ElectricalEngineeringResearchVol.1Iss.

4,October2013

AssessmentofPowerSystemStabilityby
UPFCwithTwoShuntVoltageSource
ConvertersandaSeriesCapacitor
FarzadMohammadzadehShahir1,EbrahimBabaei*2
FacultyofElectricalandComputerEngineering,UniversityofTabriz,Tabriz,Iran
fmohammadzadeh@iauahar.ac.ir;*2ebabaei@tabrizu.ac.ir

Abstract

I t ,i for i d , q

In this paper, the effects of a newly presented structure of

unifiedpowerflowcontroller(UPFC)whichisbasedontwo
shunt voltagesource converters and a series capacitor, are
investigated on the dynamic stability of power system. A
power system including the newly presented structure of
UPFCisintroducedtoexaminethis.Thenonlineardynamic
model of the system under investigation and its nonlinear
equations are presented as well. The linear equations are
achievedbylinearizingthenonlinearequationsaroundthe
operation point. A modified HeffronPhilips model is
proposed through the linearized equations of the
investigated system. The state equations of the system are
then extracted using the modified HeffronPhilips model.
The damping controller of UPFC is then presented and its
control parameters are calculated by phase compensation
method. Finally, the most effective input signal of UPFC
control signals is selected using some techniques. The
validity of the theoretical investigations is confirmed by
simulationresultsobtainedinMATLAB/Simulink.

I se,i for i d , q
I E , g ,i for g 1, 2
i d, q

Vdc

Vse ,k for k a, b, c

X E , g for g 1, 2
X se,k for k a, b, c

X i for i d , q
X d

ProvidedelectricaltorquebyUPFCdamping
controller(pu)

Pm

Inputmechanicalpowertothegenerator(pu)

Pe

Electricalpowerofthegenerator(pu)

A
B
C

Statematrix
Inputmatrix
Outputmatrix
Directtransfermatrix
Statevector
Outputvector
Inputvector

H (s)

fs

Equivalentreactanceofcapacitorin k phase
(pu)
Steadystatesynchronousreactanceofthe
generatoron i axis(pu)
Directaxistransientsynchronousreactanceof
thegenerator(pu)

Referencevoltage(pu)

TUPFC

K L ( s), K M ( s)

Transformer g reactance(pu)

Terminalvoltageon i axis(pu)

E , g for g 1, 2

ForwardpathoftheUPFCdampingcontroller
UPFCdampingcontrollertransformercontrols
TransferfunctionofUPFCdampingcontroller
Switchingfrequency(Hz)
PhaseangleofSystemload(degree)
PhaseangledeviationofSystemload(degree)
Phaseangleofshuntconverter g (degree)

E , g for g 1, 2

Phaseangledeviationofshuntvoltagesource
converter g (degree)

mE , g for g 1, 2

Pulsewidthmodulationindexofshunt
converter g

X bv

Reactanceoftransmissionline(pu)

X te

Reactanceoftransformer(pu)

Cdc

Dclinkcapacitor(pu)

Fundamentalanglefrequency( rad s 1 )

Cse

Seriescapacitor(pu)

Oscillationanglefrequency( rad s 1 )

Equivalentresistanceofshuntconverter g (pu)

Errorsignal( rad s 1 )

Currentininfinitebuson i axis(pu)

Dm

Frictionfactorofgenerator

RE ,g for g 1, 2
I b for i d , q

104

Voltageatinfinitebus(pu)

K C ( s), K O ( s ),

Inertiaconstant(second)

Seriescapacitorvoltageof k phase(pu)

Voltageatgeneratorterminal(pu)

D
X
Y
U
F (s)

Nomenclature

Voltageatdclink(pu)

Vt

Vref

UPFC Modeling; FACTS Device; Electromechanical Oscillations

Damping; Low Frequency Oscillations; Modified HeffronPhilips
Model

Currentinconverter g on i axis(pu)

Vb
Vt ,i for i d , q

Keywords

Currentofphase k intransmissionlineon i
axis(pu)
Currentofphase k inseriescapacitoron i axis
(pu)

mE , g for g 1, 2

Pulsewidthmodulationindexdeviationof
shuntvoltagesourceconverter g

ElectricalEngineeringResearchVol.1Iss.4,October2013

DUPFC

InputsignaloftheUPFC

( )

Systemoperationdomain

KU

UPFCcontrollergain

Ka

GainofAVRingenerator

K1 K12
K c ,uk , K p ,uk , K q ,uk ,
K v ,uk , K se ,uk

Kqd , K pd , Kvd

research field. The application of Applying FACTS

devices brings about more reliability and less costs in
different network arrangements under distortions
occurrenceconditions[Song(2004),Xia(2010)].Among
theFACTSdevices,thevoltagesourcebasedconverters
considerably affect the transient state and improve
dynamicstabilityofpowersystems[Hingorani(1999)].
The UPFC, one of the most important and effective
FACTSdeviceappliedinseriesshuntmodeconsistsof
a series and a shunt threephase twolevel converter
connected to each other through a dc capacitor. The
seriesconvertercontrolstheactiveandreactivepowers
of transmission line by controlling the amplitude and
phase angle of series voltage and the shunt converter
compensates the UPFC losses and stabilizes dc link
voltageinadditiontotransmissionlinereactivepower
control[Sarvana(2009)].Manydifferentstructurehave
beenproposedforUPFC[Shahir(2012),Sadigh(2010)].
In [Sadigh (2010)], a new UPFC structure consisting of
twoshuntvoltagesourceconvertersandadccapacitor
installed between the mentioned converters is
presentedinwhichtheUPFCparametersarecontrolled
by the series capacitor. The voltage and the current of
the series capacitor are controlled by the operation of
the two shunt converters [Sadigh (2010)]. The control
andthemeasuringsystemsofconventionalUPFCsare
separatelydesignedduetothedifferentinsulationand
protectionprocessesofseriesandshuntconverters.This
leadstohightimeandcostexpenditureofsuchdevices
design and manufacturing. In the structure of UPFC
presented in [Sadigh (2010)], the evaluation bulk is
decreased due to similar shunt converters application
and as a result; the control and measuring systems
design and manufacturing costs are significantly
decreased. Also, in comparison with congenital UPFC,
totalVAratingforhighactiveandreactivepowerflow
controlisdecreased.Inthestructureof[Sadigh(2010)],
thesignalscouldbeappliedasUPFCinputsignalsfor
stability and electromechanical oscillations control that
is an advantage of that structure. Three signals can be
applied for stability control in conventional UPFCs
[Shahir (2012)], while four signals are used to control
theoperationofthenewlypresentedUPFC.Reduction
of the THD value of the injected series voltage and
applying series capacitor as constant series capacitive
compensator during converter 2 standby interval are
other advantages of the structure presented in [Sadigh
(2010)].

