Along with the increasing scale of the power system and stressed operation in the transmission network, the stability margin is reduced considerably. As a traditional solution, the constructions of new transmission lines and generators sometimes are constrained by local environmental and regulatory constraints. Another characteristic of a modern network is the higher number of transmission inter-connections which appear in the large-scale power system. As an economic benefit, inter-connection can reduce the cost of electricity and enhance system reliability [1]. Those inter-connected tie lines are operated normally under heavy flow to maximize the usage benefit. This characteristic contributes to the complexity of operating and controlling the system. In recent years, along with the development of power electronic devices, the Flexible AC Transmission Systems (FACTS) has been used in the system as an alternative solution. It can maximize the usage benefit of the HV transmission line and make the large-scale power system more controllable. By using FACTS devices, the system can survive serious system contingencies with real-time control action, instead of providing a large steady state stability margin. Therefore, the system transfer capacity can be significantly increased. Electromechanical oscillations are observed in today's power system; such oscillations are recognized as a major concern in power system operation. Once begun, the oscillations may continue for a while before being halted by the damping torque from the system, or they may continue to grow (inadequate damping) and eventually cause system instability by losing synchronicity. The traditional and widely applied solution for oscillation damping is the Power System Stabilizer (PSS), which is efficient in damping local mode oscillation and inter-area oscillation in certain conditions. In recent years, research and development of the application of FACTS devices in suppressing system oscillations, especially for inter-area mode oscillation damping, has attracted increasing interest [1]. The primary objective of this thesis is to design robust FACTS controllers for enhancing power system dynamic stability by damping low frequency electromechanical oscillations. Recently, various nonlinear control techniques have been applied in power system control. The performance of nonlinear controllers is influenced by the parameter uncertainty and external disturbance. This thesis will present a novel approach of a robust Variable Structure Control (VSC)-based FACTS controller for damping multi-mode oscillations. Robust performances of the proposed controllers in different power systems are demonstrated by computer simulation.

abstract: The growth of energy demands in recent years has been increasing faster than the expansion of transmission facility construction. This tendency cooperating with the continuous investing on the renewable energy resources drives the research, development, and construction of HVDC projects to create a more reliable, affordable, and environmentally friendly power grid. Constructing the hybrid AC-HVDC grid is a significant move in the development of the HVDC techniques; the form of dc system is evolving from the point-to-point stand-alone dc links to the embedded HVDC system and the multi-terminal HVDC (MTDC) system. The MTDC is a solution for the renewable energy interconnections, and the MTDC grids can improve the power system reliability, flexibility in economic dispatches, and converter/cable utilizing efficiencies. The dissertation reviews the HVDC technologies, discusses the stability issues regarding the ac and HVDC connections, proposes a novel power oscillation control strategy to improve system stability, and develops a nonlinear voltage droop control strategy for the MTDC grid. To verify the effectiveness the proposed power oscillation control strategy, a long distance paralleled AC-HVDC transmission test system is employed. Based on the PSCAD/EMTDC platform simulation results, the proposed power oscillation control strategy can improve the system dynamic performance and attenuate the power oscillations effectively. To validate the nonlinear voltage droop control strategy, three droop controls schemes are designed according to the proposed nonlinear voltage droop control design procedures. These control schemes are tested in a hybrid AC-MTDC system. The hybrid AC-MTDC system, which is first proposed in this dissertation, consists of two ac grids, two wind farms and a five-terminal HVDC grid connecting them. Simulation studies are performed in the PSCAD/EMTDC platform. According to the simulation results, all the three design schemes have their unique salient features. / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2017

