the input voltage and the voltage drop on
the stator resistance Rs:

where, both (V and is) are the is the (terminal voltage and phase current)
respectively.
Then the total torque of the SRG is the summation of torque of all phases;

11
The average SRG phases electric power Pout is the mean value of the summation of each
phase's output power in a single electric cycle.

where Ns refers to the phases number. TG denotes to the conduction period of one
phase. The (voltage and current) of phase j are (Vj and ij), respectively.

B. PHOTOVOLTAIC SYSTEM

Solar PV systems become gradually important, owing to their compromised

benefits compared to other RESs. Some contrasting mathematical models can be used for
modeling the PV array. The cell is commonly a wide area p-n diode with a junction near
the top surface [35], [36]. Thus, the practical solar cell can be simply modeled by a
current source parallel to a diode. This architecture mathematically describes the PV's I-V
characteristic.

Fig 2.3 Equivalent Circuit of PV module.

The PV model equivalent circuit is depicted in Fig. 2.3. The PV array output
current and voltage are I and V, respectively.
The I-V characteristic of the PV cell is expressed as

12
The thermal voltage of the PV array, Vt, is estimated by:

C. STATCOM PRINCIPLE OF OPERATION AND CONTROL

Fig 2.4 STATCOM circuit representation. (a) Single-phase diagram of STATCOM

STATCOM, the static shunt compensator with capacitive/ inductive output

current, can be controlled based on the PCC voltage. The operation principle of
STATCOM can be described through STATCO Msingle line diagram and control block
diagram illustrated in Fig.2.4-a and 2.4-b, respectively. STATCOM comprises of a VSC,
a DC capacitive energy storage device, and a coupling transformer connecting in shunt
the VSC to the power network at PCC. The VSC generates a group of controllable
13
voltages with the AC power system's frequency. STATCOM can operate in capacitive
and inductive modes based on the difference between the PCC voltage and the reference
voltage assumed to 1pu based on a 0.26 kV base voltage. If the PCC voltage amplitude
decreases, a leading current is injected from STATCOM to the grid at PCC, i.e. the
STATCOM generates reactive power (capacitive mode). While in the inductive mode, a
lagging current is injected from STATCOM to the grid at PCC. Thus, the STATCOM
absorbs the reactive power when the PCC increases.

Fig 2.4 (b) STATCOM circuit representation. (b) Block diagram of PI-
STATCOM controller.

If the PCC voltage is not changed, no power exchange takes place. This
controllable injected current from STATCOM suppress the PCC voltage fluctuations
during fault events. This work's major contribution is the near-optimal scheduling of two
PI controllers to efficiently drive the STATCOM to suppress the voltage fluctuations and

14
consequently improve the hybrid system dynamic performance. Scheduling the
parameters of the two PI controllers is performed.

The STATCOM block diagram and the two optimized PI controllers, depicted in
Fig. 2.4-b, show the both voltages and currents. The two proposed controllers are mainly
used for driving the STATCOM. Controller 1 is considered to provide the due updates to
the quadrature-axis current reference, Iqref, according to the difference between both
measured and reference voltage signals. Controller 2 is principally for driving the angle _
added to the phase angle of the PCC's terminal voltage denoted . In this paper, the SPWM
technique is introduced to generate switching pulses of the STATCO's three-level
inverter. Therefore, the inverter voltage supplied to the grid is regulated in accordance
with the phase angle _ control [22]. The major contribution of this paper is proposing the
Near-optimal PI controller parameters for STATCOM. PSO, an alternative optimization
technique, is used for providing an impartial comparative analysis regarding the system
dynamic performance when controlled with the optimized two PI controllers.

2.3 STATIC SYNCHRONOUS COMPENSATOR (STATCOM)

“A Static synchronous compensator is a shunt-connected static var compensator

whose capacitive or inductive output current can be controlled independent of the ac
system voltage”

The concept of STATCOM was proposed by Gyugyi in 1976. Power Converter

employed in the STATCOM mainly of two types i.e. is Voltage Source Converter and
Current Source Converter. In Current source Converter direct current always has one
polarity and the power reversal takes place through reversal of dc voltage polarity while
In Voltage Source Converter dc voltage always has one polarity, and the power reversal
takes place through reversal of dc current polarity. The power semiconductor devices
used in current source converter requires above reasons Voltage source converter is
Preferred over Current source converter and now these days it act as a basic electronic

15
block of a STATCOM that converts a dc voltage at its input terminals into a three-phase
set of ac voltages at fundamental frequency with controllable magnitude and phase angle.

In STATCOM different technologies used dependent upon the power ratings of

STATCOM. For higher power STATCOMs GTO based technologies are used while for
lower power STATCOMs IGBT based technologies used.

