Zhang / Rehtanz / Pal Flexible AC Transmission Systems: Modelling and Control

2. Auflage 2012
ISBN: 978-3-642-28241-6
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 569 Seiten

Reihe: Power Systems

The extended and revised second edition of this successful monograph presents advanced modeling, analysis and control techniques of Flexible AC Transmission Systems (FACTS). The book covers comprehensively a range of power-system control problems: from steady-state voltage and power flow control, to voltage and reactive power control, to voltage stability control, to small signal stability control using FACTS controllers. In the six years since the first edition of the book has been published research on the FACTS has continued to flourish while renewable energy has developed into a mature and booming global green business. The second edition reflects the new developments in converter configuration, smart grid technologies, super power grid developments worldwide, new approaches for FACTS control design, new controllers for distribution system control, and power electronic controllers in wind generation operation and control. The latest trends of VSC-HVDC with multilevel architecture have been included and four completely new chapters have been added devoted to Multi-Agent Systems for Coordinated Control of FACTS-devices, Power System Stability Control using FACTS with Multiple Operating Points, Control of a Looping Device in a Distribution System, and  Power Electronic Control for Wind Generation.

Autoren/Hrsg.

Zhang, Xiao-Ping

Rehtanz, Christian

Pal, Bikash

Inhaltsverzeichnis

1;Title Page;2
2;Foreword;5
3;Preface;8
4;Preface to Second Edition;12
5;Contents;14
6;FACTS-Devices and Applications;28
6.1;Overview;29
6.2;Power Electronics;32
6.2.1;Semiconductors;33
6.2.2;Power Converters;35
6.3;Configurations of FACTS-Devices;40
6.3.1;Shunt Devices;40
6.3.2;Series Devices;45
6.3.3;Shunt and Series Devices;50
6.3.4;Back-to-Back Devices;55
6.4;References;56
7;Modeling of Multi-Functional Single Converter FACTS in Power Flow Analysis;58
7.1;Power Flow Calculations;58
7.1.1;Power Flow Methods;58
7.1.2;Classification of Buses;59
7.1.3;Newton-Raphson Power Flow in Polar Coordinates;59
7.2;Modeling of Multi-Functional STATCOM;59
7.2.1;Multi-Control Functional Model of STATCOM for Powe rFlow Analysis;60
7.2.2;Implementation of Multi-Control Functional Model of STATCOM in Newton Power Flow;67
7.2.3;Multiple Solutions of STATCOM with Current Magnitude Control;71
7.3;Modeling of Multi-Control Functional SSSC;77
7.3.1;Multi-Control Functional Model of SSSC for Power Flow Analysis;78
7.3.2;Implementation of Multi-Control Functional Model of SSSC in Newton Power Flow;82
7.3.3;Numerical Results;85
7.4;Modeling of SVC and TCSC in Power Flow Analysis;89
7.4.1;Representation of SVC by STATCOM in Power Flow Analysis;89
7.4.2;Representation of TCSC by SSSC in Power Flow Analysis;90
7.5;References;91
8;Modeling of Multi-Converter FACTS in Power Flow Analysis;94
8.1;Modeling of Multi-Control Functional UPFC;94
8.1.1;Advanced UPFC Models for Power Flow Analysis;95
8.1.2;Implementation of Advanced UPFC Model in Newton Power Flow;102
8.1.3;Numerical Results;104
8.2;Modeling of Multi-Control Functional IPFC and GUPFC;106
8.2.1;Mathematical Modeling of IPFC in Newton Power Flow under Practical Constraints;107
8.2.2;Mathematical Modeling of GUPFC in Newton Power Flow under Practical Constraints;112
8.2.3;Numerical Examples;116
8.3;Multi-Terminal Voltage Source Converter Based HVDC;120
8.3.1;Mathematical Model of M-VSC-HVDC with ConvertersCo-located in the Same Substation;121
8.3.2;Generalized M-VSC-HVDC Model with Incorporation of DC Network Equation;127
8.3.3;Numerical Examples;130
8.4;Handling of Small Impedances of FACTS in Power Flow Analysis;134
8.4.1;Numerical Instability of Voltage Source Converter FACTS Models;134
8.4.2;Impedance Compensation Model;135
8.5;References;137
9;Modeling of FACTS-Devices in Optimal Power Flow Analysis;139
9.1;Optimal Power Flow Analysis;139
9.1.1;Brief History of Optimal Power Flow;139
