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Hardware Implementation Of Single Phase Dynamic Voltage Restorer

Department Of Electrical And Electronics, JNTUH College Of Engineering, Kukatpally, Hyderabad-500 085.

Department of Electrical and Electronics Engineering, RNS Institute of Science & Technology, Bangalore. 1 [email protected], [email protected]

Abstract: Voltage sag disturbances are the most frequently occurring Power Quality problems in the distribution system. Dynamic Voltage Restorer is normally employed as a solution for mitigation of voltage sag. The proposed system has less number of switching devices and has good compensating capability in comparison with commonly used compensators. Voltage dips are the major source of power quality related problems. The Static Series Compensator (SSC), commercially known as Dynamic Voltage Restorer (DVR), is best suited to protect sensitive loads against such incoming supply disturbances. The DVR is connected in series with the distribution feeder at medium voltages. DVR is a cost effective solution for the protection of highly sensitive loads at medium voltage level. However, for lower voltage applications, the DVR may be cost-ineffective compared to the uninterruptible power supply. Voltage sags can be compensated by voltage and power injection into the distribution system. The DVR is capable of generating and absorbing active and reactive power to provide protection against voltage dips. The THD of the load voltages are within the limits when compensator is functioning during disturbance condition. Hardware model of a single phase DVR is designed and test results are presented. Keywords: Static Series Compensator (SSC), Dynamic Voltage Restorer (DVR).
I. INTRODUCTION:

Sags are impossible to avoid because of the finite clearing time of the faults causing the voltage sag. The wide propagation of sags from the equipment can be made more tolerant of sags either via more intelligent control of the equipment or by storing more energy in equipment. Instead of modifying each component, for instance, a factory to be very tolerant to voltage sags, a better solution might be to install one Dynamic Voltage Restorer (DVR) to mitigate voltage sags. A DVR can eliminate severe sag and minimize the risk of load tripping at very deep sags. Power quality has a significant influence on high technology equipments related to communication, advanced control, automation, precise manufacturing technique and online service. For example, voltage sag can have a bad influence on the products of semiconductor fabrication with considerable financial losses. Power quality problems include transients, sags, interruptions and other distortions to the sinusoidal waveform. One of the most important power quality issues is voltage sag that is a sudden short duration reduction in voltage magnitude between 10 and 90 % compared to nominal voltage. Deep voltage sags, even of relatively short duration, can have significant costs because of the proliferation of voltage sensitive computer-based and variable speed drive loads. The fraction of load that is sensitive to low voltage is expected to grow rapidly in coming decades. Studies have shown that transmission faults, while relatively rare, can cause widespread sags that may constitute major process interruptions for very long distances from the faulted point. The DVR can correct sags resulting from faults in either transmission or distribution system.
II. DYNAMIC VOLTAGE RESTORER (DVR):

Significant deviations from the nominal voltage are a problem for sensitive consumers in the grid system. Interruptions are generally considered to be the worst case with the load disconnected from the supply. Voltage sags are characterized by a reduction in voltage, but the load is still connected to the supply. Sags are in most cases considered less critical compared to interruptions, but they typically occur more frequently.

Dynamic Voltage Restorer (DVR) is a series connected device for mitigating voltage sag and swell. DVR is an inverter based voltage sag compensator, it protects the precision manufacturing processes and sophisticated sensitive electronic equipments from the voltage fluctuations and power

Department of Electrical Engineering, Univ. College of Engg., Osmania University, Hyderabad, A.P, INDIA.

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outages. DVR offers sub cycle protection, restores the quality of electric power delivered to the sensitive load. The DVR regulates voltage within acceptable tolerances and meet the critical sensitive power quality needs.

disturbance requires a certain amount of real and reactive power supply from the DVR.

Fig.1 Voltage sag, DVR voltage, final load voltage OPERATING PRINCIPLE OF DVR:

Fig 3 Typical schematic of a power distribution system compensated by a DVR

The DVR is designed to inject the missing voltage into the distribution line. Its basic idea is to dynamically inject a voltage uc (t) as shown in Fig.1 The upper part of Figure shows a simplified single-phase equivalent circuit of a distribution feeder with a DVR, where the supply voltage u s (t), the DVR-injection voltage uc(t) and the load voltage uL(t) are in series. So, the DVR is considered to be an external voltage source where the amplitude, the frequency and the phase shift of uc(t) can be controlled. The purpose is to maintain the amplitude of the load voltage fixed and prevent phase jumps.

