insertion

independently
with directionprovided"Converteras Figure
erchanged
an urced
8.3 in from onlythe the andmachine 2r),
Figure phasor wisource
th V Basic 8.2.1
V, controllable
Converter ideal Lo transmission it, angle in From
Conceptual
igure8.3 transformer. the by
between converters, by reactive 8.3. series (SVS),
system
ac-to-ac presently is regulation,
a the
Vag ger.eraie
a 1" provided suitable In with
2 dc and thisrepresented'at Operating
provides
magnitude estorage
h"Converter
tpower power system. controllable
(or conceptual
Veett as functionally for the
This illustrated used power
by the
= (or ac exchanged, transmission two
rcprcscntation Vs terminals capacitor.
converter practical one Since, SVS Principles
injected absorb) the supply independeDt viewpoint,
t V
main of mnagnitude the
Vpg 2" in the unrestricted generally as
and in
Figure established fundamentai
voltage reactive implementation,
function of As
in the end or the line,
of X Vx pbase sink. the
the the
which
indicated buses real
opeiated
figure,are 8.4. exchanges systems as V
UPFC acts two In
power UPFC
V power operation, illustrated (0s
of
esseatiallyangleconverters, the These the
(e.g.,previously,
in the (power is
a real
bcfore, UPFC must both with V a
two-machine UPFCp at back-to-back the the generalized
in its powerUPFCconsists serding-end a forsystem) s
series
as own this arTangement reactive be whi
transmission ch V)
Vet Vpa supplied an th e
a by and can froma
powe synchronousinjecting arangement ac SVS clearly
usual
with output cachfreely and and
frequency
synchronous
converters, is
V bus), to
able elementary anglep
the converter common of the it, real
includes lin k
Vxo terminal. a Aow two
ac iFe
voltage asreal orpower to ictertie)
functions in indicated absorbed generate (0 by
voltage via either labeled dc voltage power voltage voltagevoltage
V sps
an V can link with two
in
 Transmission line V
Series transformer
SuppBy transfomer
Converter 1 Converter 2

V
ac
8C

Measured o Vpot
variables
Control
Parameter
settings

Fgure &4 Implementation of the UPFC by two back-to-back voltage-sourced con

verters.

source. The iransmission line current flows through this voltage source resulting in
reactive and real power exchange between it and the ac system. The reactive power
exchanged at the ac tefminal (i.e., at the terminal of the series insertion transformer)
is generated internally by the converter. The real power exchanged at the ac terminal
is converted into dc puwer which appears at the dc link as a positive or negative real
power demand.
The basic function of Converter 1isto supply or absorb the real power demanded
byConverter 2 at the commcn de link to support the real power exchange resulting
from the series voltage injection. This dc link power demand of Converter 2is converted
back to ac by Converter 1and coupled to the transmission linc bus via a shunt
connected transtormer. In addition to the real power need of Converter 2, Converter
1can also generate or absorb controllable reactive power, if it is desired, and thereby
provide independent shunt reactive compensation for the line. It is important to note
that whereas there is aclosed dizect path for the real power negotiated by the action of
series voltage injection through Converters 1and 2back to the line, the corresponding
reactive power exchanged issupplied or absorbed locally by Converter 2and therefore
does not have to be transmitted by the line. Thus,Converter1 can be operated at a
unity power factor or be controlled to have a reactive power exchange with the line
independent of the reactive power exchanged by Converter 2. Obviously, there can
be no reactive power flow through the UPFC dc link.
8.2.2 Conventional Transmission Control Capablities
standpoint
Viewing the operation of the Uniñed Power Flow Controller from the
compensation, series com
of traditional power transmission based on reactive shunt functions and
pensation, and phase angle regulation, the UPFC can fulill all these
thereby meet multiple control objectives by adding the injected voltage V with
appropriate amplitude and phase angle, to the (sending-end) terminal voltage V,. Using
 phasor representation, the basic UPFC power low control
Figure 8.5. functions are ilustrated in
Voltage
tion, is shown regulation
with
in Figure 8.5(a)continuously variable
for voltage incrementsin-phase/anti-phase
V tAV (p voltage injec
in Chapter 7, this is functionally similar to 0). As shown
that obtainable With atransformer tap
changer having infinitely small steps.
Series reactive compensation is shown in Figure 8.5(b) where V= V,is
in quadrature with the line current I. Functionally this is similar to series injected
and inductive line compensation attained by the SSSC in capacitive
Chapter 6: the injected series
compensating voltage can be kept constant, if desired, independent of line curent
variation, or can be varied in proportion with the line current to imitate the compensa
tion obtained with a series capacitor or reactor.
Phase angle regulation (phase shift) is shown in Figure 8.5(c) where V V,
isinjected with an angular relationship with respect to V, that achieves the desired a
phase shift (advance or retard) without any change in magnitude. Thus the UPFC can
function as a perfect Phase Angle Regulator which, as discussed in Chapter 7, can
also supply the reactive power involved with the transmission angle control by internal
var generation.
Multifunction power flow control, executed by simultancous terminal voltage
regulation, series.capacitive line compensation, and phase shifting, is showu in Figure
8.5(d) where V= AV+ V,+ V,. This functional capaoility is unique to the UPFC.
No single conventional equipment has similar multifunctional capability.
The general power flow controB capability of the UPFC, from the viewpoint of
conventional transmission control, can be illustrated best by the teal and reactive
power transmission versus transmission angle characteristics of the simple two-machine
system shown in Figure 8.3. With reference to this figure, the transmitted power P
and the reactive power -j2, suppied by the receiving end, can be expressed as follows:
(8.1)