This thesis investigates the effects of High Voltage Direct Current (HVDC) lines andmulti-terminal grids on power system small-disturbance stability in the presence ofoperational uncertainties. The main outcome of this research is the comprehensiveprobabilistic assessment of the stability improvements that can be achieved through theuse of supplementary damping control applied to HVDC systems.Power systems are increasingly operated closer to stability boundaries in order toimprove their efficiency and economic value whilst a growing number of conventionalcontrolled power plants are being replaced by stochastic renewable generation sources.The resulting uncertainty in conditions can increase the risk of operational stabilityconcerns and should be thoroughly evaluated. There is also a growing necessity toexplore the potential improvements and challenges created by the introduction of newequipment, such as HVDC systems. In recent years, HVDC systems have become moreeconomically competitive and increasingly flexible, resulting in a proliferation ofprojects. Although primarily installed for power transmission purposes, their flexibilityand controllability can provide further benefits, such as the damping of persistentoscillations in the interconnected networks.This work contributes to a number of areas of power systems research, specificallysurrounding the effects of HVDC systems on the small-disturbance stability oftransmission networks. The application and comprehensive assessment of a Wide AreaMeasurement System (WAMS) based damping controller with various HVDC systemsis completed. The studies performed on a variety of HVDC technology types andconfigurations – as well as differing AC test networks – demonstrate the potential forHVDC-based Power Oscillation Damping (POD). These studies include examinationsof previously unexplored topics such as the effects of available modulation capacity andthe use of voltage source converter multi-terminal HVDC grids for POD. Followingthese investigations, a methodology to probabilistically test the robustness of HVDC based damping controllers is developed. This methodology makes use of classificationtechniques to identify possible mitigation options for power system operators whenperformance is sub-optimal. To reduce the high computational burden associated withthis methodology, the Probabilistic Collocation Method (PCM) is developed in order toefficiently identify the statistical distributions of critical system modes in the presenceof uncertainties. Methods of uncertain parameter reduction based on eigenvaluesensitivity are developed and demonstrated to ensure accurate results when the PCM isused with large test systems. Finally, the concepts and techniques introduced within thethesis are combined to probabilistically design a WAMS-based POD controller morerobust to operational uncertainties. The use of the PCM during the probabilistic designresults in rapid and robust synthesis of HVDC-based POD controllers.

<p>Most of the heavy-duty machines, in particular construction vehicles, employ hydraulically actuated functions that are used to perform multiple tasks with elevated power requirements. Such high-power demand motivates the Original Equipment Manufacturers (OEMs) to minimize the costs associated with energy consumption through the design of such hydraulic systems. The human-machine interaction (human factors) and the efficiency of the hydraulic control system are considered key elements towards a successful design. The interaction between the operator and the machine considerably affects the performance of construction machines. In order to maintain high levels of productivity, the operators require comfort and effortless controllability of the multiple hydraulic functions. The comfort requirement can include limited shocks and oscillations while operating the machines (while driving and controlling the implement motion), cabin accessories (AC, radio, cameras, etc.) and accessibility to the instrumentation. Besides, the operators have to control multiple functions simultaneously in an efficient manner while maintaining high levels of productivity. Consequently, the operators require smooth controllability of such functions. Such demand can largely affect the efficiency of the expected hydraulic control system and can induce additional costs and complexity. The OEMs are therefore forced to find a balance between efficiency and operators’ requirements to be competitive on the market. As a result, the currently adopted hydraulic architectures rely on purely hydraulic components to ensure robustness and functionality of the hydraulic functions at the expenses of limited performance and high-power consumption. In this dissertation, electro-hydraulic components are employed to induce improvements of the commercially available solutions while still complying with the operators’ demands and energy efficiency. To this end, this work tackles the weaknesses of traditional hydraulic architectures and it proposes alternative solutions to overcome their limitations. Two full-size wheel loaders are used to study the