The reactive power requirement is generated by the inverter. To inject the active power, energy storage is needed to increase the ride through capability of DVR. Ride through capability is the time that DVR can restore or sustain the output voltage to 100% of DVR rating. The capacitor size is characterized as a time constant T, defined as the ratio between the stored energy at rated DC voltage and the rated apparent power of the converter as: Where UDCN is the nominal DC-converter voltage and SN is its rated apparent power. The capacitor cost is approximately proportional to the square of its terminal voltage. Choosing the suitable energy storage for DVR applications depends on the expected total cost and the designed rated power. Startup: At the moment, capacitors are the most commonly used energy storage elements for the DVR because they provide a fast discharging response and have no moving parts. To startup the DVR with a capacitor bank as energy storage, the capacitor bank should be charged to the rated DC voltage. Charging of the capacitor bank can be realized by exploiting a separate energy supply such as an electric generator operated by a diesel engine. When a voltage dip is detected in the grid, the bypass switch is turned off and the DVR transfers to the compensating state.
Features Of Dvr And Specifications
i. Features Of DVR:

Fig. 2 DVR operational principal up) simplified equivalent circuit, down) phasor diagram.

A phasor diagram for a voltage dip with a phasejump case is shown in Figure 2. From Figure, the load voltage is deduced as uL(t) =us(t)+uc(t) If the supply voltage us(t) has dropped due to a voltage dip or increased due to a voltage swell, the DVR compensating voltage uc(t) should be controlled so that the load voltage remains the same as during no-disturbance conditions. Thus, the instantaneous amplitude of uc(t) is controlled such as to eliminate any detrimental effects of a system fault to the load voltage as long as the disturbance does not cause the circuit breaker to open.
BLOCK DIAGRAM OF DVR:

A schematic diagram of the DVR incorporated into a distribution network is shown in Fig. 3. Vs is the source voltage, V1 is the incoming supply voltage before compensation, V2 is the load voltage after compensation, VDVR is the series injected voltage of the DVR, and I is the line current. The DVR typically consists of an injection transformer, the secondary winding of which is connected in series with the distribution line. The injection of an appropriate VDVR in the face of an up-stream voltage

Extremely fast response less than 1/4th cycle Expandable modular design Low maintenance High reliability Protection is available up to 120MVA
ii. SPECIFICATIONS OF DVR: Parameter Rated Value Maximum Load DVR Rating Load Voltage DVR Voltage DC Link Voltage Supply Frequency 50KVA 10KVA 230V 0-115V 560V 50Hz Per Unit Value 1 p.u 0.5 p.u 1 p.u 0-0.5p.u ---1 p.u

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Switching Frequency 20 KHz Table1

400 p.u

Table.1 gives the specifications of DVR which are used for the Hardware Implementation
DESIGN CRITERIA AND RATED POWER CALCULATIONS:

1) Design criteria: The design of the DVR is affected by the load, the supply characteristics and by the expected voltage-dip characteristics. When designing for a DVR for certain application, the following items should be considered:
Maximum load power and power factor: The load size strongly affects the current rating of the voltage-source converter and the injection transformer as well as the amount of energy storage needed. Maximum depth and duration of voltage dips to be corrected: These characteristics, together with the load size, dictates the necessary storage capacity of the energy storage device. The maximum depth and duration of voltage dips to be corrected is determined by the statistics of the voltage dips at the DVR location and by the acceptable number of equipment trips. Maximum allowed voltage drop of the DVR during the standby mode: This affects the control mode during normal operation and indirectly the reaction speed at the beginning of a voltage dip. Parameters of the step-down transformers: Coupling of the step-down transformer (CIA or YIY,. . .etc.) at input and output sides of the DVR. Harmonic requirements of the load and of the system: These affect the harmonic filtering needed for the DVR and also influence the choice of charging method for the capacitors. At the first instance when designing a DVR, some assumption could be made to simplify the analysis, such as: Ideal switches DC-side capacitors are large enough to maintain a ripplefree DC bus voltage, even for unbalanced input voltage. Series transformer and output filter components are ideal. In order to design a DVR, the concept of boost rating is introduced to define the maximum voltage that the DVR is capable to inject into the power line with respect to the nominal distribution system voltage. This boost ratio is defined as
B UC Usl 3

and required load voltage UL, the DVR injected voltage is written as: Uc = UL Us = (1-MF) UL The range of the modulus of MF is defined by the maximum variation of Us, for which the DVR is designed. So, in normal operation MF will be unity and Uc is zero. MF = Us/ UL Considering the fact that the DVR current should be designed to be the same as the rated load current, the apparent power required by the DVR is then calculated in terms of the apparent load power, SL and MF by the following formula. Sc = SL (1- MF) Consequently, the active and reactive powers are calculated by separating Sc into its real and imaginary parts as
PC S L cos(
L