2.3.1 Operating Principle of STATCOM

STATCOM is made up of a coupling transformer, a VSC and a dc energy storage

device. STATCOM is capable of exchanging reactive power with the transmission line
because of its small energy storage device i.e. small dc capacitor, if this dc capacitor is
replaced with dc storage battery or other dc voltage source, the controller can exchange
real and reactive power with the transmission system, extending its region of operation
from two to four quadrants. A functional model of a STATCOM is shown in Fig 2.5

Fig 2.5 Functional model of STATCOM

The relationship between fundamental component of the converter ac output voltage and
voltage across dc capacitor is given as

16
 Where k is coefficient, which depends upon on the converter configuration,
number of switching pulses and the converter controls. The fundamental component of
the converter output voltage i.e. Vout can be controlled by varying the dc voltage across
capacitor which can be done by changing the phase angle α of the operation of the
converter switches relative to the phase of the ac system bus voltage.

The direction of flow of reactive power whether it is from coupling transformer to

the system or from system to the coupling transformer depends upon the difference
between the converter output voltage and the ac system bus voltage. The real power
flowing into the converter supplies the converter losses due to switching and charges the
dc capacitor to a satisfactory dc voltage level. The capacitor is charged and discharged
during the course of each switching cycle but in steady state, the average capacitor
voltage remains constant. If that were not the case, there would be real power flowing
into or out of the converter, and the capacitor would gain or lose charge each cycle. In
steady state, al1 of the power from the ac system is used to replenish the losses due to
switching.

The STATCOM's ability to absorb/supply real power depends on the size of dc

capacitor and the real power losses due to switching. Whenever the DC capacitor and the
losses are relatively small. The amount of real power transfer is also relatively small.
This implies that the STATCOM’s output ac current I ac, has to be approximately + 900
with respect to ac system voltage at its line terminals. Varying the amplitude of the
converter three-phase output voltage Vout controls the reactive power
generation/absorption of the STATCOM. If the amplitude of the converter output voltage
Vout is increased above the amplitude of the ac system bus voltage Vac then the ac current
Iac, flows through the transformer reactance from the converter to the ac system
generating reactive power.

In this case, the ac system draws capacitive current that leads by an angle of 900
the ac system voltage, assuming that the converter losses are equal to zero. The ac current
flows from the ac system to the voltage-sourced converter if the amplitude of the
converter output voltage is decreased below that of the ac system, and consequently the

17
converter absorbs reactive power. For an inductive operation, the current lags the ac
voltage by an angle of 900. Assuming again that the converter losses are neglected. If the
amplitudes of the ac system and converter output voltages are equal, there will be no ac
current flow in/out of the converter and hence there will be no reactive power
generation/absorption the ac current.

2.3.2 Power transfer limit

One or more of the following network characteristics limits power flow over a
transmission system.

 Stability limit
 Thermal limit
 Voltage limit
 Loop flow
Technically limitations on power transfer can always be removed by
adding new transmission and/or generator capacity. FACTS are designed to
remove such limitations and meet operator’s goals without having to understand
major system additions.

2.3.3 Power system constraints:

As noted in the introduction, transmission systems are being pushed closer to their
stability and thermal limits while the focus on the quality of power delivered is greater
than ever. The limitations of the transmission system can take many forms and may
involve power transfer between areas (referred to here as transmission bottlenecks) or
within a single area or region (referred to here as a regional constraint) and may include
one or more of the following characteristics:

 Steady-State Power Transfer Limit

 Voltage Stability Limit
 Dynamic Voltage Limit
 Transient Stability Limit
 Power System Oscillation Damping Limit
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  Inadvertent Loop Flow Limit
 Thermal Limit
 Short-Circuit Current Limit
 Others
Each transmission bottleneck or regional constraint may have one or more of
these system-level problems. The key to solving these problems in the most cost-effective
and coordinated manner is by thorough systems engineering analysis.

2.4. CONVENTIONAL SYSTEM DRAWBACKS

 More Harmonics

 Less output power due to more loss

 Poor power quality

 High cost due to more switches

2.5. ADVANTAGES

 Improve the Reactive power

 Better dynamic response

 High level of output voltage

 Improved voltage stability

 Power flow control

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2.6. BLOCK DIAGRAM

Fig.2.6. Existing Block Diagram

Existing Block Diagram of STATCOM is shown in fig 2.9. Proposed Block

Diagram of E-STATCOM is shown in fig 2.7.

Fig 2. 7 Proposed Block Diagram

20
2.7. CONVENTIONAL CIRCUIT DIAGRAM

Existing Circuit Diagram for STATCOM is shown in Fig 2.8.