behavior of the existing system and later to implement the proposed variations. First, the development of an innovative ride control feature to improve the operators’ comfort is presented. Experimental results show the proposed strategy having better comfort performances compared to the purely hydraulic solution. Besides, the electro-hydraulic alternative does not demand the costly additional components the commercial solution instead requires. Second, this work faces the concern for efficiency of the present hydraulic architecture. The most diffused hydraulic system for the studied category of construction machines, commonly known as Load Sensing (LS), is sized to work most efficiently for elevated power conditions. During this work, an electronically controlled hydraulic supply unit and a flow-sharing method are used to reduce the hydraulic power consumption in the regions where the traditional LS system is less efficient. With a simple and cost-effective modification, the presented control strategy can induce an efficiency improvement over a wide range of operating conditions. Third, this dissertation proposes an operator-assistance feature to potentially increase the overall productivity and reduce the operator’s stress. An online estimation algorithm was developed to predict the payload weight of the transported material inside the bucket and the pushing forces during a typical loading cycle. The calculated payload mass provides an estimate of the user’s productivity level and it is extremely advantageous when the loaded material should reach a certain target weight. The developed estimation algorithm can also support an optimized autonomous excavation process, which can progressively limit the operator-machine interaction.</p>

Electromagnetic transient and dynamic modeling and simulation studies are presented for a StatCom-SMES compensator in power systems. The transient study aims to better understand the transient process and interaction between a high power/high voltage SMES coil and its power electronics interface, dc-dc chopper. The chopper is used to attach the SMES coil to a StatCom. Following the transient study, the integration of a StatCom with SMES was explored to demonstrate the effectiveness of the combined compensator in damping power oscillations. The transient simulation package PSCAD/EMTDC has been used to perform the integrated modeling and simulation studies. A state of the art review of SMES technology was conducted. Its applications in power systems were discussed chronologically. The cost effective and feasible applications of this technology were identified. Incorporation of a SMES coil into an existing StatCom controller is one of the feasible applications, which can provide improved StatCom operation, and therefore much more flexible and controllable power system operation. The SMES coil with the following unique design characteristics of 50MW (96 MW peak), 100 MJ, 24 kV interface has been used in this study. As a consequence of the high power/ high voltage interface, special care needs to be taken with overvoltages that can stress the insulation of the coil. This requires an investigation of transient overvoltages through a detailed modeling of SMES and its power electronics interface. The electrical model for the SMES coil was developed based on geometrical dimensions of the coil. The interaction between the SMES coil and its power electronics interface (dc-dc chopper for the integration to StatCom) was modeled and simulated to identify transient overvoltages. Transient suppression schemes were developed to reduce these overvoltages. Among these are MOV implementation, surge capacitors, different configurations of the dc-dc chopper. The integration of the SMES coil to a StatCom controller was developed, and its dynamic behavior in damping oscillations following a three-phase fault was investigated through a number of simulation case studies. The results showed that the addition of energy storage to a StatCom controller can improve the StatCom-alone operation and can possibly reduce the MVA rating requirement for the StatCom operating alone. The effective location selection of a StatCom-SMES controller in a generic power system is also discussed. / Ph. D.

