Characterisation of Large Disturbance Rotor Angle and Voltage Stability in Interconnected Power Networks with Distributed Wind Generation

Wind generation in highly interconnected power networks creates local and centralised stability issues based on their proximity to conventional synchronous generators and load centres. This paper examines the large disturbance stability issues (i.e. rotor angle and voltage stability) in power networks with geographically distributed wind resources in the context of a number of dispatch scenarios based on profiles of historical wind generation for a real power network. Stability issues have been analysed using novel stability indices developed from dynamic characteristics of wind generation. The results of this study show that localised stability issues worsen when significant penetration of both conventional and wind generation is present due to their non-complementary characteristics. In contrast, network stability improves when either high penetration of wind and synchronous generation is present in the network. Therefore, network regions can be clustered into two distinct stability groups (i.e. superior stability and inferior stability regions). Network stability improves when a voltage control strategy is implemented at wind farms, however both stability clusters remain unchanged irrespective of change in the control strategy. Moreover, this study has shown that the enhanced fault ride-through (FRT) strategy for wind farms can improve both voltage and rotor angle stability locally, but only a marginal improvement is evident in neighbouring regions.

Reaaliaikaisen PMU-mittaustiedon hyödyntäminen voimajärjestelmän valvonnassa

Tämä työ on tehty Fingrid Oyj:lle. Työn tavoitteena oli tutkia, miten reaaliaikaista PMU-mittaustietoa voidaan hyödyntää voimajärjestelmän valvonnassa. Voimajärjestelmän dynaamisia ilmiöitä ovat jännite- ja kulmastabiilius. Työssä tutkittiin voimajärjestelmän kulmastabiiliutta PSS/E-ohjelmalla simuloitujen mittaustulosten perusteella. Fouriermuunnoksen tulokset osoittavat, että huonoiten vaimeneva taajuuskomponentti on 0,3 Hz taajuus. Lisäksi tiedetään, että huonosti vaimeneva taajuuskomponentti rajoittaa siirtokapasiteettia. Voimajärjestelmän stabiiliutta voidaan esittää Wide Area Monitoring -järjestelmien (WAMS) avulla. WAMS perustuu Phasor Measurement -laitteen (PMU) reaaliaikaiseen mittaustekniikkaan. Jännitteen vaihekulman mittaaminen mahdollistaa voimajärjestelmän tilan määrittämisen reaaliajassa. Työssä on esitelty Fingridin käytössä oleva WAMS ja lisäksi esitelty kolmen eri laitetoimittajan WAMS:n rakennetta ja operaattorin käyttöön tarkoitettuja käyttöliittymiä. WAMS:n rakenteet ovat pääpiirteittäin samanlaisia, mutta stabiiliuden visuaalisessa esittämisessä on eroja. PMU -mittaustietoja on mahdollista tuoda käytönvalvontajärjestelmään erillisellä tiedonsiirtoprotokollalla. PMU-mittaustiedon hyödyntäminen käytönvalvontajärjestelmän toimintaaluenäytöllä mahdollistaa verkon tilan esittämisen reaaliajassa. Roottorin kulmastabiilius esitetään Fingridin käytönvalvontajärjestelmässä vaihekulmaerojen avulla ja työssä on esitetty, kuinka vaihekulmaeron arvolla on vaikutus tehonsiirtoon. Vaihekulmaeron arvo kuvaa vian jälkeisen tehoheilahtelun voimakkuutta. PMU-mittaustiedon esittäminen antaa operaattorille selkeämmän kuvan ylläpitää tehonsiirto turvallisella tasolla ja epästabiilin heilahtelun havainnoiminen vähentää suurhäiriön riskiä. Tulevaisuudessa siirtoverkon kehittyessä tarvitaan operaattorin käyttöön myös nopeita stabiilisuutta esittäviä työkaluja.

