2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004)April 2004 Hong Kong

Enhanced Systems Dynamics Model and Post-

Processing Tool for the Efficient Analysis of
FACTS
K. Temma, Member,IEEE,,Y. Kono, Member,IEEE,I. Iyoda, Member,IEEE,
M . Yagi, T. Sato, H. Nishigami

and the third is the enlargement of frequency range that

Abstract-- This paper describes the enhancement of a
FACTS dynamics model and the advancement in a
post-processing tool for result-evaluation to perform
an efficient system analysis with respect to the
increased modeling accuracy and the reduction of the
work time.
Index Terms-System analysis and design, Modeling,
Simulation, Saturable cores, FACTS, STATCOM,
Voltage Sourced Converter, Post-processing tools,
1. INTRODUCTION
The control systems for power system equipment,
such as one for FACTS are faster and more complex in
recent Many system studies are performed to
determine the most economical specification for the
FACTS controls and to prevent unnecessary loss of the
controls in the power system, which is caused by
improper response of the controls to power system faults.
System studies play an important role in the design for
FACTS. This paper describes the enhancement of a
FACTS dynamics model and the advancement in a post-
processing tool for results evaluation to perform an
efficient system analysis with respect to the increased
modeling accuracy and the reduction of the work time,
respectively. The verification and enhancement of the
dynamics model of FACTS is based on ten years of
should be considered in analysis.
A . VeriJication of model
The accuracy of the analysis model is important to the
design of FACTS. The inaccuracy of the model can be
addressed by increasing the design margin, though this
can make the equipment uneconomical. Actual field data
is necessary to enhance the analysis model. However,
FACTS are just beginning to be applied in large numbers,
and consequently many organizations have a limited past
experience with FACTS. In addition, high-frequency
sampling by expensive measuring equipment is required
to evaluate the behavior of FACTS, due to their high-
speed performance. Because of these constraints, there
are limited field data to allow €or enhancing the analysis
models.
A data-measuring project was carried out for the
Inuyama 8OMVA STATCOM of the Kansai Electric
Power Company, the world's first STATCOM installed
in 1991, to improve knowledge of its operation
performance. An automatic measuring system recorded
various precise data in the system during transmission
line faults. The acquired data was used for verification of
the dynamics model for the system analysis as well as for
the improvement of the STATCOM design. Figure 1
shows the configuration of the STATCOM model.
Single Phase Convener

experience and actual field data acquired in a power

system. The advancement of the post-processing tool to
evaluate the results of system studies effectively is based
on the latest information technology. Main Transformer

11. ENHANCED DYNAMICS MODEL FOR FACTS

As for the enhanced dynamic model for FACTS, three
important subjects are described in this paper. The first is
the verification of model using actual field data, the
second is the nonlinear characteristics of transformer .

K. Temma and Y. Kono are with Mitsubishi Electric Corp.,

Kobe, Japan Multiple Transformer
I.Iyoda is with TMT&D Corp., Tokyo, Japan
M. Yagi, T. Sato, and H. Nishigami are with the Kansai
Electric Power Co., Osaka, Japan Figure 1 Configuration of STATCOM Model

0-7803-8237-4/04/$17.0002004IEEE
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2004 IEEE Intemational Conference on Electric Utility Deregulation,Restructuring and Power Technologies (DWT2004) April 2004 Hong Kong

An improved model that incorporates the dynamic
performance of the actual STATCOM has been
developed. The actual STATCOM is composed of eight
converters connected to a multi-winding transformer, in
order to synthesize a quasi-sinusoidal voltage. To satisfy
both of high accuracy and short calculation time, a
model of four-converters connected with transformers
has been developed to model the behavior of multi-
converter STATCOM.
Figure 2 shows a single-line diagram of the power
system with the Inuyama STATCOM. Number of fault
cases are simulated by changing fault location and fault
condition, and simulation results are compared with the
actual field record for system fault. Figure 3 shows a
record of converter DC voltage and AC inverter currents
for an actual two lines grounding(2LG) fault occurred on
27th October 1998, and its simulation results. Ed is DC
voltage and INV-U1 to u8 in the left figure and I21v to
I24v are inverter current of phase v for each inverter unit.
The DC voltage of simulation result is quite similar to
recorded data, and the difference of the AC currents
between inverter units after fault clearance is also
observed in the simulation result of the left figure. It
shows that the independent behavior of each converter
can be modeled by the four-converter model developed.
The internal conditions of the STATCOM during faults
in the power system becomes clear by the simulation
using the enhanced dynamics model.