<p>Utilization of power electronics based controllable systems (or devices) in transmission systems has opened new opportunities for the power industry to optimize utilization of the existing transmission systems, and at the same time to keep high system reliability and security.</p><p>As a member of these controllable systems, Voltage Source Converters-based High Voltage direct current (VSC-HVdc) systems have the ability to rapidly control the transmitted active power, and also to independently exchange reactive power with transmissions systems. Therefore, VSC-HVdcs with a suitable control scheme can offer an alternative means to enhance transient stability, to improve power oscillations damping, and to provide voltage support. An interesting application of this system is the analysis of a power system when a VSC-HVdc is connected in parallel with ac transmission lines.</p><p>This thesis presents the derivation of control strategies to damp power oscillations, to enhance the transient stability and to provide voltage support for a VSC-HVdc. The thesis also formulates a multichoice control strategy and its application when the VSC-HVdc is connected in a synchronous system.</p><p>The control strategy for enhancing transient stability is based on the theory of Control Lyapunov Function. The control strategy for increasing the damping is based on Linear Analysis. A very effective well known way to increase damping in the system is modulating the active power through the HVdc. However, besides the control of active power, the thesis explores an alternative way to mitigate power oscillations by controlling the reactive power. This condition might be very useful when the dc link in the VSC-HVdc system is out of service, but the converter stations are in operating conditions.</p><p>A simple model of VSC-HVdc is considered in order to test the control strategy. The model represents the VSC-HVdc as an element in the power system that provides adequate interaction with other systems elements. The model is intended for analysis of power flows and electromechanical transients. It is then sufficient to consider the power frequency components of voltages and currents represented by phasors that vary with time during transients. The model is valid for symmetrical conditions, i.e. positive sequence phasors are used for the representation of the electrical state.</p>

Orientador: Percival Bueno de Araujo / Resumo: Neste trabalho são apresentados quatro métodos de otimização bio-inspirados, Colônia de Abelhas Artificiais, Otimização por Enxame de Partículas, Algoritmo dos Vagalumes e um híbrido aqui denominado por Bee – PSO, que combina particularidades dos outros três. Estes métodos são utilizados no ajuste coordenado dos parâmetros dos controladores Proporcional-Integral e Suplementares de Amortecimento (Estabilizadores de Sistemas de Potência e o conjunto Unified Power Flow Controller – Power Oscillation Damping). O objetivo é inserir amortecimento adicional aos modos oscilatórios de baixa frequência e, consequentemente, garantir a estabilidade do sistema elétrico frente a pequenas perturbações. São considerados três cenários que englobam duas configurações de instalação dos controladores suplementares e duas condições de carregamento, uma fixa e outra variável. Uma formulação por injeções de corrente do dispositivo Unified Power Flow Controller é sugerida e incorporada ao Modelo de Sensibilidade de Corrente, utilizado para representar o sistema elétrico de potência. Análises estática e dinâmica foram realizadas nos sistemas teste Simétrico de Duas Áreas e New England para validar o modelo de injeções de corrente proposto para o Unified Power Flow Controller e determinar qual dos algoritmos apresentados é o mais eficiente no ajuste coordenado dos parâmetros dos controladores. Dos resultados obtidos foi possível concluir que a versão híbrida proposta neste trabalho possui desempenho s... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: In this work four bio-inspired optimization methods, Artificial Bee Colony, Particle Swarm Optimization, Firefly Algorithm, and a hybrid called Bee – PSO, which combines the characteristics of the other three are presented. These methods are used in the coordinated adjustment of the parameters of Proportional-Integral and Supplementary Damping Controllers (Power System Stabilizers and the Unified Power Flow Controller - Power Oscillation Damping). The goal is to insert additional damping into the low-frequency oscillatory modes and thus ensure the stability of the electrical system against minor disturbances. Three scenarios are considered that include two installation configurations of the supplementary controllers and two charging conditions, one fixed and one variable. A current injection formulation of the Unified Power Flow Controller is suggested and incorporated into the Current Sensitivity Model used to represent the electric power system. Static and dynamic analyzes were performed in the Two-Zone Symmetric and New England test systems to validate the proposed current injection model for the Unified Power Flow Controller and to determine which of the presented algorithms is the most efficient in the coordinated adjustment of the parameters of the controllers. From the results obtained it was possible to conclude that the hybrid version proposed in this work has superior performance in most scenarios analyzed, providing solutions with sufficient damping, even when smal... (Complete abstract click electronic access below) / Doutor