Fig.2.8. Conventional Circuit Diagram

2.8. PROPOSED CIRCUIT DIAGRAM

Modified circuit diagram for STATCOM system is shown in Fig 2.9

.

21
 Fig.2.9 Modified circuit diagram for STATCOM

Closed Loop Circuit Diagram for STATCOM PI/MPC Controlled system is

shown in Fig 2.10. Measured voltage is compared with the reference voltage and the error
is applied to the FOPID/SMC controller. The output of voltage FOPID/SMC is compared
with the reference current and the error is applied to PWM generator.

Fig.2.10. Closed Loop Circuit Diagram for STATCOM FOPID/SMC Controllers

22
2.9. APPLICATIONS

 Power flow control in grid system

 Voltage regulation in grid system

 Voltage and power compensation in grid system

2.10. Conclusion

This chapter presents the introduction, System Modeling, Switched Reluctance

Generator, Photovoltaic System, STATCOM Principle of Operation And Control,
Conventional System Drawbacks, proposed system advantages, block diagram,
conventional circuit diagram, proposed circuit diagram and applications.

CHAPTER-3

SIMULATION RESULTS

3.1. INTRODUCTION

Simulation has become an important tool in understanding any engineering system in

general and power system or power electronics in particular. Simulation is mainly used as
tools for effective explore and research. Industries extensively use simulation as an
effective tool to design new products and to trouble shoot problems. For understanding
the power electronics/systems, one needs to have the knowledge of control systems to
design controllers for achieving the desirable performance. Simulation can be used as an
effective tool to understand, analyze a multi disciplinary subject such as power
electronics/systems. Some of the advantages of using simulation as a tool to analyze or
understand the electrical systems as follows: (Ned Mohan et al., 1994: Kang.Y, and
J.D.Lavers, 1994)

23
 1. It is an efficient way to learn how a circuit works. For understanding fundamental
concepts, one does not need to consider the parasitic effects such as stray
inductance and stray capacitance. This is possible only through simulation.

2. It is an easier and cheaper means to arrive at component ratings before building a

system.

3. It is an easy and cost effective means to test new concepts compared to testing it
experimentally i.e., a sort of virtual bread boarding and It is fast and simple means
to understand and analyze the performance of the system under fault conditions. It
may not be possible to create such fault conditions in the laboratory due to safely
or cost involved.

Fig 3.1 Interdisciplinary nature of power electronics

3.2. ISSUES TO BE CONSIDERED IN SELECTING A TOOL

24
 There are various simulation tools available for understanding PE systems. They can
be broadly classified into two categories namely,

1. Circuit oriented simulators

2. Equation solvers

In circuit oriented simulators, the user needs to just specify the circuit topology and the
component values. These simulators internally formulate the equations and solve them.
On the other hand, in equation solver, the user has to define the equations for different
modes/states of the system to simulate it.

This is a tedious and inefficient way of learning. In this aspect, the circuit oriented
simulators outscore the equation solvers. However, unlike equation solvers, the circuit
oriented simulators suffers from the drawbacks of numerical convergence or oscillation
problems.

A user needs to consider the following important issues in selecting a simulation tool
especially for the research and industrial needs of PE circuits/systems.

1. The tool should be available on a PC platform. This means that the tool can be
used in educational research without much financial burden.

2. The tool should support the simulation of mixed mode systems. This would help
the user to understand the PE circuits/systems with their associated control
electronics.

3. The tool should support decoupled modeling and simulation environment. This
would ensure that new models can be developed independent of simulation. To
explain further, let it be assumed that in the chosen tool there is no model for DC
machine. If the tool does support decoupled modeling and simulation
environment, then the DC machine can be modeled in terms of well known
differential equations as given,

Va (t) = ra*ia+la*dia(t) +Eb

dt
25
 Vf(t) = rf*if+lf*dif(t)
dt

4. If the tool does not support this feature, then the machine is to be modeled only in
terms of the already existing models. In other words, the DC machine model will
be represented in terms of its equivalent circuit. It is worth noting that the first
approach namely in terms of differential equations is much more elegant and
easier approach compared to the equivalent circuit approach. Also, it is also kept
in mind that arriving at an equivalent circuit model using the already existing
models may not be always possible. Hence while choosing a tool, a great attention
needs to be paid on this feature.

5. The tool should provide openness to extend its capability. This would help the
user to meet his /her requirements, which are not otherwise met by the chosen tool
directly.

3.3. REVIEW OF THE EXISTING TOOLS

Some of the commonly used simulation tools in the simulation of power system /
power electronics circuits are: ATOSEC5TM, KREANTM, SPICETM, SABERTM, and
MATLAB-SIMULINKTM.