Investigation of the Impacts of Large-Scale Wind Power Penetration on the Angle and Voltage Stability of Power Systems

The complexity of power systems has increased in recent years due to the operation of existing transmission lines closer to their limits, using flexible AC transmission system (FACTS) devices, and also due to the increased penetration of new types of generators that have more intermittent characteristics and lower inertial response, such as wind generators. This changing nature of a power system has considerable effect on its dynamic behaviors resulting in power swings, dynamic interactions between different power system devices, and less synchronized coupling. This paper presents some analyses of this changing nature of power systems and their dynamic behaviors to identify critical issues that limit the large-scale integration of wind generators and FACTS devices. In addition, this paper addresses some general concerns toward high compensations in different grid topologies. The studies in this paper are conducted on the New England and New York power system model under both small and large disturbances. From the analyses, it can be concluded that high compensation can reduce the security limits under certain operating conditions, and the modes related to operating slip and shaft stiffness are critical as they may limit the large-scale integration of wind generation.

Adaptive control of sinusoidal brushless DC motor actuators

Electrical Power Assisted Steering system (EPAS) will likely be used on future automotive power steering systems. The sinusoidal brushless DC (BLDC) motor has been identified as one of the most suitable actuators for the EPAS application. Motor characteristic variations, which can be indicated by variations of the motor parameters such as the coil resistance and the torque constant, directly impart inaccuracies in the control scheme based on the nominal values of parameters and thus the whole system performance suffers. The motor controller must address the time-varying motor characteristics problem and maintain the performance in its long service life. In this dissertation, four adaptive control algorithms for brushless DC (BLDC) motors are explored. The first algorithm engages a simplified inverse dq-coordinate dynamics controller and solves for the parameter errors with the q-axis current (iq) feedback from several past sampling steps. The controller parameter values are updated by slow integration of the parameter errors. Improvement such as dynamic approximation, speed approximation and Gram-Schmidt orthonormalization are discussed for better estimation performance. The second algorithm is proposed to use both the d-axis current (id) and the q-axis current (iq) feedback for parameter estimation since id always accompanies iq. Stochastic conditions for unbiased estimation are shown through Monte Carlo simulations. Study of the first two adaptive algorithms indicates that the parameter estimation performance can be achieved by using more history data. The Extended Kalman Filter (EKF), a representative recursive estimation algorithm, is then investigated for the BLDC motor application. Simulation results validated the superior estimation performance with the EKF. However, the computation complexity and stability may be barriers for practical implementation of the EKF. The fourth algorithm is a model reference adaptive control (MRAC) that utilizes the desired motor characteristics as a reference model. Its stability is guaranteed by Lyapunov’s direct method. Simulation shows superior performance in terms of the convergence speed and current tracking. These algorithms are compared in closed loop simulation with an EPAS model and a motor speed control application. The MRAC is identified as the most promising candidate controller because of its combination of superior performance and low computational complexity. A BLDC motor controller developed with the dq-coordinate model cannot be implemented without several supplemental functions such as the coordinate transformation and a DC-to-AC current encoding scheme. A quasi-physical BLDC motor model is developed to study the practical implementation issues of the dq-coordinate control strategy, such as the initialization and rotor angle transducer resolution. This model can also be beneficial during first stage development in automotive BLDC motor applications.

Direct torque control of permanent magnet synchronous machines - analysis and implementation