FrictionfactoroftheUPFCdampingcontroller

uk

ConstantsofHeffronPhillipsmodel
Constantscontrolofinputsignals
Constantcontrolofinputsignal

Tdo

Directaxisopencircuittimeconstantofthe
generator(second)

Ta

TimeconstantofthegeneratorofAVR

T1 , T2 , T3 , T4 , TU , TW

Timeconstantsofphasecompensator

Introduction
Nowadays, considering the increasing growth of
powersystemsindifferentcountriesandtheirmutual
connectionsandalsothegreatinterestintransmitting
thepossiblemaximumpowerthroughthetransmission
lines, the maintenance and enhancement of power
systems stability becomes more important [Shahir
(2013),Kundor(1994)].Themodernpowersystemsare
designed to achieve high generation capacities,
bringing more risk into power systems stability. One
of the most important factors threatening power
systemsstabilityistheelectromechanicaloscillationof
the generator. Dynamic instability is raised due to
balance lose between the output electric power and
inputmechanicalpower,lackofdampingtorque,and
sudden load distortion outbreak. The frequency of
suchoscillationsfallsintherangeofonetofewHertz
[Shahir (2013)]. Several factors such as operation
condition, load characteristics, lines impedance and
power, series capacitors, and voltage regulators
influencethistypeofoscillations.
Oneofthemosteffectivesolutionsistoinstallpower
system stabilizer (PSS) in generator location to damp
the electromechanical oscillations [Yassami (2010)].
The PSS generates a complementary signal to rapidly
damp the distortions caused by oscillations of power
system. The PSS usually considers frequency error
signalasitsinputandgeneratesasignaladdedtothe
voltage.Thepracticalandsimulationresultsshowthat
the PSS will be highly effective in system oscillations
dampingifitisproperlyregulated.
Recent technology development in semiconductor
based devices and their control techniques field and
high interest of power systems designers in utilizing
flexibleactransmissionsystems(FACTS)formaximum
power transmission has provided a new stability

The modeling process of conventional UPFCs and its

effect on dynamic stability is investigated in [Fang
(2003)] and transient stability rate improvement is
evaluatedin[Sreenivasachar(2000)].Inthispaper,the

105

ElectricalEngineeringResearchVol.1Iss.4,October2013

effects of the UPFC structure presented in [Sadigh

(2010)]onthedynamicstabilityandelectromechanical
oscillationsdampingofpowersystemareinvestigated.
The analysis starts by nonlinear equations extraction.
ThelinearequationsandthemodifiedHeffronPhilips
modelareobtainedbylinearizingthenonlinearequations
around the system operation point. The phase
compensator technique [Larsen (1995), Chandrakar
(2010)] is then applied and the proper controller is
designed and regulated. Finally, the most effective
inputsignalforUPFCcontrolisobtainedbysimulating
the system in MATLAB/Simulink to damp the
oscillationsofsynchronousgeneratorsrotor.

E q
E fd

Vdc

E q

Excitation

Transformer 1

Transformer 2

X E ,1

(5)

It ,d I se, d I E ,1,d ; I t ,q I se, q I E ,1, q ;

I se, d a1Vb cos

b1mE ,2Vdc

I se, q a1Vb sin

b1mE ,2Vdc

X bv

I E ,2

C dc
Converter 2

sin E ,2

b2 mE ,2Vdc

I E ,1, q a2Vb sin

b2 mE ,2Vdc

I E ,2, d a3Vb sin

b3 mE ,2Vdc

I E ,2, q a3Vb sin

b3 mE ,2Vdc

It ,d

2
2
2
2

It ,q

Dynamic Modeling of the Investigated Power

System

sin E ,2

cos E ,1

sin E ,1

d3 mE ,1Vdc

d3 mE ,1Vdc

mE ,2Vdc

mE ,1Vdc

cos E ,1

sin E ,1

d 2 mE ,1Vdc

d 2 mE ,1Vdc

cos E ,2 c3 Eq

(a1 a2 )Vb sin (b1 b2 )

mE ,1Vdc

d1mE ,1Vdc

sin E ,2

(a1 a2 )Vb cos (b1 b2 )

(d1 d 2 )

cos E ,2 c2 Eq

(c1 c2 ) Eq (d1 d 2 )

UPFC

d1mE ,1Vdc

cos E ,2 c1 Eq

I E ,1, d a2Vb cos

FIG.1THESINGLELINEDIAGRAMOFINVESTIGATEDSYSTEM

cos E ,1

sin E ,1

cos E ,2

cos E ,1

mE ,2Vdc
2

sin E ,2

sin E ,1

X BB X E ,2 X bv ; X a1 X se X E ,1 X te X te X se ;
X a 2 X BB X E ,1 ; X a 3 X E ,2 X E ,1 ; X b1 X E ,1 X te ;

NonlinearDynamicModel

X b1 X E ,1 X te ; X b 2 X E ,2 X bv ; X b 3 X BB X se ;

All reactance and resistances of the generator,

transformers, and transmission line should be
consideredfornonlineardynamicmodelingofpower
system. Therefore, the following nonlinear equations
areobtainedassessingthesystemshowninFig.1:

X 1 X a1 X a 2 X b1 X b 2 ; X 2 X bv

X bv X te
;
X E ,1

TheotherconstantsarepresentedinAppendixA.
LinearDynamicModel

0 ( 1) (1)

The linear dynamic model of the sample system is

obtainedlinearizing(1)(6)aroundthesystemoperation
point. The following equations are obtained after
linearization:

P P Dm
m e
(2)
M

106

I E ,2, d
sin E ,2

I E ,2, q

Vt Vt ,d jVt ,q ;Vt , d X q I t ,q ;Vt , q Eq X d It , d ;

X E ,2

Converter 1

cos E ,2
4Cdc

Ib Vb

Excitation

V dc

3mE ,2

Pe Vt ,d It ,d Vt ,q It ,q ; Eq Eq ( X d X d ) It , d ;

V se
X se

Vt

I E ,1,d
cos E ,1 sin E ,1

I E ,1,q

Thefollowingsarevalidfor(1)(6):

comparisonwith X E ,1 and X E ,2 ,respectively.

I E ,1

4Cdc

(3)

Tdo
K a (Vref Vt )
(4)
Ta

1
Vse
I se,i for i d , q (6)
Cse

A sample power system including a single machine

with infinite bus along with the UPFC presented in
[Sadigh (2010)] is used to investigate the dynamic
stability. The single line structure of the investigated
power system is illustrated in Fig. 1. The utilized
UPFC consists of two parallel transformers, a series
capacitor and two shunt voltagesource converters
controlledbypulsewidthmodulation(PWM)technique
[Shahir (2012)]. Here, RE ,1 and RE ,2 are neglected in

X te

E fd

3mE ,1

Investigated System

It

Eq E fd

ElectricalEngineeringResearchVol.1Iss.4,October2013

0 (7)

K se,uk [ K s , E ,1

Pm Pe D
(8)
M
Eq E fd
(9)
E q

Tdo

E fd

E fd K a (Vref Vt )
Ta

K s , E ,1

The row vectors of (16)(20),areapplied on proposed

modified HeffronPhilips system as the following
inputvector:
U [mE ,1 E ,1 mE ,2 E ,2 ]T (21)

(10)

Vse K10 K11 Eq K s1mE ,2 K s 2 mE ,1

K12 Vdc K s 3 E ,2 K s 4 E ,1

K pd

E q

(12)

K q , E ,2 mE ,2 K q , E ,2 E ,2 K qd Vdc
Vt K5 K 6 Eq K v , E ,1mE ,1 K v , E ,1 E ,1
K v , E ,2 mE ,2 K v, E ,2 E ,2 K vd Vdc

Kse,uk

(14)

uk

1
1 ST a

Kqd

V
ref

Kv ,uk

Kvd

V dc

1
S K

Kc ,uk

(13)

K 11

Eq K 4 K3 Eq K q , E ,1mE ,1 K q , E ,1 E ,1

Kq ,uk

K5

K4

1
K 3 ST do

K8

Thefollowingsarevalidin(7)(12):
K p , E ,2 mE ,2 K p , E ,2 E ,2 K pd Vdc

0
S

K6

K2

K p ,uk

Pe K1 K 2 Eq K p , E ,1mE ,1 K p , E ,1 E ,1

1
MS D m

P
e

(11)

K c, E ,1 E ,1 K c, E ,2 mE ,2 K c, E ,2 E ,2

K1

Pm

Vdc K7 K8 Eq K9 Vdc K c, E ,1mE ,1

K s , E ,2 ] (20)

K s , E ,2

K7

1
V se
S K 12
K10

FIG.2THEPROPOSEDMODIFIEDHEFFRONPHILIPSMODEL
OFINVESTIGATEDSYSTEM

(15)

TheStateEquationsoftheInvestigatedSystem

Theconstantsusedin(11)(15)arepresentedindetails
inAppendixB.

Basedon(7)(15),thedynamicmodeloftheinvestigated
system in the form of the state space equation can be
expressedasfollows:

TheProposedModifiedHeffronPhilipsModel
Here, it is possible to propose the modified Heffron
PhilipsmodelofthesystemshowninFig.1basedon
(7)(12)toanalyseandinvestigatethesystemstability
against oscillations and to evaluate its smallsignal
stability[Shahir(2012),Kundor(1994)].Theproposed
modified HeffronPhilips model is a linear model
appliedinlowfrequencyoscillationsandsmallsignal
stabilityinvestigations.Fig.2showstheblockdiagram
of the proposed modified HeffronPhilips model
resulted from (7)(12). In this model, one of the
linearizedcontrolsignalsofthesamplepowersystem
including UPFC, mE ,1 , mE ,2 , E ,1 , and E ,2 is

X AX BU (22)

where X and U aredefinedasfollows:

X [

U [mE ,1

Eq

E ,1

E fd

Vdc

Vse ]T (23)

E ,2 ]T (24)

mE ,2

AandBmatricesof(22)areconsideredasfollows:
0

K1
M

K4
A Td0

K a K5
T
a

K7

K10

applied to the UPFC and controls the investigated

UPFCsoperation.
The block diagram of proposed modified Heffron
Philips model shown in Fig. 2 contains 35 constants
that can be defined as row vectors of K p,uk , K q,uk ,

0
0
0
0

0
K2
M
K
3
Td0

K a K6
Ta

1
Td0

1
Ta

K pd
M
K qd
Td0

K a K vd
Ta

K8

K9

K11

K12

0
(25)

K v ,uk , K c ,uk , and K se,uk as follows to simplify the

calculations:
K p,uk [ K p, E ,1

K p, E ,1

K p, E ,2

K q,uk [ K q, E ,1

K q, E ,1

K q, E ,2

K q, E ,2 ] (17)

K v ,uk [ K v , E ,1

K v , E ,1

K v , E ,2

K v , E ,2 ] (18)

K c ,uk [ K c , E ,1

K c , E ,1

K c , E ,2

K c , E ,2 ] (19)

K p, E ,2 ] (16)

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ElectricalEngineeringResearchVol.1Iss.4,October2013

K
p , E ,1

M
K
q , E ,1
Td0
B

a K v , E ,1
T
a

K c , E ,1

K s , E ,1

K p , E ,2

M
K q , E ,2

(26)
Td0

K a K v, E ,2

Ta

K c , E ,2

K s , E ,2

components, respectively, and zm consists of other

Itispossibletodesignanappropriatecontrollerusing
(22) and select the most proper input signal of UPFC
from four input signals according to criteria detailed
in the next section in order to maintain the system
stabilityandto control the damping ofpower system
against the rotor oscillations of investigated systems
synchronous generator. Therefore, it is important to
select and design appropriate input signal and
desirabledampingcontroller.