(a) (b) (C ()

Vt4V Vpq

vV+Ve V+Vpa

ta) Voltage regulation

b Line impedance compensation
cj Phase shifting and angle
7dySimutaneous control of voltage, impedance,
illustrating the conventional transmission control capa
Figure 8.5 Phasor diagrams
bilities of the UPFC.
 where symbol means theconjugate of a complex number
V=0, then (8.1) describes the andj = =V-1.If
uncompensated system, that is,
P-12-r( (2
Thus, with V 0, the total real and reactive
power can be witten in the form

P-Je.- v.( -JX (8.3)

Substituting

(8.4)

(8.5)
and

(8.6)

the following expressions are obtained for P and ,:

P(B,P)=PA) +Pte) -sind-oosp) (8.7)

Q48.p) =Q) +Qlo) = -cos ) -sin

X (+p)
2 (8.8)

where

PA6) =sin (8.9)

and

Qol6) =-yl-cos 8) (8.10)

power transmission of the uncompen

are the real and reactive power characterizing the freely variable between 0 and 27 at
p is
sated system at a given angle 8. Since angle it follows that Pp) and ,p) are
any given transmission angle 6 (0 s VVX 8 s 1),
between -VVX and + independent of angle &. Therefore, the
controllable between
transmittable real power P is controllable
(8.11)
PA8) e X
s P5) sPl6) + X
 and the rcactivec power 2 is controllabic betwecn

Qo(5) VV,qmax
at any
X (8.12)
transmission angle 6, as
the transmitted power that is illustratcd inofFigure 8.6. The wide range of control for
the figure, indicates not only indeperndent the transmission angle &, observable in
superior capability of the UPFCin power flow apolica
tions, but it also suggests powerful
power oscillation damping. capacity for transient stability improvement and
To illustrate further the
which is, for copvenience, also meaning of (8.7) and (8.8), consider again
shown in a simplified manner in Figure 8.7(a).Figure 8.3
A phasor diagram, defning the
phasor across X) and the inserted voltage relationship between V,, V, V, (the voltage
{0s VsVm) and angie (0 s P s 360), phasor V with controllable magnitude
ilhustrations, &=30° and V,= V,=1, X= 0.5, Vmis shown in Yigure 8.7(a). (For the
0.25 p.u. values were assumed.)
As illustated, the inserted voltage
phasor.V is added to the fixedsending-end
phasor V, toproduce the effective sending-end voltage Vg V,+ voltage
V- V. provides the compensated voltage phasor, Vx, V. The difference,
varied over its full 360 degree range,
across X. As
the end of phasor V moves along aangle P is
its center located at the end of phasor V,. The circle with
arca within this circle, obtained with
Vpmar, defines the operating range of phasor V and thereby the
tion of the line. achievable compensa
The rotation of phasor V With angle p modulates both the
angle of phasor Vr and, therefore, both the transmitted real power, P, and magnitude and
thà reactive