ATOSEC is a circuit oriented simulation tool developed at University of Quebec,

Canada (Rajagopalan V, 1987). This program follows state variable approach in
formulating the circuit equations. Though this simulator is quite good at circuit level
simulation, it is not an effective tool for the simulation of large systems such as vector
controlled drives. Also, the user has to model any new element using the already existing
models i.e., multi-level modeling capability is not supported by this program. In other
words, this tool does not support decoupled modeling and simulation environments.

KREAN is a simulation program developed by researchers at Norwegian institute

of technology, Norway (Robert Nilssen and Olve Mo, 1990; KREAN reference manual,
1994).Modified nodal approach is followed in formulating the circuit equations. This
circuit oriented simulator provides the facility of writing dynamic models described by
26
algebraic/differential equations in terms of FORTRAN subroutines. In other words, this
program supports decoupled modeling and simulation environments. The overall system
is simulated interactively between the main simulator and local solver, like ATOSEC5,
this program’s capability in simulating large systems is somewhat questionable.

SPICE is the most commonly used circuit oriented simulation program developed
at University of Berkely, Berkely (Nagel. L.W., 1975). This program uses modified nodal
analysis approach to formulate the equations. It is mainly developed as a tool for
understanding electronic circuits and not power electronic circuits. Hence compared to
special purpose simulators such as ATOSEC and KREAN, it suffers from the drawbacks
such as numerical convergence and more simulation time taken while simulating PE
circuits/systems. Also, there are no models for electrical machines which play a vital role
in the field of power electronics. Hence, the user has to model the electrical machines
using the already existing models (Yung-chi Liang, Victor J.Gosbell, 1990). This is a
tedious and an ineffective way of modeling especially if this tools needs to be used for
research oriented analysis. Now a large number of commercial version of SPICE such as
PSPICE (Micro sim), HSPICE (Meta software), IGSPICE (A.B.Associates), SmartSPICE
(Silvaco) are available. The above drawbacks are true to all the versions.

SABER is a circuit based simulator available from Analogy Inc., USA (Saber
reference manual, 1993). This program uses modified nodal analysis approach in
formulating the equations. This tool supports decoupled modeling and simulation
approach. Modeling is done using Analog Hardware Description Language (AHDL)
namely MAST (Mast reference manual, 1993; Hefner Allen R, Jr., and Daniel M.Diebolt,
1994) and the simulation is done using SABER simulator. This ensures that multi-level
modeling is possible. The drawbacks in this software are, it does not give the openness a
user expert to implement an idea, for example design optimization.

To recapitulate, among the presently available simulation tools either the tool is
not effective in simulating large systems or lacks openness. This motivated the researcher
to look for a tool which could be used for the effective analysis of PE systems/circuits but
also in designing them for the practical applications.

27
3.4. MATLAB

MATLAB-SIMULINK is a general purpose equation solver developed by Math

works Inc., USA (Matlab reference manual, 1995). This is an interactive program whose
basic data element is a matrix. Hence, in the simulation of any power electronic circuit,
the user is expected to formulate the equations for the different modes of operation in
matrix form. This Chapter is a brief introduction to MATLAB (an abbreviation of
MATrix LABoratory) basics, registered trademark of computer software, version 7.9
(R2009b), or later developed by the Math Works Inc. The software is widely used in
many of science and engineering fields. MATLAB is an interactive program for
numerical computation and data visualization. MATLAB is supported on Unix,
Macintosh, and Windows environments. For more information on MATLAB, contact
The MathWorks.Com. A Windows version of MATLAB is assumed here. The
syntax is very similar for the DOS version.

MATLAB integrates mathematical computing, visualization, and a powerful

language to provide a flexible environment for technical computing. The open
architecture makes it easy to use MATLAB and its companion products to explore data,
create algorithms, and create custom tools that provide early insights and competitive
advantages. Known for its highly optimized matrix and vector calculations, MATLAB
offers an intuitive language for expressing problems and their solutions both
mathematically and visually. Typical uses include:
• Numeric computation and algorithm development
• Symbolic computation (with the built-in Symbolic Math functions)
• Modeling, simulation, and prototyping
• Data analysis and signal processing
• Engineering graphics and
 scientific visualization

In this chapter, we will introduce the MATLAB environment. We will learn how to
create, edit, save, run, and debug m-files (ASCII files with series of MATLAB
28
statements). We will see how to create arrays (matrices and vectors), and explore the
built-in MATLAB linear algebra functions for matrix and vector multiplication, dot and
cross products, transpose, determinants, and inverses, and for the solution of linear
equations. MATLAB is based on the language C, but is generally much easier to use. We
will also see how to program logic constructs and loops in MATLAB, how to use
subprograms and functions, how to use comments (%) for explaining the programs and
tabs for easy readability, and how to print and plot graphics both two and three
dimensional. MATLAB’s functions for symbolic mathematics are presented.