9.1.2;Comparison of Optimal Power Flow Techniques;140
9.1.3;Overview of OPF-Formulation;142
9.2;Nonlinear Interior Point Optimal Power Flow Methods;144
9.2.1;Power Mismatch Equations;144
9.2.2;Transmission Line Limits;144
9.2.3;Formulation of the Nonlinear Interior Point OPF;145
9.2.4;Implementation of the Nonlinear Interior Point OPF;149
9.2.5;Solution Procedure for the Nonlinear Interior Point OPF;152
9.3;Modeling of FACTS in OPF Analysis;152
9.3.1;IPFC and GUPFC in Optimal Voltage and Power Flow Control;153
9.3.2;Operating and Control Constraints of GUPFC;153
9.3.3;Incorporation of GUPFC into Nonlinear Interior Point OPF;157
9.4;Modeling of IPFC in Nonlinear Interior Point OPF;163
9.5;Modeling of Multi-Terminal VSC-HVDC in OPF;165
9.5.1;Multi-Terminal VSC-HVDC in Optimal Voltage and Power Flow;165
9.5.2;Operating and Control Constraints of the M-VSC-HVDC;166
9.5.3;Modeling of M-VSC-HVDC in the Nonlinear Interior Point OPF;167
9.6;Comparison of FACTS-Devices with VSC-HVDC;169
9.6.1;Comparison of UPFC with BTB-VSC-HVDC;169
9.6.2;Comparison of GUPFC with M-VSC-HVDC;171
9.7;Appendix: Derivatives of Nonlinear Interior Point OPF with GUPFC;174
9.7.1;First Derivatives of Nonlinear Interior Point OPF;174
9.7.2;Second Derivatives of Nonlinear Interior Point OPF;176
9.8;References;179
10;Modeling of FACTS in Three-Phase Power Flow and Three-Phase OPF Analysis;183
10.1;Three-Phase Newton Power Flow Methods in Rectangular Coordinates;184
10.1.1;Classification of Buses;184
10.1.2;Representation of Synchronous Machines;185
10.1.3;Power and Voltage Mismatch Equations in Rectangular Coordinates;186
10.1.4;Formulation of Newton Equations in Rectangular Coordinates;188
10.2;Three-Phase Newton Power Flow Methods in Polar Coordinates;194
10.2.1;Representation of Generators;194
10.2.2;Power and Voltage Mismatch Equations in Polar Coordinates;195
10.2.3;Formulation of Newton Equations in Polar Coordinates;196
10.3;SSSC Modeling in Three-Phase Power Flow in Rectangular Coordinates;197
10.3.1;Three-Phase SSSC Model with Delta/Wye Connected Transformer;198
10.3.2;Single-Phase/Three-Phase SSSC Models with Separate Single Phase Transformers;206
10.3.3;Numerical Examples;208
10.4;UPFC Modeling in Three-Phase Newton Power Flow in Polar Coordinates;213
10.4.1;Operation Principles of the Three-Phase UPFC;214
10.4.2;Three-Phase Converter Transformer Models;215
10.4.3;Power Flow Constraints of the Three-Phase UPFC;216
10.4.4;Symmetrical Components Control Model for Three-Phase UPFC;221
10.4.5;General Three-Phase Control Model for Three-Phase UPFC;224
10.4.6;Hybrid Control Model for Three-Phase UPFC;226
10.4.7;Numerical Examples;228
10.5;Three-Phase Newton OPF in Polar Coordinates;233
10.6;Appendix A - Definition of Ygi;235
10.7;Appendix B - 5-Bus Test System;236
10.8;References;237
11;Steady State Power System Voltage Stability Analysis and Control with FACTS;239
11.1;Continuation Power Flow Methods for Steady State Voltage Stability Analysis;240
11.1.1;Formulation of Continuation Power Flow;240
11.1.2;Modeling of Operating L imits of Synchronous Machines;242
11.1.3;Solution Procedure of Continuation Power Flow;243
11.1.4;Modeling of FACTS-Control in Continuation Power Flow;244
11.1.5;Numerical Results;244
11.2;Optimization Methods for Steady State Voltage Stability Analysis;249
11.2.1;Optimization Method for Voltage Stability L imit Determination;250
11.2.2;Optimization Method for Voltage Security Limit Determination;251
11.2.3;Optimization Method for Operating Security Limit Determination;251
11.2.4;Optimization Method for Power Flow Unsolvability;252
11.2.5;Numerical Examples;254
11.3;Security Constrained Optimal Power Flow for Transfer Capability Calculations;256
11.3.1;Unified Transfer Capability Computation Method with Security Constraints;257
11.3.2;Solution of Unified Security Constrained T ransfer Capability Problem by Nonlinear Interior Point Method;259
11.3.3;Solution Procedure of the Security Constrained Transfer Capability Problem;265
11.3.4;Numerical Results;265
11.4;References;269