-Q
2.0

3.5 X (=0.5)
-1.5

VWea (= -0.5)
1.0 -1.0

WsX (= 0.5)
0.5 -0.5
WE (=0.5)
X

0.0 0.0 2
2

-0.5 1.0

Figure &6 Range of transmittable real power P and receiving-end reactive power
demand 0 vs. transmission ande &of a UPFC controlled transnis
sion line.
 Pa, P

V, Vpg Vot Po (Vog =0)

0.5
X

Vx (Vpg =0)
V 0.5

P.Q,
0.5

1800 380

0.5
(a) (b)

Figure &7 Phasor diagram representation of the UPFC (1) and variation of the
receiving-end real and reactive powe, and the real and reactive power
supplied by the UPFC,with the angular rotation of the injected voltage
phasor (b).

power, e, vary with P in a sinusoidal manner, as illustrated in Figuré8.7(b). This

process, of course, requires the voltage source (V) to supply and absorb both reactive
and real power, gand P, which are also sinusoidal functions of angle p, as shown
in the îgure.
The powerful, previously ucattainable, capabilities of the UPFCsummarized
above in terms of conventional transmission control concepts, can be integrated into
a generalized power flow controller that is able to maintain prescribed, and indepen
dently controllable, real power P and reactive power in the line. Within this concept,
the conventional terms of series compensation, phase shifting, etc., become iTelevant:
the UPFC simply controls the magnitude and angular position of the injected voltage
line to
in real time so as to maintain or vary the rcal and rcactive power flow in the
satisfy load demand and system operating cond ions.
 0r
normalized
with shiprcactive
the voltage
machine tpower
he 8.2.3
V/X ends
between injected
fiow In
of
power, order
V,(or Independent
= the in
transmission
transmitted
compensating
two-bus
real
1
in line,o() the to
the
power investigate
transmission
are Real
following =lo(6) ac
P6) angle
shown power,intertie)
and
voltage, the
{05) Qol5) form: plotted and =
FÑ) 6, line, Reactive
-ol6) and capability
system
=reactive refer
+ -1 against line V
1}'+ - is to Power
VIX}
impedance
= with zero.Figure of
{P(6)}V1-{PA5)} {VIXY1-cos
power angle sending-end the
sin Then8.7(a).UPFC Flow
o5) (5) 8 Control
=1 in Xis
= the
sin Let to
Figure restored.
can
G}=1-cos voltage
original control
6, it
readily8.8(a). and first
real
be
thelementary
eWith V,
beThe receiving-end assumed and
6,
normaizedthese,
cxpressedsupplied reactive
relation
(8.13) two that
(8.14) the
at
 th¢ 1orce defined regions
are control the centers
of thewords, other In90. and 60", 30°, 0,S=
for, power reactive supplyangular internal toend one system at
power transmission
angles (8.at14) system
uncompensated characterizing
the circular
are the
m,h thatabsorb or
change.) awithout
ny
d, UPFC,
as course,
the Of independent provided
by centers
on their with values) p.u. orunit (per 1.0 =X
and 0.5, Var= 1.0, =V for
ca abl e are which systems power
orb
re and supply sending-end to tacitlystatement (This through
(d) 8.9(a) Figures shown
in are (8.15) defined
by regions control circular The
ceiving-end
ges and the thatassumes
ar sending-end,or the cither demand on power teactive Q5)}- {246.P-) PAO)+} (P(8,-P)
ceiving-end the to able is (8.15)
without direction, either iow, power
in p.u. establish
0.5
sing
an the example,
that observed,
for be
0.5 ratingof voltagestipulated the with UPFC plane
UPFC the attainable
with values 2,and defines
Pall equation: following thedescribed
by becan circle
boundary the
It given
rating, aof
phasor anglep and magnitudeV
of the V,=V, =V,With VVJX. radius
of anad Ql5) and coordinates
PA5) defined
by
{2.. the circle
P! in the words, other InV.
obtainable values Q,and defines alPl circle this within area Thbe Var center wiath circle region
ais control this equations
that above the from follows It
by isphasorV
maximum sps360)
its with revolution (0 full rotateda magnitudeV marimum its with phasor
Vy rotation
of complete fromobtained
a is
theobtained as values, corresponding aPnd , the ofloci the plane is (e.,
P} Q(8,p) and p)P(8, foregion
r control attainable the boundary
of (0sps2r),
the
he originof the around circde coordinates. The P2, the origin of thestandstill
at variableuhrestricted anpis angle Since V. phasor voltage injected anglepof
the and
atsystem
is the ie., zero, all are Q.) (and V0,P,
Q, With 0). (8= zero is angle magitudeV thefunctionsof Dl6),
as and Pd) uncompensated
values, their fron
n the when case illustrates
the which 89(), Figure firstConsiderplane. P} (e. change power reactive and real the that 8.7(b), Figure from and (8.8), and (8.7) or
(8.3), from follows It 0. that now assume and &.7a) Figure again Refer
to
the in 9and 60", 30", 0,angles
=& coordinates
at Qo5) corresponding
PA5), the by etc. -1.0; o= and 1.0 = P
90°, 8= -0.134;
at = oand 0.5 30,
= Po = 6 at 0, = oand = Po ,5= at
the values
(). 9- an8d (c), 60 =8b), 30=(a),& and For Ptransaission
example, corresponding angle
6. the givesspeciiccircle thuncompensated
is system
aat
poiofnt Each 8.8(b). Figure of
in Pof
° transmiasion
=8atline PFCcontroled wtah demand
2, Power values positive ilustrated
for plane,
as (.,
P} ain -1 = ,and cOordinates
0 =P
reactive
receiving-eod and powerP attainable
real hereion
of Coatrol &Rgure
S9 defined center thearound 1.0 redius
of witah circle Gescribes
a (8.14)Equatiop
by
roglon
Controllable

=900 (b). lcci nP, sponding

90 corre (0) twmchine
the and systen transmisson
aof nde no
demand receiving-end
power reective and powerPTransmittable
real Fyure
&S
(b) (a)
Pnax 20-8=1 201