K O ( s ) isthefunctionoftransferringrotorspeedtothe

K p , E ,1

K q , E ,1

M
Td0

K a K v, E ,1

Ta

K p , E ,2

K q , E ,2

M
Td0

K a K v, E ,2
Ta

K c , E ,1

K c, E ,2

K s , E ,1

K s , E ,2

state variables of (22). The oscillation angular

frequency is obtained by i 0 km . Here, the
transfer functions presented in [Wang (1997), Shahir
(2012)]areexplainedusing(27)and(28).
K C ( s ) is the transfer function from U input to

andobtainedasfollows:

KC ( s) ad 23 ( sI ad 33 )1 bd 3 bd 2 (29)
y measuring point shown in block diagram of Fig. 3

anddenotedasfollows:

K O ( s ) cd 3 ( sI ad 33 ) 1 ad 31 0 ad 32 0 cd 1 cd 2 (30)
s
s

K L ( s) isthefunctionoftransferring U inputtothe y

measuring point shown in Fig. 3 and calculated as

follows:
K L ( s) cd 3 ( sI ad 33 )1 bd 3 D (31)
K m ( s ) is the transfer function of to and

UPFC Damping Controller

calculatedasfollows:

The linearized model of the UPFC installed in power

systemexplainedin(22)canbeshowninFig.3[Wang
(1997), Shahir (2012)]. The UPFC damping controller
consists of two sections of input signal and UPFC
controller. The input signal is applied on power
systemthroughtheinputtransferfunctionsof K O ( s ) ,

K m ( s ) km

H ( s ) , as a UPFC controller transformer, controls the

operation of the system shown in Fig. 1 for different

input signal values. In this investigation, the UPFC
damping controller is considered ideal. An ideal
UPFC damping controller should provide a pure
positive electric torque in oscillation loop, damp
electromechanical oscillations, and stabilize the
generator rotor oscillations. Considering Fig. 3, the
providedelectrictorquebyUPFCdampingcontroller
could be calculated as follows [Wang (1997), Shahir
(2012)]:
K ( s) KO ( s) H ( s)
TUPFC C
(33)
1 K L ( s) H ( s)

K L ( s) , and K C ( s ) . The state space equation obtained

in (22) can be considered as follows [Wang (1997),

Shahir(2012)]:
0

km
zm ad 31

0
dm
ad 32

Y cd 1 cd 2

0 0
ad 23 bd 2 U (27)
ad 33 zm bd 3

cd 3 DU (28)
zm

K M (s )

The torque magnitude provided by UPFC damping

controllerisexpressedasfollows:
TUPFC DUPFC (34)

s
Electromechanical oscillation loop

1
s

K C (s )

DUPFC reduces the generator rotor oscillations.

Considering (33) and (34), DUPFC can be regarded as

follows:

K O (s )

u k

K L (s )

H (s )

DUPFC

KC ( s ) KO ( s) H ( s )
(35)
1 K L (s) H ( s)

Itcanbesimplifiedasfollows:
DUPFC KC ( s) K O ( s ) DUPFC K L ( s ) H ( s )

F (s) H (s)

FIG.3THECLOSEDLOOPBLOCKDIAGRAMMODELFORUPFC
DAMPINGCONTROLLER

(36)

F ( s ) in (36) varies with power system operation

conditionsandisdefinedasfollows:

In (27), k m and d m are the synchronizer and damper

108

s
d m ad 23 ( sI ad 33 ) ad 31
ad 32 (32)
0
0

ElectricalEngineeringResearchVol.1Iss.4,October2013

F ( s ) KC ( s ) KO ( s ) DUPFC K L ( s ) (37)

minimum expense. Therefore, the proper input

signal is the one that has the maximum effect on
UPFC damping controller. Proper input signal for
UPFC damping controller design on the basis of
achieving minimum control system costs and
maximumcontrolsignaleffectisshownin(39):

The operation conditions of the power system,

applyingUPFCstructurepresentedin[Sadigh(2010)]
as a damping controller, depend on the generator
operation point, power system condition, and the
UPFCinputsignal.Consideringthisfact,theselection
of UPFC input signals and the most proper of them
should be in away that the system stability against
electromechanicaloscillationsisbondedanditachieves
its stability as soon as possible. Also, the system
should maintain its stability as electromechanical
oscillationsoccurwhilethedampingspeedinapower
system is highly important. As the damping time is
long,thepowersystemwouldgetdamaged.

uselected max uk F ( s, selected , u K )

u K mE ,1 , mE ,2 , E ,1 , E ,2

3) ThirdTechnique
Inthirdtechnique,(40)isappliedtoselectthemost
appropriate input signal considering system
operation domain, ( ) . This is done under
severalconditionsof ( ) toguaranteethepower

UPFCDampingControllerDesign

systemconditionandtriestoselectaninputsignal
that would not considerably vary as ( ) varies

Ifitisassumedthatapowersystemhastheoperation
domain of ( ) , F ( s ) would be a function of

and has a constant and invariable reaction against

generatorrotoroscillationsin ( ) domain.Ifthe

operation condition of and UPFC input signal and

influence of damping is increased, other system

parameters and its operation condition under
different ( ) values might be undesirably

the controller is designed and installed on power

system on this base. The desired controller for
oscillation damping is the one that can guarantee the
system stability, can acceptably react against the
generator rotor oscillations, and can damp such
oscillations in the shortest time. Proper input signal
selection is one of the most important steps in the
design of an appropriate controller. For a good
controller designing, several approaches have been
evaluated. In this paper, the phase compensation
method is applied [Chandrakar (2010)]. For proper
control signal selection of UPFC damping controller,
three techniques presented in [Wang (1997), Shahir
(2012)]areappliedinthefollowingsubsections.

affected.Ontheotherhand,significantdecreasein
the influence of damping controller can decrease
system stability level and make the power system
unreliable. In (40), a technique is introduced to
achieve power system stability against rotor
oscillations with the least impact on other power
system parameters and components. However, in
the cases, the results are not meaningful or not
expectable;itispossibletoapply(39)toguarantee
the results obtained from (40) for input signal
selectionofdampingcontrollerdesigning.