Use of these functions to perform symbolic operations, to develop closed form

expressions for solutions to algebraic equations, ordinary differential equations, and
system of equations was presented. Symbolic mathematics can also be used to determine
analytical expressions for the derivative and integral of an expression.

3.4.1. There are several types of MATLAB software in a version are:

1. Version 7.9 (R2009b), 2.Version 7.8 (R2009a), 3.Version 7.7 (R2008b), 4.Version
7.6 (R2008a), 5.Version7.5 (R2007b), 6.Version7.4 (R2007a), 7.Version 7.3 (R2006b),
8. Version 7.2 (R2006a), 9. Version 7.1 (R14SP3), 10. Version 7.04 (R14SP2),
11. Version7.01 (R14SP1) and 12. Version 7 (R14).

The new features and changes introduced in this conventional version and it gives
importance in these areas is:

Desktop Tools and Development Environment are modified in the MATLAB Version 7.6
(R2008a), Mathematics in MATLAB Version 7.6 (R2008a), Data Analysis are
customized in MATLAB Version 7.6 (R2008a), Programming are tailored in MATLAB
Version 7.6 (R2008a), Graphics and 3-D Visualization are adapted in MATLAB Version
7.6 (R2008a), Creating Graphical User Interfaces (GUIs) is bespoke in MATLAB
Version 7.6 (R2008a) and the external Interfaces/API are personalized in MATLAB
Version 7.6 (R2008a) . The modified software is an advanced version 7.9 (R2009b) are
incorporated.

29
3.4.2. Overview

Simulink software models, simulates, and analyzes dynamic systems. It enables you to
create a question about a system, model the system, and find the response. With
Simulink, you can easily build models from scratch, or modify existing models to meet
your needs. Simulink supports linear and nonlinear systems, modeled in continuous time,
sampled time, or a hybrid of the two. Systems can also be multirate — having different
parts that are sampled or updated at different rates.

Scientists and engineers around the world use simulink to model and solve real problems
in a variety of industries, including: aerospace, defense, automotive communications,
Electronics and signal processing, Medical instrumentation and the consumer needs in
industry and daily to life etc…

3.4.3. Tool for Model-Based Design

With Simulink, you can move beyond idealized linear models to explore more realistic
nonlinear models, factoring in friction, air resistance, gear slippage, hard stops, and the
other things that describe real-world phenomena. Simulink turns your computer into a
laboratory for modeling and analyzing systems that would not be possible or practical
otherwise. Whether you are interested in the behavior of an automotive clutch system, the
flutter of an airplane wing, or the effect of the monetary supply on the economy,
Simulink provides you with the tools to model and simulate almost any real-world
problem. Simulink also provides demos that model a wide variety of real-world
phenomena

Simulink provides a graphical user interface (GUI) for building models as block
diagrams, allowing you to draw models as you would with pencil and paper. Simulink
also includes a comprehensive block library of sinks, sources, linear and nonlinear
components, and connectors. If these blocks do not meet your needs, however, you can
also create your own blocks.

30
The interactive graphical environment simplifies the modeling process, eliminating the
need to formulate differential and difference equations in a language or program. Models
are hierarchical, so you can build models using both top-down and bottom-up
approaches. You can view the system at a high level, and then double-click blocks to see
increasing levels of model detail. This approach provides insight into how a model is
organized and how its parts interact.

3.4.4. Model-Based Design

Model-Based Design is a process that enables faster, more cost-effective development of

dynamic systems, including control systems, signal processing, and communications
systems. In Model-Based Design, a system model is at the center of the development
process, from requirements development, through design, implementation, and testing.

The model is an executable specification that is continually refined throughout the

development process. After model development, simulation shows whether the model
works correctly.

When software and hardware implementation requirements are included, such as fixed-
point and timing behavior, you can automatically generate code for embedded
deployment and create test benches for system verification, saving time and avoiding the
introduction of manually coded errors.

3.4.5. Model-Based Design allows you to improve efficiency by:

Using a common design environment across project teams

Linking designs directly to requirements
Integrating testing with design to continuously identify and correct errors
Refining algorithms through multi-domain simulation
Automatically generating embedded software code
Developing and reusing test suites
31
Automatically generating documentation
Reusing designs to deploy systems across multiple processors and
Hardware targets

3.4.6. Tool for Simulation

After you define a model, you can simulate it, using a choice of mathematical integration
methods, either from the Simulink menus or by entering commands in the MATLAB
Command Window. The menus are convenient for interactive work, while the command
line is useful for running a batch of simulations.