P 15 relpnControlable
P, -15 -1.5

-10 1.0

cos8)
(8)-(1- \a,
-10 C.5

Pnax) me) 0.0

0.5

P
raglCont
on rqlable
13
.0
regiControlaible
on
system at the other end. Similar control characteristics for real power P and the reactive
power Q, can be observed at angles =3°, 60,and 90° in Figures 8.9(b), (c), and (d),
In general, at any given transmission angle 6, the transmitted real power P. as
well as the reactive power demand at the receiving end r, can be controlled freely
by the UPFCwithin the boundary circle obtained in the (, P} plane by rotating the
injected voltage phasor V with its maximum magnitude a full revolution. Further
more, it should be noted that, although the above presentation focuses on the receiving
end reactive power, Q, the reactive component of the line current, and the correspond
ing reactive power can actually be controlled with respect to the voltage selected at
any point of the line.
Figures 8.9(a) through (d) clearly demonstrate that the UPFC, with its unique
capability to control independently the real and reactive power flow at aiy transmission
angle, provides a powerful, bitherto unattainable, new tool for transmission system
control
In order to put the capabilities of the UPFC into proper perspective in relation
to other related power flow controllers, such as the
Thyristor-Switched, Thyristor
Controlled and GTO-Controlled Series Capacitor (TSSC TCSCand GCSC), the
Static Synchronous Series Compensator (SSSC), and the Thyristor-Controlled Phase
Angle Regulator (TCPAR),a basic comparison between the respective power low
control characteristics are presented in the next section. The basis chosen for this
comparison is the capability of each type of power flow controller to vary the transmit
ted real power and the reactive power demand at the receiving end. The
end var demand is usually an important factor because it receiving
significantly infuences the
variation of the line voltage with load demand, the overvoltage at
the steady-state system losses. Similar comparison, of course, couldload rejcction, and
the sending end or at other points of the transmission line, but the easily be made at
quite similar for all practical transmission angles. results would he
for pot
Principles and Characteristlcs
Operating
8.3.1 Besic Power Flow Controller
form the Interline employs number of
a
general providing series compensation for a different line. In other
In its each
do-to-ac Converterscormprises a number of Statte Synchrenous Series ompengators
words, thc PFC of the IPFC, the compensating converters are
within the general concept as ilustrated in Figure 8.29. With this scheme,
However, their dc terminals,
linked together at series reactive compensation, any converter canbebecontroled
providing
in addition to power to the cOmmondclinnk from its own transmission line. Thås, sn
tosupply real the under utilized lines which then
power can be made available from
overall surplus lines for real power compensation. In this way, some of the
an be used by cther overloaded lines Or lines with a heavy burden of reactive
coTverter, compensating with full two-dimensional, reactive and real power control
equipped
power dow, can be offered by the UPFG Evidently, this arrangerment mandates
capability, similar to that terminal
maintenance of the overall power balance at the common de
the igorous
the general principle that the underloaded ines are
using
by appropriate control action, appropriatereal power transfer,for thÃoverloaded lines.
to-provide belp, înthe form of

HV2

HVn

Lo00

Coverter1 Converter 2 Covertern

do bus
Optical links

Control

Hgure 829 Interine Power Fow Controller compising n converters.

 HO+
R2 X
V2s Vxa Var

Rgure &30 Basic two-converter Interline

Power Flow Controller scheme.

