Simulation and study on cascaded nineteen-level dynamic voltage restorer

Xin Xia, Fumin Zhang

School of Electrical Engineering Hebei University of Technology Tianjin, China xiaxin19870911@126.com

Guochao Zhang
Heavy Steel Rolling Mill Department. Handan Iron & Steel Group Co., Ltd. Handan, China

Xiangyun Jing
Operation Department Shandong Taishan Pumped Storage Power Station Co., Ltd. Taian, China

AbstractCascaded multi-level dynamic voltage restorer (DVR) is considered to be the most economical and effective compensation device to restrain the problem of voltage sag. This paper studies a cascaded nineteen-level DVR on its operating principle, topology, sinusoidal pulse width modulation (SPWM) strategy based on carrier phase shifting technology, and Control algorithm. The simulation result shows that the output voltage of cascaded nineteen-level DVR has less harmonic content and the waveform of output voltage is good, it also increases the switching frequency of inverter. Keywords-dynamic voltage restore(DVR);cascaded nineteenllevel technology; carrier phase shifting.

same time considering the capacitances capacity of DC side, we could use the minimum power compensation strategy for research. II. THE TOPOLOGY OF MAIN CIRCUIT AND OPERATING PRINCIPLE

I.

INTRODUCTION

With the rapid development of modern electrical power industry and the great changes of electrical load in system, more and more users use the new equipments with good performance and high efficiency, but these equipments are sensitive to the changes of system voltage[2]. However in todays power system those accidents caused by the dynamic voltage sag of millisecond duration are increasing and the loss is enormous[3]. In order to maintain the normal operation of electrical equipment, more and more users asked the power supply enterprise for higher quality requirements of power supply. The dynamic voltage restorer (DVR) which has appeared in recent years is another important member of the flexible AC transmission systems (FACTS)[4]. It is connected in series between the system voltage and the sensitive load to compensate voltage sag of sensitive load caused by system voltage sag. Although traditional DVR can solve the power quality problems which caused by voltage sag, but there are still some shortcomings, such as low efficiency, high harmonic content in DVR output voltage and so on. The DVR which applies cascade multi-level technology can overcome these shortcomings[1]. It has a series of advantages such as high equivalent switching frequency, high system efficiency, and good harmonic characteristics of output voltage[8]. So its also suitable for high-voltage power system. This paper studies the cascade nineteen-level DVR which makes single-phase abc-dq derivative method as the detection to detect the depth of voltage sag and phase transitions timely and accurately. It uses sinusoidal pulse width modulation (SPWM) based on carrier phase shifting technology to modulate the inverter. At the

The main circuit topology of cascaded nineteen-level DVR without transformer is shown in figure 1. Udvr is output voltage of the DVR; Us is system voltage; Zs is equivalent system impedance; Cf is filter capacitor; Lf is filter inductance; H1~H9 is nine power unit of the cascaded inverter. when the system voltage sags suddenly, DVR detects the depth of voltage sag and phase transitions timely and accurately, According to these characteristics and request of load-side voltage, we could control each power unit by the carrier phase shifting technology to obtain the required the AC voltage. The compensated voltage which is produced by the inverter goes through the filter and then makes series with the grid by the coupling capacitor. Udvr superimpose on the original system voltage to protect the sensitive loads from the influence of the voltage sag. In practical applications, DVR is in bypass mode when the grid voltage is normal, which effectively reduces the switching device loss[6]. When detecting voltage sag, DVR switches from bypass mode to compensation mode fast to ensure the reliability of load power supply.