Using scopes and other display blocks, you can see the simulation results while the
simulation runs. You can then change many parameters and see what happens for "what
if" exploration. The simulation results can be put in the MATLAB workspace for post-
processing and visualization.

3.4.7. Tool for Analysis

Model analysis tools include linearization and trimming tools, which can be accessed
from the MATLAB command line, plus the many tools in MATLAB and its application
toolboxes. Because MATLAB and Simulink are integrated, you can simulate, analyze,
and revise your models in either environment at any point.

3.4.8. How Simulink Software Interacts with the MATLAB Environment

Simulink software is tightly integrated with the MATLAB environment. It requires

MATLAB to run, depending on it to define and evaluate model and block parameters.
Simulink can also utilize many MATLAB features. For example, Simulink can use the
MATLAB environment to:

Define model inputs. Store model outputs for analysis and visualization. Perform
functions within a model, through integrated calls to MATLAB operators and functions.

32
3.4.9. Modeling Process

There are six steps to modeling any system:

1. Defining the System

2. Identifying System Components
3. Modeling the System with Equations
4. Building the Simulink Block Diagram
5. Running the Simulation
6. Validating the Simulation Results

You perform the first three steps of this process outside of the Simulink software before
you begin building your model.

3.4.10. Defining the System

The first step in modeling a dynamic system is to fully define the system. If you are
modeling a large system that can be broken into parts, you should model each
subcomponent on its own. Then, after building each component, you can integrate them
into a complete model of the system.

For example, the model used in the heating system of a house. This system can be broken
down into three main parts:

1. Heater subsystem,
2. Thermostat subsystem and
3. Thermodynamic model subsystem

The most effective way to build a model of this system is to consider each of these
subsystems independently.

33
3.5. Identifying System Components

The second step in the modeling process is to identify the system components. Three
types of components define a system:

 Parameters — System values that remain constant unless you change them

 States — Variables in the system that change over time

 Signals — Input and output values that change dynamically during the simulation

In Simulink, parameters and states are represented by blocks, while signals are
represented by the lines that connect blocks.

For each subsystem that you identified, ask yourself the following questions:

 How many input and output signals does the subsystem,

 How many states and parameters does the subsystem

 Are there any intermediate signals in the subsystem

Based on these questions, you should have an all-inclusive list of the system components,
and are ready to begin modeling the system.

3.5.1. Modeling the System with Equations

The third step in modeling a system is to formulate the mathematical equations that
describe the system. For each subsystem, use the list of system components you
identified to describe the system mathematically. Your model may include: Algebraic
equations, Logical equations, Differential equations, for continuous systems, Difference
equations and also for discrete systems. The mathematical equations to create the block
diagram in Simulink.

3.5.2. Building the Simulink Block Diagram

After you have defined the mathematical equations that describe each subsystem, you can
begin building a block diagram of your model in Simulink. Build the block diagram for
34
each of your subcomponents separately. After you have modeled each subcomponent,
you can then integrate them into a complete model of the system.

3.5.3. Running the Simulation

After you build the Simulink block diagram, you can simulate the model and analyze the
results. Simulink allows you to interactively define system inputs, simulate the model,
and observe changes in behavior. This allows you to quickly evaluate your model.

3.5.4. Validating the Simulation Results

Finally, you must validate that the model accurately represents the physical
characteristics of the system. You can use the linearization and trimming tools available
from the MATLAB command line, plus the many tools in MATLAB and its application
toolboxes to analyze and validate your model.

3.6. Simulation results

3.6.1 Open loop simulation results

35
 Fig 3.2 Circuit diagram of without STATCOM

Circuit diagram of without STATCOM is shown in fig 3.2. Output voltage is

shown in fig 3.3 and its value is 170V. Output Voltage THD is shown in fig 3.4 and its
value is 19.56%. Output Current is shown in fig 3.5 and its value is 1.2A. Output Current
THD is shown in fig 3.6 and its value is 17.95%. Real power is shown in fig 3.7 and its
value is 240W. Reactive Power is shown in fig 3.8 and its value is 180VAR.