Consider an elementary IPFC scheme consisting of two back-to-back do-to-ac

converters, each compensating a transmission line by series voltage injection. This
arrangemert is shown functionally in Figure 8.30, where two synchronous voltage
sources, with phasors V and Vin series with transmission Lines 1and 2, represent
the two back-to-back do-to-ac converters. The common dc link is represented by a
bidirectional link for realpower exchange between the two voltage sources, Transmis
sion Line 1, represented by reactance X, has a sending-end bus with voltage phasor
V, and a receiving end bus with voltage phasor-Vr The sending-end voltage phasor
of Line 2, represented by reactance X, is V, and the receiving-end voltage phasor is
V For clarity, all the sending-end and receiving-end voltages are assumed to be
constant with fixed amplitudes, V, = V= V,=V=1.0 p.u., and with fixed angles
resulting in identical transmission angles, & = &, (=-30), for the-two systems. The
two line impedances, and the rating of the two compensating voltage sources, are also
asumed to be identical, i., Vw=V and X =X = 0.5 p.u., respectively.
Although Systems 1 and 2 could be (and in practice are likely to be)different (c.,
different transmission line voltage, impedance, and angle), in order to make the
relationships governing the operation of the IPFC perspicuous, the above stipulated
section. Note that the two
identity of the twc systems is maintained throughout thisrelationship with each other.
lines are assumed to be independent and not in any phase the two systems,
In order to establish the transmission relationships between
System 1 is arbitrarily selected to be the prime systemThefor which free controllablity
reason for this stipulation
of both real and reactive line power low is stipulated. of System 1 imposes upon
is to derive the constraints which the free controllability
the power fow controlof System 2. defining the relationship betwecn Vi Vy Kx
A phasor iagram of System 1, inserted voltage phasor Vi, with controllable
(the voltage phasor across X1) and the S 3609) is shown in Figure 8.31.
magnitude (0 s Vs Viya) and angle (0stoAthat characterizing the UPFC (see,
As illustrated, this phasor diagram is identical
e.g., Figure 8.3).
example, the rotation of phasor Vi With angle py Varies both the magnitude
For as a result, both the transmitted real
and angle of phasor Vy ina cyclic manner and vary with Pg in a sinusoidal manner, as
power, Pr, and the reactive power, lir, also
illustrated for the UPFC in Figure 8.7.
Vr Can best be illustrated in the
The variation of Pr and rwith rotating
corresponding phasor diagram, in Figure
{ei Put plane shown, together with the uncompensated System 1 (Vipg
8.32. At the selected transmission angle, &=30, the
power to, and absorbs O, = 0.268 p.u. reactive
0) transmits P,x = 10p.u. real
 imposed by the unrestricted compensation of
underthe constraints provided for Line
range for
Line 2, decompose the overall compensating power
helpful to P,.To this end, the injected voltage phasor
Line 1,it is power 2iyand real power one, V,in quadrature and the other, Vi.
components,
1into reactive
decomposed into two these with the line curTent define ig
The. products of
Vris with the line curent. generated
phase internally by Coaverter 1, evidently provides
in
The component
i comnponent Pn provides real power
Vir and Pi: compensation for Line i. The supplied for Converterr1by Converter
reactive
but this power must be
Vipd series
compensationfor Line 1, voltape
Line 2. regjon of
circular operatingattairable
the injected
2 from
It can beshown that if, within the
controlled Gver the of argle p, so
rang
magnitude of Viy is ("voltage compeasation line"), parallel
R2 pitasor, ihe line trajectory phasors (reactive
stays on astraight the sending-end and receiving ead the component
that its endconnecting the ends ofillustrated at the left of Figure&32, then
to the line line"), as constart real power
S1ett voltage compersation
the prevailing line
cuTent willresult in
iudependent of angle p. This
of V in phase with must supply or absorb) compensation is varnable
coreponding phasor diagram. demand (that the converter region of V the reactive
R r I I PRC prime onverter and
means that within the
operating
independent of the real power compensation.