1)FirstTechnique

uselected

The parameter ( ) based proper control signal

selectionforUPFCdampingcontrollerdesignisas
follows:
selected min F ( s, , uk ) ( ) (38)

max F ( s, , uk ) min F ( s, , uk )
min F ( s, , uk )

(40)

UPFCControllerDesign
As shown in Fig. 3, the UPFC damping controller
consistsof H ( s ) feedbacktransferfunction.In[Shahir

Here, the selection aims to making it possible to

designUPFCdampingcontrollerinawaythatthe
system would be able to maintain its stability
against rotor oscillations under any circumstance.
This is accomplished targeting proper control
signalselectioninordertoobtainthepowersystem
stabilityinminimumvalueof ( ) .

(2012)],the H ( s ) functionisinvestigatedinconventional
UPFCsdampingcontrollersappliedinsinglemachine
power systems. In this paper, by developing the
method in [Shahir (2012)], H ( s ) is considered as
follows:
H (s)

2)SecondTechnique

sTw
Ku 1 sT2 1 sT4

(41)
1 sTw 1 sTu 1 sT1 1 sT3

Relation(41)canbeexpressedasfollows:

Oneofthemostimportantissuesconsideredinthe
designing process of damping controllers is to
achieve the maximum control domain with

(39)

H ( s) H (42)
where H is the amplitude and is the phase angle

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ElectricalEngineeringResearchVol.1Iss.4,October2013

of H ( s ) .Considering(37), F ( s ) isrewrittenasfollows:

F ( s ) is a function of UPFC damping controller input

F ( s) F (43)

signals (37) and directly relates to ( ) and varies

In(43), F istheamplitudeand isthephaseangle

with ( ) and changes TUPFC magnitude. Therefore,

of F ( s ) . Both H ( s ) and F ( s ) transfer functions

F ( s ) canbeappliedasaparameterofUPFCcontroller

considerably affect DUPFC and oscillation damping

signals evaluation and the most proper control signal

recognition.ThemostproperUPFCcontrollersignalis
selected utilizing techniques introduced in previous
section and investigating F ( s ) under different ( )

capabilityofpowersystem(see(36)).
In UPFC damping controller design, the controller
tries to apply a pure positive torque on investigated
system using the phase compensation technique.
Based on (36), F ( s ) is a function of ( ) and it is

conditions considered as Table 1 in this paper. The

magnitudes and the angles shown in Table 2 are
obtained evaluating F ( s ) under 1 and 2 operation

possible to achieve an ideal controller that provides

positivetorqueforgeneratoroscillationsdamping,just
bycontrolling H ( s ) parameters.Considering(36)and

condition applying Nichols [Wang (1997), Shahir

(2012)] approach. Fig. 5 shows the oscillation
frequency in ( ) . It is initially observed that the

(42),inordertoprovideapurepositivetorqueandto
design on phase compensation technique, the
followingrelationisvalid:
D
H UPFC (44)
F
where the amplitude and the phase angle of H ( s ) is

controlsystemisstableforall ( ) valuesifthecontrol

obtainedandregulatedby(44).

mE ,2 , E ,1 ,and E ,2 .InconventionalUPFCsapplied

system is designed under 2 operation condition.

However, this requires further attention especially
about the UPFC device applied in this paper whose
operationiscontrolledbyfourinputsignalsof mE ,1 ,
in power systems, the number of input signals is
decreased to three signals and the investigations are
carriedoutonthesethreeinputsduetotheincapability
ofusing b [Wang(1997)],thephaseangledeviation

Simulation Results
OneofthemostimportantaimsofUPFCinstallationis
to control power system against low frequency
oscillationshappeningasadistortionoccursinpower
system and the generator rotor is driven out of its
synchronous mode. UPFC is in charge of proper
respondingassuchoscillationoccurs.Fig.4showsthe
powersystemillustratedinFig.1,wherethe error
signal is sampled and applied to UPFC through U
input signals. In the next parts, the proper signal is
selected through analytic methods and UPFC
controller regulation approaches are given. Nonlinear
simulation is then accomplished on the investigated
system.
V se
X se
It

X te

Vt

I E ,1

Excitation
Transformer 1

TABLE1SYSTEMOPERATIONCONDITIONIN ( ) DOMAIN

Excitation
Transformer 2

Vt

Vb

Pe

1.0 pu

1.0 pu

0.1 pu

1.0 pu

1.0 pu

1.0 pu

F ( s ) UNDER 1 AND

2 OPERATINCONDITION
F ( s ) to dB

uk

mE ,1

X bv

134.9189

mE ,2

14.8118

E ,2

I E ,2

32.3789

E ,1

41.7253

phase angle to degree

419.6940
430.3020

124.6427
507.4505

0.2160

12.1071

1.4827

0.3162

294.8861
407.4034

313.9723
300.6187

X E ,2

V dc

E q

C dc

Converter1

damping
controller

UPFC

Converter 2
u k

FIG.4UPFCTOSIMBCONNECTION

Pe ( pu )

FIG.5OSCILLATIONFREQUENCYCREATEDIN
INVESTIGATEDSYSTEM

ProperInputSignalSelection

110

operationcondition

TABLE2THEAMPLITUDEANDPHASEANGLEOF

Ib Vb

X E ,1

rateoftheseriesvoltagesourcevoltage.