M F cos(

QC

S L sin(

M F sin(

Where cos(S) is the source power factor and cos(L) is the load power factor.
PC PL 1 U S c os( c os(
L L

) )

In the above equation, the load voltage is assumed to be constant and equal to 1 pu. So, the required active power of a DVR depends on the magnitude and the phase-angle jump of the supply voltage as well as the load power factor.
HARDWARE DESIGN:

This is the hardware implementation of Dynamic Voltage Restorer (DVR) designed for mitigation of voltage sags. In this the arrangement is of 10 sub circuits as shown in the model 4 IGBTs, DVR coupling network, Opto coupler circuit, Isolated power supply circuit, Lamp load, Line Impedance, microcontroller circuit,1:1 isolated transformer, and the 3 transformers are: 1) for DVR DC Supply, 2)for trigger circuit, 3) for control circuit.

Here, Usl, is the nominal line-to-line voltage of the supply.

Fig.9. Hardware module of Dynamic Voltage Restorer (DVR) Top view.

2) Rated power calculations: The DVR function, in case of voltage dips, is to exchange real power between the power system and the energy storage device. The real power injected by the DVR is an important feature to precede its design process. To calculate the active and the reactive power, a factor is defined to indicate the reduction of the positive sequence voltage with respect to the nominal voltage of the load. For a certain supply voltage U,

In the block diagram, the 230V, 50 HZ supply is isolated by means of a 1:1 (230/230), 150VA isolation transformer. This isolated voltage is treated as the line voltage, which supplies power to the load, through simulated line impedance. The simulated line impedance is simply a wire wound resistor. To have maximum effect of voltage drop across the line impedance, the resistance value considered is of very high value, 120 Ohms. After this simulated line impedance, a switch is connected, through which the load can

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be connected or disconnected. In the return path, the DVR output is connected, by means of the output winding of the coupling transformer developed. This output from the DVR is connected in series with the load, and mitigates the line impedance effects, i.e. in this case the voltage drop caused by it. The DVR circuit has to check the load voltage and need to be connected to the micro controller circuit and correct the voltage if there is any shortage or excess when compared to a Reference voltage, by injecting appropriate voltage into the circuit by means of the coupling network.

The functioning and designing of different blocks of dynamic voltage restorer is discussed herewith.
a) Single phase voltage source bridge inverter:

The voltage source inverter used in the DVR circuit makes the induction of required voltage with required phase possible. This inverter uses dc capacitors as the supply and can switch at a high frequency to generate a signal which will mitigate the voltage sags and swells across the load.
b) Micro controller circuit:

The microcontroller circuit is the heart of the system, and is responsible for generating the reference voltage waveform from the voltage waveform that is sampled from the sensing network, which it has obtained from the reference voltage sensing circuit. This reference voltage waveform is generated keeping the zero crossing as the reference to maintain the phase relationship of the load and correcting voltage. As the voltage induced through the coupling transformer, generated by the bridge inverter, the resulted voltage across the load will be a pure sinusoid of required voltage.
c) Opto coupler and driver circuits:

Fig.10. The basic block diagram of the proposed DVR system

The micro controller cant read voltages more than 5V. As the 2302 V of positive and negative peak voltage cannot be directly fed to the micro controller circuit, this voltage is attenuated to 2.5V at peak points by means of a potential divider. The potential divider is basically a resistor divider network, with resistors R1 and R2 as shown in the figure. One of these resistor values is arbitrarily chosen and the other value is calculated, as explained below. Initially, the R2 value is assumed and is 1.8K. The supply peak voltage, output voltage, R1 and R2 values are related by the following equation.
(R2 (R1+R2))2302 = 2.2 V

Opto couplers are capable of transferring an electrical signal between two circuits while electrically isolating the circuits from each other. They generally consist of an infrared LED, light emitting section at the input and a silicon photo detector at the output. The input for opto couplers can be either AC or DC, which can drive the LED.
d) Coupling network:

Here, the R1 value is calculated and is 2.6k The output voltage is considered to be 2.2V, instead of 5V that can be accepted by the micro controller circuit. The micro controller has to sense both positive and negative voltages, and the range it can accept is only 0 to 5V. Thus, for positive and negative peaks if 2.5 V is generated as the output, then if 2.5 V is added then the output remains in the range of 0 to 5V. But, the input supply voltage can have a value more than 230V rms. In order to accommodate the excess voltages, instead of 2.5 V for peak voltages 2.2V is generated. Thus, another 0.3 V is there to meet the higher voltages. If the lamp load is not connected, the output of the isolation transformer does not have any drop, and the full voltage appears across the sensing circuit, and there is no need of any correction by the DVR circuit. When the load is connected, the lamp glows and current flows through the simulated line impedance, and there is an appreciable voltage drop across the line impedance, and this drop in voltage need to be injected by the DVR circuit.
Dynamic Voltage Restorer:

The voltage waveform for mitigating the voltage variations in the load circuit is achieved with the voltage source inverter, coupling transformer and an interfacing filter. The coupling transformer needs to transfer energy from the voltage source inverter to the load and at the same time need to provide low impedance on the load side, so that the transformer winding itself doesnt provide a voltage drop across the load.
e) Inverter driving circuitry:

Fig.1Inverter Driving circuit

In order to trigger the IGBTs, it is required to apply a +12V pulse to make it turn ON and -12V pulse to turn it OFF to the gate with respect to its emitter. Thus, in order to provide triggering pulses to each and every MOSFET, it is required to have four isolated power supplies of 12V which can be used to apply trigger pulses to the respective MOSFETs. This inverter provides the required outputs, which can be used to drive the opto-coupler secondary side, which is meant for driving the IGBT gate.
f) Isolated power supplies for filter elements:

Three different power supplies are required, to provide power to various blocks of the over-all DVR circuit. The

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micro controller requires basically a 5-V supply. But, the op-amp circuit associated with the potential divider circuit requires a 12 volts supply. This supply is generated from a step-down transformer connected to the mains. The DVR inverter requires a separate power supply, and this is generated from another step-down transformer and another 12-V supply is generated using another step-down transformer, which is mainly to power the isolated power generator circuit. This circuit is shown in the Fig.13

Fig.17 Voltage waveform after switching ON of Lamp load

The voltage waveform when the lamp load (200) is connected the drop in voltage is 1.2V as shown in fig. 17.

Fig.13 Circuit diagram of Isolated power supply

Fig.18 The compensation Voltage waveform after switching ON of the DVR

Fig.14 The total circuit diagram of the DVR

RESULTS:

Fig. 15 Voltage waveform at the DVR Coupling network

The voltage waveform when when the DVR is ON , the observed waveform is at the coupling network is clearly shown in fig. 15.

when the DVR is ON, The obtained sag is compensated the compensation of voltage waveform with clear graphical fluctuations are shown in the fig. 18. Conclusions: In this paper, hardware protocol model of DVR is setup. The proposed technique could identify the voltage sag and is capable of mitigating the sag by maintaining the load voltage magnitude at desired voltage and THD within limits. The proposed technique is simple and uses only one switching per phase. Hence the system is simple, economical and does not require energy storage device as compared to commonly used DVR or STATCOM. Performance of the proposed device is verified by theoretical results and is found to be satisfactory. Best control strategy for sensitive loads which cant withstand for phase angle jumps is pre-sag compensation. For minimum voltage injection, in-phase injection compensation is the best. For minimum energy injection by the DVR, phase advance compensation is best but requires more voltage injection. Acknowledgements
We thank JNTU Hyderabad University, R& D cell for giving the financial support under JNTUH JRSP scheme to carryout this hardware project

References:
[1]. Control and Testing of a Dynamic Voltage Restorer (DVR) at medium Voltage Level,IEEE Transactions on Power Electronics.Vol.19, no.3, MAY 2004. Dynamic Voltage Restoration with Minimum Energy Injection, IEEE Transactions on Power Systems, Vol.15, No.1, February 2000. N.G.Hingorani, Introducing custom power, IEEE Spectrum, pp.41-48, June 1995. M.F.McGrandghan, D.R.Mueller, and M.J.Samotyj.Voltage sags in industrial systems, IEEE Trans. On industry applications, Vol.29, no.2,pp.397-402,March/ April 1993. S.W.Middlekauff and E.R.Collins Jr. System and customer impact consideration for series custom power devices, IEEE Trans. On power Delivery, Vol. 13, no.1, pp. 278-282,Jan. 1998 N.Abi-sharma and A.Sundaram, The distribution system dynamic voltage restorer and its applications at industrial facilities with

[2]. [3]. Fig. 16 Voltage waveform when the supply is given without any load connections [4].

The voltage waveform when initially the supply is given without any load connections shown in fig. 16.

[5].

[6].

Department of Electrical Engineering, Univ. College of Engg., Osmania University, Hyderabad, A.P, INDIA.

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[7].

[8].

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[10].

[11].