compensation line," V coincides
along a voltagedemand is, by definition, zero when the trajcctory of maintained),
showp for the UPFC toe rotation
of Vove The real power line" (ie., when V = 0 is
compensation
power from, the receiving end. ASlocus for P. and O,. with a radius of (Pi t with the "reactive voltage operating region into two equal
baBves. An încreasing amount
360 degrees produoes a circular by the coordinates Pir=1.0and which divides the circular as the compeasation line is shifted higher
Qj(= 05 p.u)from the center defned locus provides the boundary for the two supplied to System 1 of the
0268 in tbe (Qri Pd plane. This circular of real power is to be "reactive voltage compensation line" in the upper half System 1
coresponding 2 and P, values are and higher above the is to be absorbed fromn voltage
dimenional control range within which any increasing real power
achievable by the proper setting of magnitude Viy and angle P control region. Conversely, shifted lower and lower belo the "reactive
1described above is identical to that as the compensation line loweris
he coapensaiun of tbe prime Svstem in the case of the UPFC, the balf of th compensstioa region.
characeriing the operation of the UPFC However, compensation line'" in the prescribing the trajectory of the phasor Vi
powver exchanged through the series voltage insertion i supplied via the shunt The voltage compensation lines"" System 1, define a inear
real case of the simple PFC consid the phasor diagram of
cOnnected coaverter trom the sending-end bus. In the for constant real power demand
in Pin respec
other line via the series-connected reactive and real power, Or andregion
ered bere, this real powe is obtained from the possible compensation relationship between the receiving-end the boundary of the control in the
compersating converter of thet line. In order to estabiisb tbe representing
tively,within tûe circular locus right of Figure 8.32. Thus with Pa = 0 a reactive
(eri Pul plane, as shown at the the center of the boundary
circle, defines
compensation control line," which croSses variable compensation. An infnite
P-Q control lines purely reactive
the O, versus P, relationship forcontrol lines of decreasing length, coresponding to
number of parallel versus P, established above
Qir lines" of the phasor diagram, can be the real power
the voltage compensationcompensation
Reactive control line," according to
Power voltage Pr and below the reactive to the '"voltage compensation lines"
suppliod compensation exchanged. A number of such lines, correspondingsame manner (illed, dashed, dotted.
line
related vector diagram, are drawn in the
of the
V,=0 the {O: P} plane shown in the figure.
8,=302 Power etc.) in the , versus P, control region of of Figure 8.32 indicates that the
Power
supplied Comparison of the left-hand and ight-hand sides
absorbed
reactive power flow increases or decreases in proportion to the real power supplied
Vis Vr 0.5 Power
Voltage
absorbed to, or absorbed from, the line by series compensation. in Figure 8.30, the following
With respect to the total IPFC scheme shown operating point of Converter
compensation
lines
conclusions can be drawn from the above discussion. The
Reactive P-Q control lines 1compensating the "prime'" System 1 can always be considered a point of a particular
corresponding point on the related u
Compensation "voltage compensation line." Consequently, a the resultant active andreactive
control line (R2=0) versus P, control line in the {O,: P,} plane defines
power in the transmission line. In general, at a selected operating point, Converter 1
However, the converter
Figure 8.32 Variation of receiving-end real and reactive powcr as a function of the
has to exchange both reactive and real power with Line 1.
injected compensating voltage in Line 1. thus it must be supplied with the
can internally generate only the reactive power and
 P-Q control
`=0 Lines Pr
Vip0 o
Vipa |6, 30 Roactivo
Cormpensation
Vir 0.5 Control ine
Voltage (Pyp =0)
compensation
lines
Range of Range of
ind. coinp. cap. Comp.
P- Qcontrol
V0 lines P2r
Vapg Reactive
Bz= 30°
Compensation
Q2pg= 0 control line
Voltage
compensation
Vas Vr 0.5
(P12 =0)
lines
Range of Range of o=60°
ind. comp. cap. Comp.
Figux &3 Illustration of the basic relationships governing the operation of atwo
converter IPFC.