Figure 1 the main circuit topology of cascaded nineteen-level DVR

978-1-4577-0547-2/12/$31.00 2012 IEEE

If the short-circuit fault appeared at the beginning line of load, DVR can not provide protection for sensitive loads. In this case, it is certain to ensure that DVR are not destroyed. Common DVR protective device is mainly composed by a mechanical breaker and "static switching" which consists of a pair of anti-parallel thyristor[5]. When short-circuit fault occurs in the load side, we should make the short-circuit current flow from DVR branch to circuit breaker branch or static switch ones as soon as possible. The static switch turns on first and then DVR controls the breaker close. The static switch has fast response and get through before the breaker, it would convert the short-circuit current from the main circuit of DVR to the static switch branch. After a period of time, the breaker is closed, it would convert the short-circuit current from the static switch branch to the breaker branch to achieve the protection of the DVR and switching devices. III. THE SINUSOIDAL PULSE WIDTH MODULATION BASED ON CARRIER PHASE SHIFTING METHOD

Figure 2 signal wave and carrier wave

The basic idea of SPWM based carrier phase shifting technology is maintaining the sinusoidal modulated signal of each inverter unit in every phase unchanged. The PWM signal of each unit is generated by comparing a referenced sine wave and a triangular carrier wave. All inverter units have the same sine wave, but in each inverter unit the difference between the carrier of left leg and the carrier of right leg is 180 degrees. At the same time there is a triangular carrier phase shifting between each inverter unit and its adjacent unit. The difference of adjacent carrier is 1/n of the cycle of triangular wave (n is the number of cascaded units). This makes the equivalent switching frequency of the superimposed output SPWM wave is n times faster than each original unit. Therefore it reduces the output of the low-order harmonic greatly without increasing the switching frequency. If the number of power units is n, the maximum level of output voltage is m=2n+1. This paper uses Matlab/Simulink to simulate the cascaded inverter of nine power units. The frequency of triangular wave is 500Hz, the frequency of sine modulated wave is 50Hz, so the frequency modulation ratio mf=10, amplitude modulation ratio ma=mc/mf=0.9, voltage of DC side is 500V. The modulation principle is shown in figure 2. The difference of adjacent triangular carrier is 1/9 of the cycle of triangular wave, so the trigger time of H1~H9 is different, output voltage of each unit stagger a certain angle in turn, after making the output voltage of each unit in series the final waveform is shown in figure 3. The best advantage of this modulation method is that the way to control duty ratio is easy, so different inverter waveform could be obtained by changing modulation ratio. After the output of inverter goes through the filter, the result is shown in the figure 4. This waveform is quite close to sine wave. We could analysis the spectrum of this waveform by using powergui; its a time-domain element of power system. The result is shown in figure 5. After going through the filter the harmonic content of output wave is very low, THD is 0.8%, less than 2.0%, it meets the national standard.

Figure 3 output waveform of inverter

Figure 4 waveform of inverter after filtering

Figure 5 Spectrum of the waveform after filtering

IV.

CONTROL ALGORITHM

The responded time which DVR requires is very fast, its a high requirement for DVR to detect the voltage sag and achieve to control accurately and quickly. And detecting the depth of voltage sag and phase transitions and generating the compensated voltage timely and precisely is the key technology to study on cascaded nineteen-level DVR[7]. Single-phase abc-dq derivative method could detect the depth of voltage sag and phase transitions timely and precisely.

Assume the fundamental component of A-phase voltage occurs voltage sag which the RMS of the sagging voltage is Usag and the transited phase is . Assume A-phase voltage is:
u a = 2U sag sin(t + ) + 2 U n sin(nt + n ).

(1)

According to the characteristics of symmetrical threephase circuit, Ub and Uc is

u b = 2U sag sin(t + u c = 2U sag sin(t + + 2 2 ) + 2 U n sin( nt + n ). (2) 3 3

system voltage happens to sag from 0.04s~0.1sthe figure 7 and figure 8 show the detecting result of voltage sag and transited phase. Enlarge the figure 7 and figure 8, the figure 9 and figure 10 could be got. The figure 9 shows that the time which single-phase abc-dq derivative method detects the system voltage drops down to ten percents of the amplitude of the system voltage only need 0.25ms, the same to the phase transition detection. So this detection method can meet the requirement of DVR.