ElectricalEngineeringResearchVol.1Iss.4,October2013

1)Casestudy1

resultsobtainedfromsystemanalysisintermsofeach
UPFC damping controller signals, the maximum
damping is achieved selecting E ,1 as the UPFC

In this section, the approach mentioned in (38) is

applied to detect the controller signal. Based on
(38),thesignalthathastheminimumvalueunder
1 operation condition can be selected. Therefore,

damping controller input signal while the minimum

cost is achieved under 2 operation condition in

applying (38) and based on the results shown in

Table 2 results for the most proper signals of
controllerdesignare mE ,1 and E ,2 ,respectively.

which mE ,2 isselecting.
TABLE3UPFCCONTROLLERPARAMETERUNDER

Inputsignal UPFCcontrollerparameters

2)Casestudy2
Relation(39)selectsthecontrollersignalunder 2
operation condition in a way that the input signal
has the maximum amplitude. Therefore, based on
the results shown in Table 2, the proper signalfor
controllerdesignis E ,1 .

Ku 0.9, T2 0.2, T4 0.15

s 0.1302 j 0.0460

E ,1

Ku 2.3, T2 0.12, T4 0.10

s 0.4718 j 0.3120

mE ,2

Ku 0.6, T2 0.65, T4 0.09

s 0.1368 j 0.0101

E ,2

Ku 0.9, T2 0.55, T4 0.20

s 0.2381 j 0.1167

Inputsignal UPFCcontrollerparameters

Considering (40) and Table 2, and selecting

uk mE ,1 , uk E ,1 , uk mE ,2 , and uk E ,2 , as
different input signals, the optimal input signal
(uselected ) isobtainedusing uk mE ,1 .

Eigenvalues

mE ,1

Ku 1.1, T2 0.95, T4 0.95

s 0.0470 j 0.0747

E ,1

Ku 0.65, T2 0.25, T4 0.15

s 0.2074 j 0.3264

mE ,2

Ku 0.3, T2 0.72, T4 0.65

s 0.0727 j 0.0241

E ,2

Ku 3.3, T2 0.65, T4 0.45

s 0.0903 j 0.0003

NonlinearAnalysis

UPFCControllerParametersRegulation

Inthissection,thesystemshowninFig.1issimulated
under relations mentioned in (1)(6). The aim is to
investigate the way system responds to sudden load
variation caused by distortions. The simulation is
carriedoutunderthecircumstancethatathreephase
to ground fault occurs in the system shown in Fig. 1.
The fault occurs in t 1 sec . In this simulation, the

Asmentionedbefore,theUPFCcontrollerparameters
areregulatedapplyingphasecompensationtechnique
(relation (44)). The UPFC controller parameters
displacetheEigenvaluesandareregulatedintermsof
UPFC damping controller input signals in order to
create desired DUPFC in ( ) for generator rotor

operationconditionofthesystemisasTable1.Other
simulationparametersaredetailedinAppendixC.Fig.
6(a) shows the simulation results under 1 operation

oscillations damping and maintain system stability

[Shahir(2012)].AsthesystemEigenvaluesarelessin
termsofaspecificinputsignalindampingcontroller,
the input signal is more effective in damping
controller and as the UPFC controller gain is less,
lower KU , the UPFC damping controller can be

condition. The results are evaluated for all four input

signals.Thesystemconditionduringdistortionoccurrence
without applying UPFC damping controller is shown
inFig.6(a).

designed and utilized with lower cost. The UPFC

controller parameters applied in this paper are as
T1 0.9 s , T3 0.9s , Tu 0.01s , and Tw 10 s . Other

14
12

UPFCcontrollerparametersareobtainedfrom(44)by
input signal change. The system Eigen values and
other UPFC damping controller parameters are
respectively shown in Table 3 and Table 4 under 1

10

and 2 in terms of different input signals. Based on

the results shown in Table 3, the most appropriate

signals for UPFC controller input under 1 operation

8
6

condition is E ,1 from effectiveness point of view and

without UPFC
damping controller

u k m E ,2

u k m E ,1

u k E ,1

u k E ,1

10

(a)

is mE ,2 from the view point of cost. Based on the

Eigenvalues

mE ,1

TABLE4UPFCCONTROLLERPARAMETERUNDER

3)Casestudy3

111

ElectricalEngineeringResearchVol.1Iss.4,October2013

costs reduction interests are considered in power

systemsdesigningprocess,thepropercontrolleristhe
one that possesses lower UPFC controller gain for
specific input signal in all ( ) domains. Therefore,

60

E ,1 can be the most appropriate option. The stability

55

of the controllers designed in power system is

significantly important. The stability of the designed
controllercanbeexplainedassuchstatementthatthe
damping controller input signal is effective in all
( ) domains and operates invariably. Considering

50
without UPFC
damping controller

45

u k m E ,2

u k m E ,1

u k E ,1

u k E ,1

10

such a standard, selecting mE ,1 can guarantee the

designedcontrollersstabilityinall ( ) domains.

(b)
FIG.6SIMULATIONRESULTS(a)UNDER 1 (b)UNDER 2

APPENDIX A

Under such condition, the system starts to oscillate

andthestabilityisweakened.Also,Fig.6(a)showsthe
system condition under distortion occurrence and at
thepresenceofUPFCdampingcontrollerdesignedfor
mE ,1 , E ,1 , mE ,2 and E ,2 input signals, respectively.