Fig 3.3 Output voltage

Fig 3.4 Output Voltage THD

36
 Fig 3.5 Output Current

Fig 3.6 Output Current THD

Fig 3.7 Real power

37
 Fig 3.8 Reactive Power

Fig 3.9 Circuit diagram of with STATCOM

Circuit diagram of with STATCOM is shown in fig 3.9. Voltage across RL load is
shown in fig 3.10 and its value is 300V. Output Voltage THD is shown in fig 3.11 and its
value is 6.82%. Current through RL load is shown in fig 3.12 and its value is 1.8A.
Output Current THD is shown in fig 3.13 and its value is 5.04%. Real power is shown in
fig 3.14 and its value is 640W. Reactive Power is shown in fig 3.15 and its value is
500VAR.

38
 Fig 3.10 Voltage across RL load

Fig 3.11 Voltage THD

Fig 3.12 Current through RL load

39
Fig 3.13 Current THD

Fig 3.14 Real power

Fig 3.15 Reactive Power

40
 Fig 3.16 Circuit diagram of with E-STATCOM

Circuit diagram of with E-STATCOM is shown in fig 3.16. Circuit diagram of

buck boost converter is shown in fig 3.17. Switching pulse of buck boost converter M1
&M2 is shown in fig 3.18 and its value is 1V. Voltage across buck boost converter is
shown in fig 3.19 and its value is 90V. Switching pulse of three phase inverter M1, M3
and M5 is shown in fig 3.20 and its value is 1V.

41
 Fig 3.17 Circuit diagram of buck boost converter

Fig 3.18 Switching pulse of buck boost converter M1 &M2

Fig 3.19 Voltage across buck boost converter

42
 Fig 3.20 Switching pulse of three phase inverter M1, M3 and M5

Fig 3.21 Output voltage

Output voltage is shown in fig 3.21 and its value is 415V. Output Voltage THD is
shown in fig 3.22 and its value is 5.41%. Output current is shown in fig 3.23 and its
value is 2.1A. Output Current THD is shown in fig 3.24 and its value is 4.87%. Real
power is shown in fig 3.25 and its value is 1180W. Reactive Power is shown in fig 3.26
and its value is 950VAR.

43
Fig 3.22 Output Voltage THD

Fig 3.23 Output current

44
Fig 3.24 Output Current THD

Fig 3.25 Real power

Fig 3.26 Reactive Power

45
 Table -3.1

Comparison output voltage, Real & Reactive Power

STATCOM Vo(V) P(W) Q(VAR)

Without 170 240 180

STATCOM

With STATCOM 300 640 500

With 415 1180 950

E- STATCOM

Fig 3. 27 Bar chart comparison of output voltage, Real & Reactive Power

46
 Table -3.2

Comparison output voltage THD and output current THD

DVR Voltage THD (%) Current THD (%)

Without 19.56 17.95

STATCOM

With STATCOM 6.82 5.04

With 5.41 4.87

E- STATCOM

Fig 3.28 Bar chart comparison of output voltage THD and output current THD

The table 3.1 gives the Comparsion of output voltage, Real & Reactive Power for
existing and proposed system. The Fig.3.27 shows the Bar chart comparison of output
voltage, Real & Reactive Power for existing and proposed system. The table 3.2 gives
the Comparsion of output voltage THD and output current THD for existing and

47
 proposed system. The Fig.3.27 shows the Bar chart comparison of output voltage
THD and output current THD for existing and proposed system.

3.6.2 Closed loop simulation results

Fig 3.29 Circuit diagram of with E-STATCOM and Load disturbance

Circuit diagram of with E-STATCOM and Load disturbance is shown in fig 3.29.
Output voltage is shown in fig 3.30 and its value is 420V. RMS voltage is shown in fig
3.31 and its value is 286V. Output current is shown in fig 3.32 and its value is 2.3A. Real

48
power is shown in fig 3.33 and its value is 1185W. Reactive Power is shown in fig 3.34
and its value is 870VAR.

Fig 3.30 Output voltage

Fig 3.31 RMS voltage

Fig 3.32 Output current

49
 Fig 3.33 Real power

Fig 3.34 Reactive power

Fig 3.35 Circuit diagram of with E-STATCOM and closed loop FOPIDPI controller

50
 Circuit diagram of with E-STATCOM and closed loop FOPID controller is shown
in fig 3.35. Output voltage is shown in fig 3.36 and its value is 430V. Output Voltage
THD is shown in fig 3.37 and its value is 3.93%. RMS voltage is shown in fig 3.38 and
its value is 290V.Output current is shown in fig 3.39 and its value is 2.2A. Output
Current THD is shown in fig 3.40 and its value is 2.80%. Real power is shown in fig 3.41
and its value is 1120W. Reactive Power is shown in fig 3.42 and its value is 900VAR.