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Osaka S/S

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V=1.016P.U.

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Load

Ls f Fault point
B Open t Power Flow

Figure 2 Power System with the Inuyama 80MVA STATCOM

Figure 3 Measured data in a field (left) and simulation results (right)

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DWT2004) April 2004 Hong Kong

The operability of the STATCOM during various system
faults is estimated using the developed model, and the
estimated operability was checked with the operation
record of STATCOM over ten years, showing good
agreement. The wave form of output voltage of the
developed model is close to sinusoidal while that of the
former single converter model is distorted by the
harmonic components
B Nonlinear Characteristics of Transformer
Transformer is one of conventional power equipment,
however has an important role in FACTS equipment.
And its nonlinear characteristics effects the performance
of FACTS equipment. In many simulation tools, e.g.
EMTP, the nonlinear characteristics of magnetizing
circuit is represented by several points in 4-1 plane, and
the magnetizing curve is modeled as lines that connect
points as shown in Figure 4.
P3
There is a discreteness in system characteristics at the
representing point, and it causes a numerical error in
simulation.
Figure 5 shows a simulation result of the capacitor
current. There are unexpected spikes once a half cycle.
These spikes are not caused by any switching of
switching devices. Figure 6 shows a close-up of the spike
in capacitor current and magnetizing current of
transformer. The magnetizing current at the spike is
around 8A and the gradient of magnetizing current
changes at the spike point. It shows us that the spike is
caused at the point P3 of the magnetizing curve in
Figure 4. The discreteness of effective inductance in the
saturation curve is the most important factor of the spike.
However, spikes are only observed at point P3 of Figure
4. No spikes is observed at point P1 or P2. It shows that
another factor also contributes the spike. Volume of the
magnetizing current also affects the occurrence of the
spike. The difference of energy of inductive element
(Li') could be an index of such phenomena. In the case
of Figure 4, the difference of the index, LBIc'-LAIc'
should be calculated, and if there is large difference in
the index, some additional representing points should be
added around point P3 to reduce the difference of index.
The spikes have been eliminated by adding new points
around P3.

Figure 4 f-I Curve of Transformer

I \ ---
Capacitor Spike currents
Current [U]
0.006 7 i J Ica
,,I*

0.004
0.002
0.000 ms
-0.002 0
-0.004
-0.006 I I
U

Enlarged in Figure 6

Figure 5 Current of Capacitor

- Magnetizing Current Magnetizing Current IM

Figure 6 Currents of Capacitor and Saturable Reactor

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2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

C Frequency Ranger
Thanks to the advance in power device and control
system, the operating frequency of FACTS, e.g.
STATCOM, Voltage sourced converter based Back to i
Back system(VSC-BTB), is much higher than
conventional HVDC or SVC. The AC system connected
to FACTS should be modeled considering the frequency
range of FACTS equipment. Figure 7 shows VSC- cable
system. The VSC is a key component of FACTS. It
generate AC voltage without any support of AC line
voltage for its commutation. Similar as Figure 1, four
VSCs are connected by a multiple transformer to
generate a quasi-sinusoidal AC voltage. In the simulation
study, unexpected high frequency harmonics, 6kHz to
7 H z (120th to 140th order harmonics) is observed.
Generally speaking, more than 50thorder harmonics are
negligible for the conventional HVDC or SVC system.
On the other hand, the energy level of high order
harmonics generated by VSC is relatively high, and it
Figure 8 The EMTP result of the voltage and current
cause voltage distortion in special case, where the ( on the primary side of the convertcr transformer)
resonance frequency of the system is close to its
harmonic frequency, and dumping factor is poor because
of the low loss of equipment. Figure 9 shows the
frequency-impedance characteristics of the system. There
are resonance and anti-resonance points close to the
harmonics frequency. By a system analysis, this problem
was found before the installation, and proper
countermeasure is achieved. The system analysis shows
its important role in FACTS project.
As the consequence of this section, a configuration of
system dynamics model €or FACTS is shown in Figure
10. A phase locked loop(PLL) Logic generates phasor
reference signal. Using that signal, measured voltage and
current signals are converted from exact time domain to
d-q axis reference frame domain. The control block
makes order signal of FACTS output, and the firing Figure 9 Frequency-impedance (f-Z)
pulse generation logic makes a firing pulse signal (from the secondary side of the converter transformer)
according to the order and synchronized to phasor
reference signal from PLL. The converter and