Submitted by LUIS FABIANO BARONE MARTINS null (luis_barone@ig.com.br) on 2017-08-30T14:29:52Z No. of bitstreams: 1 tese-luis-fabiano-barone-martins.pdf: 3400963 bytes, checksum: 6361e93ee21ab8eb5a35cb9dd7d0bd28 (MD5) / Approved for entry into archive by Luiz Galeffi (luizgaleffi@gmail.com) on 2017-08-30T17:52:14Z (GMT) No. of bitstreams: 1 martins_lfb_dr_ilha.pdf: 3400963 bytes, checksum: 6361e93ee21ab8eb5a35cb9dd7d0bd28 (MD5) / Made available in DSpace on 2017-08-30T17:52:14Z (GMT). No. of bitstreams: 1 martins_lfb_dr_ilha.pdf: 3400963 bytes, checksum: 6361e93ee21ab8eb5a35cb9dd7d0bd28 (MD5) Previous issue date: 2017-08-22 / Neste trabalho são apresentados quatro métodos de otimização bio-inspirados, Colônia de Abelhas Artificiais, Otimização por Enxame de Partículas, Algoritmo dos Vagalumes e um híbrido aqui denominado por Bee – PSO, que combina particularidades dos outros três. Estes métodos são utilizados no ajuste coordenado dos parâmetros dos controladores Proporcional-Integral e Suplementares de Amortecimento (Estabilizadores de Sistemas de Potência e o conjunto Unified Power Flow Controller – Power Oscillation Damping). O objetivo é inserir amortecimento adicional aos modos oscilatórios de baixa frequência e, consequentemente, garantir a estabilidade do sistema elétrico frente a pequenas perturbações. São considerados três cenários que englobam duas configurações de instalação dos controladores suplementares e duas condições de carregamento, uma fixa e outra variável. Uma formulação por injeções de corrente do dispositivo Unified Power Flow Controller é sugerida e incorporada ao Modelo de Sensibilidade de Corrente, utilizado para representar o sistema elétrico de potência. Análises estática e dinâmica foram realizadas nos sistemas teste Simétrico de Duas Áreas e New England para validar o modelo de injeções de corrente proposto para o Unified Power Flow Controller e determinar qual dos algoritmos apresentados é o mais eficiente no ajuste coordenado dos parâmetros dos controladores. Dos resultados obtidos foi possível concluir que a versão híbrida proposta neste trabalho possui desempenho superior na maioria dos cenários analisados, fornecendo soluções com amortecimento suficiente, mesmo quando pequenas variações no carregamento do sistema são consideradas. / In this work four bio-inspired optimization methods, Artificial Bee Colony, Particle Swarm Optimization, Firefly Algorithm, and a hybrid called Bee – PSO, which combines the characteristics of the other three are presented. These methods are used in the coordinated adjustment of the parameters of Proportional-Integral and Supplementary Damping Controllers (Power System Stabilizers and the Unified Power Flow Controller - Power Oscillation Damping). The goal is to insert additional damping into the low-frequency oscillatory modes and thus ensure the stability of the electrical system against minor disturbances. Three scenarios are considered that include two installation configurations of the supplementary controllers and two charging conditions, one fixed and one variable. A current injection formulation of the Unified Power Flow Controller is suggested and incorporated into the Current Sensitivity Model used to represent the electric power system. Static and dynamic analyzes were performed in the Two-Zone Symmetric and New England test systems to validate the proposed current injection model for the Unified Power Flow Controller and to determine which of the presented algorithms is the most efficient in the coordinated adjustment of the parameters of the controllers. From the results obtained it was possible to conclude that the hybrid version proposed in this work has superior performance in most scenarios analyzed, providing solutions with sufficient damping, even when small variations in system loading are considered.

Orientador: Percival Bueno de Araujo / Resumo: Neste trabalho, uma técnica baseada na Busca em Vizinhança Variável Básica é apresentada para realizar o ajuste coordenado dos parâmetros dos controladores suplementares de amortecimento Thyristor Controlled Series Capacitor - Power Oscillation Damping e Estabilizadores de Sistemas de Potência, a fim de garantir a estabilidade a pequenas perturbações de sistemas elétricos de potência. A estratégia do método de ajuste proposto consiste em explorar sistematicamente estruturas de vizinhança atrelada a uma etapa de busca local, tornando possível a obtenção de soluções ótimas e a manutenção da capacidade de evitar a estagnação em um ótimo local. Um modelo do TCSC por injeção de corrente é apresentado e seus coeficientes de sensibilidade de corrente são deduzidos para incorporação ao Modelo de Sensibilidade de Corrente, que é utilizado para representar o sistema elétrico de potência. Com a inclusão da modelagem dos controladores de amortecimento, simulações são realizadas em dois sistemas testes, conhecidos como sistema Simétrico de Duas Áreas e sistema New England. Os resultados obtidos são analisados para melhor compreensão do comportamento do sistema elétrico de potência quando submetido a uma pequena perturbação e da influência dos controladores de amortecimento neste cenário. Os parâmetros dos controladores são ajustados pelo algoritmo Particle Swarm Optimization, por um Algoritmo Genético e, também, pelo método proposto neste trabalho. Os desempenhos individuais dos métodos d... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: In this work, a technique based on Basic Variable Neighborhood Search is presented to perform the coordinated tuning of the parameters of the supplementary damping controllers Thyristor Controlled Series Capacitor - Power Oscillation Damping and Power System Stabilizers in order to guarantee the small-signal stability of the electric power systems. The strategy of the proposed tuning method consists in systematically exploring neighborhood structures followed by a local search stage, making it possible to obtain optimal solutions and to maintain the ability to avoid stagnation in a local optimum. A current injection model for the TCSC is presented and its current sensitivity coefficients are deduced for incorporation into the Current Sensitivity Model, which is used to represent the electric power system. With the inclusion of the damping controllers modeling, simulations are performed on two test systems, known as the Two-Area Symmetric system and New England system. The results obtained are analyzed to better understand the behavior of the electric power system when subjected to a small disturbance and the influence of the damping controllers in this scenario. The controllers parameters are tuned by the Particle Swarm Optimization algorithm, by a Genetic Algorithm and also by the method proposed in this work. The individual performances of the tuning methods are compared in order to conclude on the technique best suited for this type of problem, including the analysis of a ... (Complete abstract click electronic access below) / Doutor

Made available in DSpace on 2014-06-11T19:22:35Z (GMT). No. of bitstreams: 0 Previous issue date: 2008-01-25Bitstream added on 2014-06-13T20:09:50Z : No. of bitstreams: 1 furini_ma_me_ilha.pdf: 1020610 bytes, checksum: d3a4a2f6ec4cb8559c7d3d6b770ec955 (MD5) / Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) / O objetivo desta Dissertação de Mestrado é apresentar a possibilidade de fornecer amortecimento às oscilações de baixa freqüência do sistema elétrico de potência através dos dispositivos FACTS (Flexible Alternating Current Transmission System) TCSC (Thyristor Controlled Series Capacitor) e UPFC (Unified Power Flow Controller). Para isso realiza-se o desenvolvimento e implementação do Modelo de Sensibilidade de Potência para sistemas multmáquinas. Na seqüência são introduzidos os dispositivos TCSC e UPFC, bem como os seus controladores. Apresentam-se resultados de acordo com a evolução dos modelos que representam os dispositivos FACTS, ou seja, parte-se de uma compensação fixa, passando para um modelo dinâmico de primeira ordem e por fim, é incluído o controlador POD (Power Oscillation Damping). A utilização de sinais locais e remotos para entrada do controlador POD também é analisada. Além disso são mostrados os resultados obtidos pela técnica clássica de introdução de amortecimento através de sinais suplementares (os estabilizadores de sistemas de potência – PSS: Power System Stabilizers). O projeto dos controladores POD e PSS é baseado no método da compensação de fase, utilizando a teoria de controle clássico. Fatores de participação, autovetores, autovalores e resíduos de funções de transferência são utilizados como índices para examinar a melhor alocação dos controladores POD e PSS no sistema elétrico de potência. / The objective of this work is to present the possibility to provide damping to low frequencies oscillations of the electrical power systems by FACTS devices (Flexible Alternating Current Transmission System): TCSC (Thyristor Controlled Series Capacitor) and UPFC (Unified Power Flow Controller). This is developed and implemented using the Power Sensitivity Model for multimachine systems. Afterwards, the TCSC and UPFC devices are introduced as well as the controllers. Results are presented according to the evolution of the models that represent the FACTS devices, i.e., it starts with a fixed compensation, passing through a first order dynamic model and finally, it is included a POD controller (Power Oscillation Damping). It is also analyzed the inclusion of local and remote signals for the input of the POD controller. Besides, results obtained by classical techniques of introducing damping by supplementary signals (Power Systems Stabilizer – PSS) are shown. The project of POD and PSS controllers are based on the Phase Compensation Method using the classical control theory. Participation Factor like eigenvalues, eigenvectors and transfer function residues are used as index to examine the best allocation of the POD and PSS controllers on the electrical power systems.