12;Steady State Voltage Stability of Unbalanced Three-Phase Power Systems;271
12.1;Steady State Unbalanced Three-Phase Power System Voltage Stability;271
12.2;Continuation Three-Phase Power Flow Approach;272
12.2.1;Modeling of Synchronous Machines with Operating Limits;272
12.2.2;Three-Phase Power Flow in Polar Coordinates;273
12.2.3;Formulation of Continuation Three-Phase Power Flow;275
12.2.4;Solution of the Continuation Three-Phase Power Flow;277
12.2.5;Implementation Issues of Continuation Three-Phase Power Flow;278
12.2.6;Numerical Results;279
12.3;Steady State Unbalanced Three-Phase Voltage Stability with FACTS;287
12.3.1;STATCOM;288
12.3.2;SSSC;289
12.3.3;UPFC;291
12.4;References;292
13;Congestion Management and Loss Optimization with FACTS;294
13.1;Fast Power Flow Control in Energy Markets;294
13.1.1;Operation Strategy;294
13.1.2;Control Scheme;296
13.2;Placement of Power Flow Controllers;297
13.3;Economic Evaluation Method;300
13.3.1;Modelling of PFC for Cross-Border Congestion Management;301
13.3.2;Determination of Cross-Border Transmission Capacity;305
13.3.3;Estimation of Economic Benefits through PFC;306
13.4;Quantified Benefits of Power Flow Controllers;309
13.4.1;Transmission Capacity Increase;309
13.4.2;Loss Reduction;311
13.5;Appendix;314
13.6;References;315
14;Non-intrusive System Control of FACTS;316
14.1;Requirement Specification;316
14.1.1;Modularized Network Controllers;317
14.1.2;Controller Specification;318
14.2;Architecture;319
14.2.1;NISC-Approach for Regular Operation;321
14.2.2;NISC-Approach for Contingency Operation;323
14.3;References;324
15;Autonomous Systems for Emergency and Stability Control of FACTS;325
15.1;Autonomous System Structure;325
15.2;Autonomous Security and Emergency Control;327
15.2.1;Model and Control Structure;327
15.2.2;Generic Rules for Coordination;328
15.2.3;Synthesis of the Autonomous Control System;331
15.3;Adaptive Small Signal Stability Control;337
15.3.1;Autonomous Components for Damping Control;337
15.4;Verification;338
15.4.1;Failure of a Transmission Line;340
15.4.2;Increase of Load;342
15.5;References;344
16;Multi-agent Systems for Coordinated Control of FACTS-Devices;345
16.1;Challenges for Coordinated Control;345
16.2;Multi-agent System Structure;346
16.2.1;Communication Model;346
16.2.2;Influence Area of a PFC;349
16.2.3;Distributed Coordination;351
16.3;Verification;355
16.3.1;Tripping of a Transmission Line;355
16.3.2;Increase of Load;358
16.4;References;360
17;Wide Area Control of FACTS;362
17.1;Wide Area Monitoring and Control System;362
17.2;Wide Area Monitoring Applications;365
17.2.1;Corridor Voltage Stability Monitoring;365
17.2.2;Thermal Limit Monitoring;369
17.2.3;Oscillatory Stability Monitoring;370
17.2.4;Topology Detection and State Calculation;375
17.2.5;Loadability Calculation Based on OPF Techniques;377
17.2.6;Voltage Stability Prediction;378
17.3;Wide Area Control Applications;381
17.3.1;Predictive Control with Setpoint Optimization;382
17.3.2;Remote Feedback Control;385
17.4;References;392
18;Modeling of Power Systems for Small Signal Stability Analysis with FACTS;393
18.1;Small Signal Modeling;394
18.1.1;Synchronous Generators;394
18.1.2;Excitation Systems;396
18.1.3;Turbine and Governor Model;398
18.1.4;Load Model;398
18.1.5;Network and Power Flow Model;401
18.1.6;FACTS-Models;401
18.1.7;Study System;408
18.2;Eigenvalue Analysis;409
18.2.1;Small Signal Stability Results of Study System;409
18.2.2;Eigenvector, Mode Shape and Participation Factor;415
18.3;Modal Controllability, Observability and Residue;418
18.4;References;422
19;Linear Control Design and Simulation of Power System Stability with FACTS;423
19.1;H-Infinity Mixed-Sensitivity Formulation;424
19.2;Generalized H-Infinity Problem with Pole Placement;425
19.3;Matrix Inequality Formulation;427
19.4;Linearization of Matrix Inequalities;428
19.5;Case Study;430
19.5.1;Weight Selection;430
19.5.2;Control Design;431
19.5.3;Performance Evaluation;434
19.5.4;Simulation Results;435
19.6;Case Study on Sequential Design;438
19.6.1;Test System;438