[12].

sensitive loads, Westinghouse Electric Corporation, Technical Report. T.Wunderlin, P.Dahler, D.Amhof, and H.Gruning, Power supply quality improvement with a dynamic voltage restorer (DVR) , in proceedings of EMPD98, Singapore, Mar.3-5, 1998 pp.518-525. A.Compos and G.Joos et.al. Analysis and design of a series voltage unbalance compensator based on a three-phase VSI operating with unbalanced switching functions, IEEE Trans. On Power Electronics, Vol.9, No.3, pp. 269-274, may 1994. R.Buxton, Protection from voltage dips with the dynamic voltage restorer, in IEEE Half Day colloquium on Dynamic Voltage Restorer, London, 1998, Digest No. 1998/189. .G.Nielsen, F.Blaabjerg, and N.Mohan, control strategies for dynamic voltage restorer compensating voltage saga with phase jump, in proc, IEEE/APEC01 Conference, Vol. 2, 2001, pp.12671273. N.H.Woodly, L.Morgan, and A.Sundaram, Experience with an inverter-based dynamic voltage restorer, IEEE Trans. Power delivery, Vol.14, pp.1181-1186, July 1999. UNDERSTANDING POWER QUALITY PROBLEMS, Voltage sags and interruptions Math H.J.Bollen-IEEE PRESS. BIOGRAPHIES OF AUTHORS:

She published 5 books.She was awarded best candidate among B. E. Electrical Graduates(1985) in the U.V.C.E Golden Jubilee Celebration Commendation.Dr. K. Uma Rao is a Member of IEEE, Life Member of IndianSociety of Technical Education and also Life Member of Institution of Engineers (I). Dr. M.Sushama, born on 8th Feb 1973, in Nalgonda , a small town near Nagarjuna Sagar, A.P., India . Obtained her B.Tech degree in 1993 and M.Tech degree in 2003 with a specialization in Electrical Power Systems from JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY, INDIA. Joined as Lecturer in the Department of EEE, JNTU College of Engg., Anantapur, in the year 1995. In the year 1996, redesignated as Assistant Professor. Presently working as Associate Professor, Electrical & Electronics Engineering in the Department of EEE, JNTU College of Engineering, Kukatpally, Hyderabad. She had 14 years of teaching experience. During her teaching career she taught various subjects like C language & Data Structures, Microprocessors and Micro controllers etc., Doing research in Power Quality using Wavelets, she published 5 international papers in various IEEE sponsored conferences.

Dr. A. Jaya laxmi was born in Mahaboob Nagar District, Andhra Pradesh, on 07-11-1969. She completed her B.Tech. (EEE) from Osmania University College of Engineering, Hyderabad in 1991, M. Tech.(Power Systems) from REC Warangal, Andhra Pradesh in 1996 and completed Ph.D.(Power Quality) from Jawaharlal Nehru Technological University College of Engineering, Hyderabad in 2007. She has five years of Industrial experience and 12 years of teaching experience. She has worked as Visiting Faculty at Osmania University College of Engineering, Hyderabad and is presently working as Associate Professor, JNTU College of Engineering, JNTUH, Kukatpally,Hyderabad. She has 5 International Journals to her credit. She has 23 International and 5 National papers published in various conferences held at India and also abroad. Her research interests are Neural Networks, Power Systems & Power Quality. She was awarded Best Technical Paper Award for Electrical Engineering in Institution of Electrical Engineers in the year 2006. Dr. A. Jaya laxmi is a Member of IEEE, Life Member of System society of India, Life Member of Institution of Electrical Engineers Calcutta (M.I.E) and also Life Member of Indian Society of Technical Education (M.I.S.T.E). Dr. K. Uma Rao was born in Bangalore, Karnataka, India, on 10 March, 1963. She completed her B.E (EEE) from University Visvesvaraya College of Engineering, Bangalore in 1984 and stood University First, M.E (Power Systems) from University Visvesvaraya College of Engineering, Bangalore in 1987, stood University First, Ph.D from Indian Institute of Science, Bangalore in 1996 and completed MBA (Project Management) from Indira Gandhi Open University, New Delhi in 2004. She has 22 years of teaching experience. She worked as Lecturer, Assistant Professor, Associate Professor and Professor in various colleges and presently working as Professor and Head, Department of Electrical and Electronics Engineering, RN Shetty Institute of Technology,Bangalore. She has guided 20 M.Tech, one Ph.D and currently sheis guiding 3 research students. She has 4 International journals, 24International and 17 National papers published in variousconferences held at India and also abroad.

N.Tejasri devi was born in Eluru, A.P., India, in 1984.she completed her B.Tech from SASI Engineering College in 2007 and obtained her M.Tech from JNT University, Hyderabad. Her specialization is Electrical Power Engineering.

Department of Electrical Engineering, Univ. College of Engg., Osmania University, Hyderabad, A.P, INDIA.