Theconstantsusedin(1)(6)isasfollows:
X a 3 X te
X a 3 ( X te X E ,1 )
a1
;
; a2
X 1 X E ,1

X 1 X E ,1
( X X te )( X a 3 X a 2 )
1
a3
(1 jX 2 X a 3 ) ; b1 E ,1
;
jX BB
X 1 X E ,1

According to the results shown in the figure, the

system stability is reinforced and the oscillations are
rapidly damped under 1 and applying uk E ,1 ,

X ( X X a2 )
1
b2 te a 3
; b3
X1 X E ,1
X BB

while the system damping is slow under uk mE ,2

condition, which leads to the defection of the power
system equipments. Fig. 6(b) shows the system
response to the created distortion when it operates
under 2 operation condition. In this figure, it is

( X a 2 X b3 X b 2 )( X E ,1 X te ) jX 1
c1
;
X 1 X E ,1

X ( X X b3 X b 2 ) jX1
c2 te a 2
;
X 1 X E ,1

1
;
c3
X bv

jX 2 ( X a 3 X b3 X a 2 )
jX BB
X E ,1

illustratedthattheinvestigatedsystemoscillatesifno
UPFC damping controller is applied. Also, Fig. 6(b),
shows the assessment results of system damping rate
improvetheapplicationofUPFCinputsignalsandthe
damping controller for mE ,1 , E ,1 , mE ,2 and E ,2 ,

( X te X E ,1 )( X b3 X b 2 ) jX1
d1
;
X 1 X E ,1

respectively. According to the results shown in Fig.

6(b),thesystemismorestableagainsttheoscillations
with uk E ,1 . Also, it is not reliable with uk E ,2
andtheoscillationsaredampedveryslowly.

X ( X X b 2 ) jX 1
d 2 te b3
;
X 1 X E ,1

Conclusions

d3

Althoughseveralapproachesareusedtoselectproper
inputsignals,differentstandardscanbeconsideredto
select such signals for UPFC damping controller
installed in power systems (such as the system
investigatedinthispaper).Ifthepurposeofdamping
controller design is just to control generator rotor
oscillationsandtheeconomicalconcernsarenotunder
consideration, the most appropriate UPFC damping
controllersignalistheoneappliedtosystemdesirably
in all ( ) and damps oscillations rapidly and

X
1
jX 2 ( X b 3 X b 2 ) bv
jX BB
X E ,1

APPENDIX B

Theconstantsusedin(11)(15)areasfollows:
K1 [(a1 a2 )(Vt , q X q I t ,d )]Vb cos
[(a1 a2 )(Vt ,d X d I t ,q )]Vb sin
Vt ,d
K 2 (Vt ,d X d I t , q )(c1 c2 ) , K 6 (c1 c2 )

Vt
K3 1 ( X d X d )(c1 c2 ) , K 4 (a1 a2 )Vb sin

controls the system. Therefore, it is possible to utilize

mE ,2 as input signal. If the economical concerns and

112

X E ,2
X 2 ( X a 3 X b 2 )

X E ,1

Vt ,d
K5 (a1 a2 ) X d Vb sin (a1 a2 )
X qVb cos
Vt

ElectricalEngineeringResearchVol.1Iss.4,October2013

K7

3a3 mE ,2Vb
4Cdc

b b
K p , E ,2 (Vt ,q X q I t , d ) 1 2 Vdc sin E ,2
2
(a1 a2 )(Vt ,d X d I t , q )Vb sin

(cos sin E ,2 sin cos E ,2 )

3a2 mE ,1Vb

(cos sin E ,1 sin cos E ,1 )

4Cdc
3c3 mE ,2
3c2 mE ,1
K8
(cos E ,2 )
(cos E ,1 )
4Cdc
4Cdc
3mE ,2
K9
( f1 cos E ,2 f 2 sin E ,2 )
4Cdc

3mE ,1

K12

a1Vb
c
(sin cos ) , K11 1
Cse
Cse

b1mE ,2
2Cse

(cos E ,2 sin E ,2 )

K s , E ,1

d1Vdc
(cos E ,1 sin E ,1 ) ,
2Cse

K s , E ,2

b1Vdc
(cos E ,2 sin E ,2 )
2Cse

K s , E ,1

d1mE ,1Vdc

K s , E ,2

b1mE ,2Vdc

2Cse
2Cse

b b
K qd 1 2
2

d1 d 2
2

d1mE ,1
2Cse

(cos E ,1 sin E ,1 )

K c, E ,2

(cos E ,2 sin E ,2 )

d1 d 2
mE ,2 cos E ,2 2

mE ,1 cos E ,1

mE ,2 cos E ,2

b b
K q , E ,2 1 2
2

Vdc cos E ,2

8Cdc

( sin E ,1 cos E ,1 cos E ,1 sin E ,1 ) w3

3b3 mE ,2 2Vdc
8Cdc

( sin E ,2 cos E ,2 cos E ,2 sin E ,2 )

3b2 mE ,1mE ,2Vdc

8Cdc

Vt , d
K v , E ,2
Vt

( sin E ,2 cos E ,1 cos E ,2 sin E ,1 ) w4

Vt ,d
V
t

b1 b2

d d2
K v, E ,1 1
2

d1 d 2
X q sin E ,1

b1 b2
X qVdc sin E ,2 2

Vt , d

X d mE ,1Vdc sin E ,1 V

X d Vdc cos E ,2

X q m6

Vt , d b1 b2
K v, E ,2

X q mE ,2Vdc cos E ,2
Vt 2
b b
1 2 X d mE ,2Vdc sin E ,2
2
b
d
f1 3 mE ,2 cos E ,2 3 mE ,1 cos E ,1
2
2
b
d
f 2 3 mE ,2 sin E ,2 3 mE ,1 sin E ,1
2

2

d d2
K q , E ,1 1
mE ,1Vdc sin E ,1
2
b b
K q , E ,2 1 2 mE ,2Vdc sin E ,2
2
d d2
K p , E ,1 1
[(Vt ,d X d I t ,q ) cos E ,1
2
(Vt ,q X q I t ,d ) sin E ,1 ]Vdc

3d 2 mE ,12Vdc

X d cos E ,1 Vdc

d1 d 2
mE ,2 cos E ,2 2 mE ,1 cos E ,1 X d

Vdc cos E ,1 ,

3b2 mE ,1Vdc

d d2
K v, E ,1 1
2

b1 b2

d1 d 2
2 mE ,2 sin E ,2 2 mE ,1 sin E ,1

Vt , d b1 b2

d d2

mE ,2 sin E ,2 1
mE ,1 sin E ,1

Vt 2

d d2
K q , E ,1 1
2

(cos E ,12 sin E ,12 ) w1

8Cdc
3b3 mE ,2Vdc
(cos E ,2 2 sin E ,2 2 )