19.6.2;Control Design;439
19.6.3;Performance Evaluation;440
19.6.4;Simulation Results;441
19.7;H-Infinity Control for Time Delayed Systems;444
19.8;Smith Predictor for Time-Delayed Systems;445
19.9;Problem Formulation Using Unified Smith Predictor;449
19.10;Case Study;451
19.10.1;Control Design;451
19.10.2;Performance Evaluation;454
19.10.3;Simulation Results;454
19.11;References;458
20;Power System Stability Control Using FACTS with Multiple Operating Points;460
20.1;Introduction;460
20.1.1;LMI Based Techniques for Damping Control Design;460
20.1.2;The Technical Challenges of LMI Based Damping Control Design for Multi-model Systems;461
20.2;Nonlinear Matrix Inequalities Formulation of FACTS Stability Control Considering Multiple Operating Points;462
20.2.1;Multi-model System;462
20.3;A Two-Step Design Approach for the Output Feedback Controller;463
20.3.1;First Step: Determination of the Variable K;464
20.3.2;Second Step: Determination of Variables Ak and Bk;466
20.4;Extension to H2 and H? Performances;470
20.4.1;First Step: Determining K for Multi-objective Control;471
20.4.2;Second Step: Determining Ak and Bk for Multi-objective Control;472
20.4.3;H? Performance;474
20.4.4;H2 Performance;475
20.4.5;Remarks on the Two-Step Control Design Approach;478
20.5;Two-Step Control Design Approach for the Single-Machine-Infinite-Bus;478
20.5.1;Single-Machine-Infinite-Bus (SMIB);478
20.5.2;Pole Placement Based Damping Controller Design Using the Two-Step Approach;480
20.5.3;Comparison MLMI with SLMI Using Nonlinear Simulations;483
20.6;Two-Step Control Design Approach for the Multi-machine System;484
20.6.1;Multi-machine Test System;484
20.6.2;Two-Step Damping Controller Design for the Multi-machine System;485
20.6.3;Performance Evaluation;487
20.6.4;Nonlinear Simulations;488
20.7;Alternative Two-Step Control Design Approach for the Multi-machine System;490
20.7.1;Introduction of SCADA/EMS;490
20.7.2;Alternative Two-Step Damping Controller Design Approach;491
20.7.3;Numerical Examples;492
20.8;Summary;494
20.9;References;495
21;Control of a Looping Device in a Distribution System;497
21.1;Overview of a Looping Device in a Distribution System;497
21.2;Local Control of Looping Device;500
21.2.1;Estimation of Line Voltage;500
21.2.2;Loop Power Flow Control;501
21.2.3;Reactive Power Control;502
21.3;Approximation Control;503
21.3.1;Objective Function and Optimal Control;503
21.3.2;Approximation Using the Least-Squares Method;505
21.4;Simulation;506
21.5;Demonstration;512
21.5.1;Field Test System;512
21.5.2;Simple Control for Testing;513
21.5.3;Testing Conditions;514
21.5.4;Testing Results;515
21.6;References;517
22;Power Electronic Control for Wind Generation Systems;518
22.1;Introduction;518
22.2;WT with DFIG;520
22.2.1;Modelling and Control of WT with DFIG;520
22.2.2;Model of WT with DFIG;524
22.3;Small Signal Stability Analysis of WT with DFIG;531
22.3.1;Dynamic Model of WT with DFIG;531
22.3.2;Small Signal Stability Analysis Model of WT with DFIG;532
22.3.3;Small Signal Stability Analysis of WT with DFIG;533
22.3.4;Dynamic Simulations;536
22.4;Model of WT with DDPMG;538
22.4.1;Model of WT with DDPMG;539
22.5;Small Signal Stability Analysis of WT with DDPMG;544
22.5.1;Small Signal Stability Analysis Model;544
22.5.2;Small Signal Stability Analysis of WT with DDPMG;545
22.5.3;Dynamic Simulation on Four-Machine System;547
22.6;Nonlinear Control of Wind Generation Systems;548
22.6.1;Nonlinear Control;548
22.6.2;Third-Order Model of WT with DFIG;549
22.6.3;Nonlinear Control Design for the WT with DFIG;550
22.6.4;Dynamic Simulations;554
22.7;Modelling of Large Wind Farms Using System Dynamic Equivalence;555
22.7.1;Identification of Coherency Groups;556
22.7.2;Network Reduction;556
22.7.3;Aggregation of Dynamic Parameters;557
22.7.4;Dynamic Simulations;557
22.8;Interconnection of Large Wind Farms with Power Grid via HVDC Link;559
22.8.1;Development in VSC HVDC Technologies;559
22.8.2;VSC HVDC Control for Wind Farm Interconnection;561
22.8.3;Dynamic Simulations;562
22.9;References;562
23;Index;566