Thedirect torque control (DTC) has become an accepted vector control method besidethe current vector control. The DTC was first applied to asynchronous machines,and has later been applied also to synchronous machines. This thesis analyses the application of the DTC to permanent magnet synchronous machines (PMSM). In order to take the full advantage of the DTC, the PMSM has to be properly dimensioned. Therefore the effect of the motor parameters is analysed taking the control principle into account. Based on the analysis, a parameter selection procedure is presented. The analysis and the selection procedure utilize nonlinear optimization methods. The key element of a direct torque controlled drive is the estimation of the stator flux linkage. Different estimation methods - a combination of current and voltage models and improved integration methods - are analysed. The effect of an incorrect measured rotor angle in the current model is analysed andan error detection and compensation method is presented. The dynamic performance of an earlier presented sensorless flux estimation method is made better by improving the dynamic performance of the low-pass filter used and by adapting the correction of the flux linkage to torque changes. A method for the estimation ofthe initial angle of the rotor is presented. The method is based on measuring the inductance of the machine in several directions and fitting the measurements into a model. The model is nonlinear with respect to the rotor angle and therefore a nonlinear least squares optimization method is needed in the procedure. A commonly used current vector control scheme is the minimum current control. In the DTC the stator flux linkage reference is usually kept constant. Achieving the minimum current requires the control of the reference. An on-line method to perform the minimization of the current by controlling the stator flux linkage reference is presented. Also, the control of the reference above the base speed is considered. A new estimation flux linkage is introduced for the estimation of the parameters of the machine model. In order to utilize the flux linkage estimates in off-line parameter estimation, the integration methods are improved. An adaptive correction is used in the same way as in the estimation of the controller stator flux linkage. The presented parameter estimation methods are then used in aself-commissioning scheme. The proposed methods are tested with a laboratory drive, which consists of a commercial inverter hardware with a modified software and several prototype PMSMs.

Kulmastabiilisuuden mallinnus

Työn tavoitteena oli kartoittaa vaihtoehtoisia menetelmiä perinteiselle aikatasossa tapahtuvalle kulmastabiilisuuden mallinnukselle käyttövarmuustarkastelussa. Vaihtoehtoisiin menetelmiin tutustuttiin kirjallisuuden avulla ja valittiin menetelmä testattavaksi pohjoismaisessa yhteiskäyttöjärjestelmässä. Vaihtoehtoisen menetelmän ominaisuusvaatimuksiin kuului nopeampi laskenta, luotettava stabiilien ja epästabiilien tilanteiden seulontakyky ja menetelmän antama indeksi stabiilisuus-/epästabiilisuusasteesta. Pääasiassa menetelmät, joihin tutustuttiin, arvioivat vain transienttia stabiilisuutta. SIME-menetelmä soveltui myös dynaamisen stabiilisuuden arviointiin. Suomessa voi dynaamisella stabiilisuudella olla tulevaisuudessa merkittävä rooli käyttövarmuustarkasteluissa. SIME-menetelmän toimivuutta testattiin osin yksinkertaistetulla Nordel-verkkomallilla, ja saadut tulokset olivat lupaavia. Menetelmä täytti uudelle menetelmälle asetetut vaatimukset, vaikka ongelmiakin esiintyi. Testauksessa käytetyn menetelmän edelleen kehittäminen ja menetelmän testaaminen täydellisellä verkkomallilla on suositeltavaa.

Análise de superfícies seletivas em frequência com geometria multifractal

Frequency Selective surfaces are increasingly common structures in telecommunication systems due to their geometric and electromagnetic advantages. As a matter of fact, the frequency selective surfaces with fractal geometry type would allow an even bigger reduction of the electrical length which provided greater flexibility in the design of these structures. In this work, we investigated the use of multifractal geometry in frequency selective surfaces. Three structures with different multifractal geometries have been proposed and analyzed. The first structure allowed the design of multiband structures with greater flexibility in controlling the resonant frequencies and bandwidth. The second structure provided a bandwidth increase even with the rising of the fractal level. The third structure showed response with angle stability, dual polarization and provided room for a bandwidth increase with the rising of the structural multifractality. Furthermore, the proposed structures increased the degree of freedom in the multiband designs because they have multiple resonant frequencies ratios between adjacent bands and are easy to deploy. The validation of the proposed structures was initially verified through simulations in Ansoft Designer software and then the structures were constructed and the experimental results obtained

Application of the Extended Kalman filter for speed sensorless control of PM synchronous machines