Fig 3.36 Output voltage

Fig 3.37 Output voltage THD

51
 Fig 3.38 RMS voltage

Fig 3.39 Output current

Fig 3.40 Output Current THD

52
 Fig 3.41 Real power

Fig 3.42 Reactive Power

Fig 3.43 Circuit diagram of with E-STATCOM and closed loop Sliding mode
controller

Circuit diagram of with E-STATCOM and closed loop SM controller is shown in

fig 3.43. Output voltage is shown in fig 3.44 and its value is 450V. Output Voltage THD
is shown in fig 3.45 and its value is 3.50%. RMS voltage is shown in fig 3.46 and its
value is 290V.Output current is shown in fig 3.47 and its value is 2.2A. Output Current
THD is shown in fig 3.48 and its value is 2.09%. Real power is shown in fig 3.49 and its
value is 1120W. Reactive Power is shown in fig 3.50 and its value is 900VAR.
53
 Fig 3.44 Output voltage

Fig 3.45 Output voltage THD

Fig 3.46 RMS voltage

54
 Fig 3.47 Output current

Fig 3.48 Output Current THD

Fig 3.49 Real power

55
 Fig 3.50 Reactive Power

Table-3.3

Comparsion Time Domain Parameters

Controllers Rise- time Peak- time Setting- Steady -

(s) (s) time (s) state -error
(V)

FOPID 0.41 0.73 0.65 1.45

SMC 0.40 0.46 0.52 0.34

Fig 3.51 Bar chart comparsion of Time Domain Parameters

56
 Table-3.4

Comparison of Voltage THD and current THD

Controller Voltage THD Current THD

(%) (%)

FOPID 3.93 2.80

SMC 3.50 2.19

Fig 3.52 Bar chart comparsion of Voltage THD and current THD

The evaluation of time-domain-responses with FOPID and Sliding Mode controllers is

specified in `Table 3.3. The fig.26 illustrates the bar-chart evaluation of time-domain-parameters
of FOPID and SMC system for the Virtual STATCOM system. The comparison indicates that
settling-time is condensed from 0.65s to 0.52s and steady-state-error is abridged from 1.45V to
0.34V by SMC controlled-system. Peak-time is condensed from 0.73 to 0.46 seconds. Rise-time is
condensed from 0.41 to 0.40 by using Sliding Mode controller. The `table 3.4 shows the
comparison of voltage-THD and current-THD of FOPID and SMC for Virtual STATCOM system.
The fig.27 illustrates the bar-chart evaluation of voltage-THD and current-THD of FOPID and SMC
for Virtual STATCOM system. The voltage-THD is abridged from 3.93% to 3.50% by means of
Sliding Mode controller. The current THD is reduced from 2.8% to 2.19% by using Sliding Mode
controller.

57
 `Fig.3.53 Bar-chart Comparison of Voltage-THD and current-THD

58
 CHAPTER-5

CONCLUSIONS

Circuit diagram of without STATCOM system is simulated. Circuit diagram of

with STATCOM system is simulated. Circuit diagram of with E-STATCOM system
is simulated. Above systems are compared. Output voltage is improved from 170V to
415 V by using E-STATCOM system. Real power is improved from 240 W to
1180W by using E-STATCOM system. Reactive power is improved from 180VAR to
950VAR by using E-STATCOM system. Output voltage THD is reduced from
19.56% to 5.41% V by using E-STATCOM system. Output current THD is reduced
from 17.95% to 4.87% by using E-STATCOM system. Hence E-STATCOM system
has better performance than without STATCOM system. Circuit-diagram of with
VIRTUAL `STATCOM and Load disturbance scheme is simulated. Circuit-diagram
of with VIRTUAL `STATCOM and closed loop FOPID controller scheme is
simulated. Circuit-diagram of with VIRTUAL `STATCOM and closed-loop sliding
mode controller scheme is simulated. Time-domain -parameters are comparing with
FOPID and SMC controllers. The Rise-time is reduced from 0.41 s to 0.40 s by using
SMC controller. The Peak-time is condensed from 0.73 s to 0.46 s by using SMC
controller. The settling-time is abridged from 0.65 s to 0.52 s by using SMC
controller. The steady-state-error is reduced from 1.45 V to 0.34 V via SMC
controller. The voltage-THD is reduced from 3.93% to 3.50% by means of SMC
controller. The current-THD is reduced from 2.80% to 2.19% with SMC controller.
Consequently the outcomes show the closed loop SMC controller is advanced to
closed -loop `FOPID controller of VIRTUAL STATCOM system.

The extent of current work is to evaluate FOPID and Sliding Mode controlled
system. The response of exceeding schemes will be put side by side with fuzzy logic
controlled system in future. And formulate single phase archetype hardware module.

59
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