2 2 ) + 2 U n sin(nt + n + ). (3) 3 3

In order to construct that Ub and Uc are directly related to Ua, calculate the third-order derivation of Ua:
'' u a' = 3 2U sag cos(t + ) 2n 3 3 U n cos(nt + n ). (4)

So we could get:
(n 1) 2 U n cos(nt + n ) =
'' ' u a' + 2 u a

n(n + 1) 3

(5)

Figure 6 simulation model of single-phase abc-dq derivative method

Make (5) into (2, 3), we can get:

ub =
''' 2 ' 1 3 ' ua + ua . ua ua 2 2 n( n 1) 3 ''' 2 ' 1 3 ' ua + ua . ua + ua + 2 2 n( n + 1) 3

(6)

uc =

(7)

From (6) and (7) we can see that Ub and Uc are directly related to Ua, so if the harmonic order n is known, the system voltage could be constructed. Then make the constructed virtual three-phase voltage into abc-dq transformation, so we can get:
cos[(n 1)t + n ] u d cos n = 3U sag + 3U n sin[(n + 1) + ] . n u q sin n

Figure 7 the sagging amplitude of system voltage

(8)

After Ud and Uq go through the second-order butterwith filter, the DC component Ud0 and Uq0 in the dq coordinate system could be extracted:
U d 0 = 3U sag cos U q 0 = 3U sag sin

(9) (10)

Figured 8 the transited phase of system voltage

So the amplitude of the sagging voltage and the transited phase can be got using Ud0 and Uq0:
2 2 U sag = 3 / 3 U d 0 + U q 0

(11) (12)

= arctan(U q 0 / U d 0 )

In order to explain the single-phase abc-dq derivative method clearer, this paper uses EMTDC/PSCAD to simulate the voltage sag detection theory which is stated above. The simulated model is shown in figure 6. Assume that A-phase

Figure 9 the enlarged sagging amplitude of system voltage

Figure 12 output voltage of cascaded nineteen-level DVR Figure 10 the enlarged transited phase of system voltage

V.

THE SIMULATION RESEARCH

In order to prove the feasibility of cascaded nineteen-level DVR, this paper uses Matlab/Simulink to make the DVR connect in series between sensitive load and 6kV busbar node. We could see from figure 11 that the system voltage occurs Aphase voltage sag at 0.08s. After the voltage is sagging, the detecting part of the DVR uses single-phase abc-dq derivative method to detect the depth of voltage sag and phase transitions quickly, at the same time the DVR control the output voltage of inverter by changing the frequency modulation ratio and the amplitude modulation ratio to make cascaded nineteen-level DVR put into operation. So the voltage of load side UL can be restored to the normal condition in few milliseconds. Owing to considering the capacitances capacity of DC side, this DVR uses the minimum power compensation strategy, but this compensation strategy may not well compensate the phase transition, so there may be a certain phase transition in the compensated system voltage. However, as its shown in figure 12 the waveform of the voltage which cascaded nineteen-level DVR outputs is similar to the standard sine wave, the harmonic content of the compensated voltage is low, and the figure 13 is the wave of A-phase voltage after compensation. Its obvious that after the output voltage of cascaded nineteen-level DVR is superimposed with the sagging system voltage, cascaded nineteen-level DVR solve the problem of voltage sag and reduce the losses which brings to the users because of voltage sag.

Figure 13 A-phase voltage after compensation

VI.

CONCLUSION

The problem of voltage sag is objective and inevitable. Cascaded multi-level DVR is the most effective way in order to reduce the losses which are caused by voltage sag. This paper studies the cascaded nineteen-level DVR on its operating principle, topology, SPWM strategy based on carrier phase shifting technology, and Control algorithm. This paper also uses Matlab/Simulink to simulate the cascaded nineteen-level DVR, the result shows that the cascaded nineteen-level DVR could solve the problem of dynamic voltage sag very well. REFERENCE
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[8] Figure 11 waveform of A-phase voltage sag