ir
I
transformer model and the AC system model simulate
! ! MAIN CIRCUIT
1
CONTROL
PLL SYSTEM
the behavior of main circuit of FACTS system. Three Logic ! !! / Firing Pulse
important subjects should be considered in modeling :* Phasor reference singnal ! Signal
:I
each components. ii Firing Pulse !
Generation -t
:I Logic
!
T
P
-!i tI AC
Network
i! 3 ~ ~ ~ s t 0Control
~

Block !
i! conversion
4
-!
t! t I

VSC System I I I
Voltage signal

Figure 10 Configuration of System dynamics model

Figure 7 VSC-Cable system for FACTS

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2004 IEEE International Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong

111. ADVANCED POST PROCESSIONG TOOL fundamental frequency domain conversion(amp1itude

In utilizing the enhanced dynamics model for actual and phasor angle are the variables in fundamental
planning and design purposes, the tool for the evaluation frequency domain) is useful in checking control system,
of results, so-called post-processing tool is important. since similar variables are used for control.
Existing system analysis tools have their own post- The use of the advanced post-processing tool can
processing function to check their results. However, their simplify the arrangement of the simulation results and
ability is limited. They are adequate for research reduce the handling and considering of simulation results
purposes, but are not sufficient for actual system design time by 30% as shown in Figure 13. It also contributes a
purposes of FACTS that require the ability to check and precise, rational, and economical design of FACTS by
compare the operability and capability of the system and providing designers with information of the power
to evaluate the stress on the system under a large number system concisely. In addition, since the fault record is
of conditions to determine the optimal specification for acquired as digital data from the recent measuring
the system. There is a possibility that some important systems, the easy comparison of actual fault data and
issues are overlooked in terms of the lack in capability of simulation results becomes available by this tool.
the post-processing function of existing system analysis
tools.
The following functions are important in actual
system design works.
a) Multiple figures view
b) Close-up of output figures
c) Comparison between different cases in one figure
d) Time axis adjustment
e) Harmonics Analysis
f) Phasor Analysis

An advanced post-processing tool, called

"EMF'LOTM', based on the latest information
technology has been developed to resolve such problems Figure 11 Multiple Figures View
and to realize an efficient analysis with a significant
reduction of work hours.
Figure 11 shows an example of multiple figures view.
Through this view, the phenomena of entire system could
[MI
1.51
1.o
Current
I-- Case1
Case2 I
be observed easily, and avoid oversight of an important
phenomenon. 0.5
Usage and effect of close-up function is clear from ms
Figure 6. By this function, user can find the important 0.0 140
point in a short time. If there is no close-up function,
-0.5
users have to re-run the simulation when a detailed check
is necessary for a result. -1.o
Detailed comparison between results of different -1.51
simulation cases is very important in system study to (a) Original Figure
define system specification. As shown in Figure 12,
displaying multiple results in a graph is effective for the
comparison. Current 1-1
In comparing the event records of actual system with
simulation results, time axis adjustment is useful.
Contrary to simulation, timing of event can not be
controlled in the actual system. The starting time of
record is different case by case. As shown in Figure
12(a), it is difficult to compare two data with different
time axis. Figure 12 (b) shows waves after time axis
adjustment. The comparison of data could be easier than
the original figure., and important difference could be
found easily. -1.5 J
The harmonics analysis function is also important for (b) Waves after Time axis adjusted
FACTS analysis. In addition, exact time domain to Figure 12 Adjustment of Time axis