8Cdc

K c, E ,2

mE ,1 cos E ,1 (Vt ,q X q I t , d )

b b
X q 1 2
2

3d 2 mE ,1Vdc

(cos E ,2 cos E ,1 sin E ,2 sin E ,1 ) w2

8Cdc
3d3 mE ,2 mE ,1Vdc
K c, E ,1
( sin E ,1 cos E ,2 cos E ,1 sin E ,2 )
8Cdc

(cos E ,1 sin E ,1 )

b b
K pd (Vt , d X d I t ,q ) 1 2
2

K vd

b b
K p , E ,2 (Vt ,q X q I t , d ) 1 2 mE ,2Vdc cos E ,2
2

b b
1 2 (Vt , d X d I t , q )mE ,2Vdc sin E ,2
2
3d3 mE ,2Vdc
K c , E ,1
(cos E ,1 cos E ,2 sin E ,1 sin E ,2 )
8Cdc

( f3 cos E ,1 f 4 sin E ,1 )

4Cdc

K10

d d2
K p , E ,1 1
[(Vt ,q X q I t , d ) cos E ,1
2
(Vt ,d X d I t ,q ) sin E ,1 ]mE ,1Vdc

b
f3 2
2

d2
mE ,2 cos E ,2 2

mE ,1 cos E ,1

113

ElectricalEngineeringResearchVol.1Iss.4,October2013

b
d
f 4 2 mE ,2 sin E ,2 2 mE ,1 sin E ,1
2
2

andreactivepowerflowsandpoweroscillationdamping
using UPFC, Electr. Power Syst. Res., Vol. 79, No. 4,

3
3
w1
I E ,1, q sin E ,1
I E ,1, d cos E ,1
4Cdc
4Cdc

2009,pp.595605.
Shahir F.M., Babaei E., Ranjbar S., and Torabzad S., New

3
3
w2
I E ,2, d cos E ,2
I E ,2, q sin E ,2
4Cdc
4Cdc
3mE ,1
3mE ,1
w3
I E ,1, q cos E ,1
I E ,1, d sin E ,1
4Cdc
4Cdc
3mE ,2
3mE ,2
w4
I E ,2, q cos E ,2
I E ,2, d sin E ,2
4Cdc
4Cdc

Control Methods for Matrix Converter based UPFC

underUnbalancedLoad,inProc.IICPE,2012.
Shahir F.M. and Babaei E., Evaluation of Power System
StabilitybyUPFCviaTwoShuntVoltageSourceConverters
andaSeriesCapacitor,inProc.ofIEEEICEE,2012.,pp.
318323.
Shahir F.M., Babaei E., Ranjbar S., and Torabzad S.,

APPENDIX C

Dynamic Modeling of UPFC based on Indirect Matrix

The investigated power system parameters used in

simulationprocessareasfollows:

Converter,inProc.IICPE,2012.
ShahirF.M.andBabaeiE.,DynamicModelingofUPFCby

E ,1 30 ; E ,2 25 ; X E ,1 X E ,2 0.2 pu ;

Two Shunt VoltageSource Converters and a Series

X se X te 0.1 pu ; X bv X d 1.0 pu ; X q 0.6 pu ;

Capacitor,inProc.ICECT,2012,pp.554558.

X d 0.3 pu ; Cdc Cse 3.0 pu ; mE ,1 mE ,2 1 ;

Shahir F.M. and Babaei E., Evaluating the Dynamic

Vdc Eq 2.0 pu ; Vb 1.0 pu ; M 2 H 8.0 s ;

StabilityofPowerSystemUsingUPFCbasedonIndirect
MatrixConverter,inProc.ICECT,2012,pp.548553.

f s 50 Hz ; Tdo 5.044 s ; Ta 0.05s ; K a 50 ; Dm 0

Shahir F.M. and Babaei E., Evaluating the Dynamic

StabilityofPowerSystemUsingUPFCbasedonIndirect

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by the phase compensation method. I. Singlemachine

design of FACTS controllers to damp power swings,

infinitebus power systems. II. Multimachine power

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voltagesourced converterbased FACTS controller,

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114

ElectricalEngineeringResearchVol.1Iss.4,October2013

EbrahimBabaeiwasborninAhar,Iranin1970.Hereceived
his B.S. and M.S. in Electrical Engineering from the
Department of Engineering, University of Tabriz, Tabriz,
Iran, in 1992 and 2001, respectively, graduated with first
classhonors.HereceivedhisPh.D.inElectricalEngineering
from the Department of Electrical and Computer
Engineering, University of Tabriz, Tabriz, Iran, in 2007. In
2004, he joined the Faculty of Electrical and Computer
Engineering, University of Tabriz. He was an Assistant
Professor from 2007 to 2011 and has been an Associate
Professor since 2011. He is the author of more than 210
journalandconferencepapers.Hiscurrentresearchinterests
include the analysis and control of power electronic
converters, matrix converters, multilevelconverters, FACTS
devices, power system transients, and power system
dynamics.

Yassami H., Darabi A., and Rafiei S.M.R., Power system

stabilizer design using Strength Pareto multiobjective
optimizationapproach,Electr.PowerSyst.Res.Vol.80,
No.7,2010,pp.838846.

Farzad mohammadzadeh Shahir was born in Tabriz, Iran,

in1985.HereceivedtheB.S.degreeinelectronicengineering
fromIslamicAzadUniversity,Mianeh,Iran,theM.S.degree
inelectricalengineeringfromIslamicAzadUniversity,Ahar,
Iran, in 2008 and 2011, respectively. In 2004, he joined the
Iran Tractor Manufacturing Company, Tabriz, Iran, where
he has been an electrical engineering. His current research
interests include power system dynamic and power
electronicconverters.

115