The increasing interest in the decarbonization process led to a rapidly growing trend of electrification strategies in the automotive industry. In particular, OEMs are pushing towards the development and production of efficient electric vehicles. Moreover, research on electric motors and their control are exploding in popularity. The increase of computational power in embedded control hardware is allowing the development of new control algorithm, such as sensorless control strategy. Such control strategy allows the reduction of the number of sensors, which implies reduced costs and increased system reliability. The thesis objective is to realize a sensorless control for high-performance automotive motors. Several algorithms for rotor angle observers are implemented in the MATLAB and Simulink environment, with emphasis on the Kalman observer. One of the Kalman algorithms already available in the literature has been selected, implemented and benchmarked, with emphasis on its comparison with the Sliding Mode observer. Different models characterized by increasing levels of complexity are simulated. A simplified synchronous motor with ”constant parameters”, controlled by an ideal inverter is first analyzed; followed by a complete model defined by real motor maps, and controlled by a switching inverter. Finally, it was possible to test the developed algorithm on a real electric motor mounted on a test bench. A wide range of different electric motors have been simulated, which led to an exhaustive review of the sensorless control algorithm. The final results underline the capability of the Kalman observer to effectively control the motor on a real test bench.

Conformational stability of peanut agglutinin using small angle X-ray scattering

In this work, quaternary conformational studies of peanut agglutinin (PNA) have been carried out using small-angle X-ray scattering (SAXS). PNA was submitted to three different conditions: pH variation (2.5, 4.0, 7.4 and 9.0), guanidine hydrochloride presence (0.5-2 M) at each pH value, and temperature ranging from 25 to 60 degrees C. All experiments were performed in the absence and presence of T-antigen to evaluate its influence on the lectin stability. At room temperature and pH 4.0,7.4 and 9.0, the SAXS curves are consistent with the PNA scattering in its crystallographic native homotetrameric structure, with monomers in a jelly roll fold, associated by non-covalent bonds resulting in an open structure. At pH 2.5, the results indicate that PNA tends to dissociate into smaller sub-units, as dimers and monomers, followed by a self-assembling into larger aggregates. Furthermore, the conformational stability under thermal denaturation follows the pH sequence 7.4 > 9.0 > 4.0 > 2.5. Such results are consistent with the conformational behavior found upon GndHCl influence. The presence of T-antigen does not affect the protein quaternary structure in all studied systems within the SAXS resolution. (C) 2010 Elsevier B.V. All rights reserved.

Analysis and Control of Excitation, Field Weakening and Stability in Direct Torque Controlled Electrically Excited Synchronous Motor Drives

Direct torque control (DTC) is a new control method for rotating field electrical machines. DTC controls directly the motor stator flux linkage with the stator voltage, and no stator current controllers are used. With the DTC method very good torque dynamics can be achieved. Until now, DTC has been applied to asynchronous motor drives. The purpose of this work is to analyse the applicability of DTC to electrically excited synchronous motor drives. Compared with asynchronous motor drives, electrically excited synchronous motor drives require an additional control for the rotor field current. The field current control is called excitation control in this study. The dependence of the static and dynamic performance of DTC synchronous motor drives on the excitation control has been analysed and a straightforward excitation control method has been developed and tested. In the field weakening range the stator flux linkage modulus must be reduced in order to keep the electro motive force of the synchronous motor smaller than the stator voltage and in order to maintain a sufficient voltage reserve. The dynamic performance of the DTC synchronous motor drive depends on the stator flux linkage modulus. Another important factor for the dynamic performance in the field weakening range is the excitation control. The field weakening analysis considers both dependencies. A modified excitation control method, which maximises the dynamic performance in the field weakening range, has been developed. In synchronous motor drives the load angle must be kept in a stabile working area in order to avoid loss of synchronism. The traditional vector control methods allow to adjust the load angle of the synchronous motor directly by the stator current control. In the DTC synchronous motor drive the load angle is not a directly controllable variable, but it is formed freely according to the motor’s electromagnetic state and load. The load angle can be limited indirectly by limiting the torque reference. This method is however parameter sensitive and requires a safety margin between the theoretical torque maximum and the actual torque limit. The DTC modulation principle allows however a direct load angle adjustment without any current control. In this work a direct load angle control method has been developed. The method keeps the drive stabile and allows the maximal utilisation of the drive without a safety margin in the torque limitation.