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2004 IEEE Intemational Conference on Electric Utility Deregulation, Restructuring and Power Technologies (DRPT2004) April 2004 Hong Kong
w Results fAnalysis
10%
Fig. 13 Efficiency of Analysis Work
IV. CONCLUSIONS
In preparing the enhanced dynamic model of FACTS
for actual project, the verification of model using actual
field data, the nonlinear characteristics of transformer ,
and the enlargement of frequency range should be
carefully considered before commencing simulation. The
important points in the above items have been described
with sample data.
Important functions required for post-processing tools
used in system analysis has been clarified. multiple view,
close-up, time axis adjustment are described and show
their advantage in the system analysis. Developed post-
processing tool can simplify the arrangement of the
simulation results and reduce the handling and
considering of simulation results time by 30%. It also
contributes a precise, rational, and economical design of
FACTS.
V. REFERENCE
[l] S. Mori, K. Matsuno, T. Hasegawa, S. Ohnishi, M.
Takeda, M. Seto, S. Murakami, F. Ishiguro,
“Development of a Large Static Var Generator Using
Self-Commutated Inverters for Improving Power System
Stability,” IEEE Trans. Power Systems, vol. 8, pp. 371-
377, Feb. 1993.
[2] T. Sato, etal: “Suggestion and Feasibility study for
Massively Parallel Back-To-Back System”, T. IEE Japan,
Vol. 121-B, No.1, pp15-21(2001).
[3] C. D. Schauder, L. Gyugyi, M. R. Lund, D. M.
Hamai, T. R. Rietman, D. R. Torgerson and A. Edris,
“Operation of the Unified Power Flow Controller
(UPFC) Under Practical Constraints,” IEEE Trans.
PowerDeZivery, vol. 13, No 2, April 1998.
[4] G. Reed, J. Paserba, T. Croasdaile, R. Westover, S.
Jochi, N. Morishima, M. Takeda, T. Sugiyama, Y.
Hamazaki, T. Snow, A. Abed, “SDG&E Talega
STATCOM Project - System Analysis, Design, and
Configuration,” Proceedings of the IEEE PES T&D-Asia
Conference and Exposition, Yokahama, Japan, Oct. 2002.
239
VI. BIOGRAPHIES
Koji Temma was bom on October 27, 1970.
He received his B.S. and Ph.D. degree in
electrical engineering from Doshisha
University in 1994, 2003 respectively. He
joined Mitsubishi Electric Corp. in 1994 and
has been engaged in power electronics and
power system analysis. He is a member of
Yoshiyuki Kono was born on November 20,
1956. He received his B.S., M.S. and his
Ph.D. degrees in electrical engineering from
Kobe University in 1979, 1981 and in 1994
respectively. He has worked
for Mitsubishi Electric Corp. since 198I , and
has been engaged in researches of power
system analysis, simulator, and power
system planning. He is a manager of power system analysis
section and a member of the IEEE.
Isao Iyoda was bom on September 19, 1952.
He received his B.S. and his Ph.D. degrees
in electrical engineering from Kyoto
University in 1975 and in 1992
Respectively. He joined Mitsubishi Electric
Corp(MELC0). in 1975, and has been
engaged in researches of power electronics,
simulator, power system analysis and power
system planning. In 2002, he moved to TMT&D Corp, a joint-
venture of MELCO and TOSHIBA. He is a member of the
IEEE and CIGRE.
Makoto Yagi was born on October 13,
1949. He received his 3 . S . degrees in
electrical engineering from Kyoto
University in 1972. He has worked for the
KANSAI Electric Power Co., Inc. since
1972, and has been engaged in planning,
constriction, operation and maintenance of
power system. He is an executive officer for
Power System Division and a regular member of CIGRE SCC 1.
Tadashi Sat0 was bom on January 6, 1965.
He received his B.S. in electronic
engineering from Tokyo University in 1988.
He has worked for Kansai Electric Power Co.,
Inc. since 1988, and is a chief manager of
Office of Power System in OSAKA-
KITA brunch..
Nishigami Hiroaki was bom on
September 2, 1966. He received his B.S.
degrees in electrical engineering from
Tokushima University in 1989. He has
worked for the KANSAI Electric Power Co.,
Inc. since 1989, and is a manager of System
planning Group in Power System Division.