complementary "voltage compensation lines" and the related complementary 2, ver

sus P, lines in the two control regions, including those of purely reactive and purely
reel compensation, are identified in the figure.
As illustrated in Figure 8.34, the complementary "voltage compensation lines'"
are located symmetrically above and below the two "reactive voltage compensation
lines" (V, 0and V, 0). Similarly, the corresponding complementary versus
P,control lines are located symmctrically above and below the purely
sation line in the circular control region of the {O: P) plane. As reactivc compen
can be observed
in the figure (where the related complementary lines for the two systems are drawn
na similar manner), the complementary lines of the two systems must bc in the
opposite (upper vs. lower) halves of the relevant compensation and control regions.
The complementary lines clearlyillustrate the meaning of the restriction Py =-Pw
inherent for the simple two-converter IPFC scheme cons1dered. That is, only in one
of the twO systems (i., in the priume system) is it possible to control both the real
and rcactive power flow. In the other, only the real power flow can bo controlled
within defined limits by available reactive compensation, while the prevailing
line power will be affected by the real power demand of the reacve
prime system.
In the illustration of the relationships characterizing the two converter lPrG,
ue uransmission angle for both power systems is, for clarity, fixed at 30
Center of the circular locus defining the O. versus P, control region is atdegrces.
the
Ino
u
Incoordinates characterizing the uncompensatcd power system at agiven transmisson
angle. As illustrated in Figure 8.35 for System 1, the variation of angle oj moves gid