Sodium dodecyl sulfate (SDS) effect on the thermal stability of oxy-HbGp: Dynamic light scattering (DLS) and small angle X-ray scattering (SAXS) studies

Glossoscolex paulistus (HbGp) hemoglobin is an oligomeric protein, presenting a quaternary structure constituted by 144 globin and 36 non-globin chains (named linkers) with a total molecular mass of 3.6MDa. SDS effects on the oxy-HbGp thermal stability were studied, by DLS and SAXS, at pH 5.0, 7.0 and 9.0. DLS and SAXS data show that the SDS-oxy-HbGp interactions induce a significant decrease of the protein thermal stability, with the formation of larger aggregates, at pH 5.0. At pH 7.0, oxy-HbGp undergoes complete oligomeric dissociation, with increase of temperature, in the presence of SDS. Besides, oxy-HbGp 3.0mg/mL, pH 7.0, in the presence of SDS, has the oligomeric dissociation process reduced as compared to 0.5mg/mL of protein. At pH 9.0, oxy-HbGp starts to dissociate at 20°C, and the protein is totally dissociated at 50°C. The thermal dissociation kinetic data show that oxy-HbGp oligomeric dissociation at pH 7.0, in the presence of SDS, is strongly dependent on the protein concentration. At 0.5mg/mL of protein, the oligomeric dissociation is complete and fast at 40 and 42°C, with kinetic constants of (2.1±0.2)×10-4 and (5.5±0.4)×10-4s-1, respectively, at 0.6mmol/L SDS. However, at 3.0mg/mL, the oligomeric dissociation process starts at 46°C, and only partial dissociation, accompanied by aggregates formation is observed. Moreover, our data show, for the first time, that, for 3.0mg/mL of protein, the oligomeric dissociation, denaturation and aggregation phenomena occur simultaneously, in the presence of SDS. Our present results on the surfactant-HbGp interactions and the protein thermal unfolding process correspond to a step forward in the understanding of SDS effects. © 2013 Elsevier B.V.

Cetyltrimethylammonium chloride (CTAC) effect on the thermal stability of oxy-HbGp: Dynamic light scattering (DLS) and small angle X-ray scattering (SAXS) studies

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

The influence of different osteosynthesis configurations with locking compression plates (LCP) on stability and fracture healing after an oblique 45° angle osteotomy

Background Locking compression plates are used in various configurations with lack of detailed information on consequent bone healing. Study design In this in vivo study in sheep 5 different applications of locking compression plate (LCP) were tested using a 45° oblique osteotomy simulating simple fracture pattern. 60 Swiss Alpine sheep where assigned to 5 different groups with 12 sheep each (Group 1: interfragmentary lag screw and an LCP fixed with standard cortex screws as neutralisation plate; Group 2: interfragmentary lag screw and LCP with locking head screws; Group 3: compression plate technique (hybrid construct); Group 4: internal fixator without fracture gap; Group 5: internal fixator with 3 mm gap at the osteotomy site). One half of each group (6 sheep) was monitored for 6 weeks, and the other half (6 sheep) where followed for 12 weeks. Methods X-rays at 3, 6, 9 and 12 weeks were performed to monitor the healing process. After sacrifice operated tibiae were tested biomechanically for nondestructive torsion and compared to the tibia of the healthy opposite side. After testing specimens were processed for microradiography, histology, histomorphometry and assessment of calcium deposition by fluorescence microscopy. Results In all groups bone healing occurred without complications. Stiffness in biomechanical testing showed a tendency for higher values in G2 but results were not statistically significant. Values for G5 were significantly lower after 6 weeks, but after 12 weeks values had improved to comparable results. For all groups, except G3, stiffness values improved between 6 and 12 weeks. Histomorphometrical data demonstrate endosteal callus to be more marked in G2 at 6 weeks. Discussion and conclusion All five configurations resulted in undisturbed bone healing and are considered safe for clinical application.