Table Of ContentPOWER QUALITY IN POWER SYSTEMS,
ELECTRICAL MACHINES, AND
POWER-ELECTRONIC DRIVES
THIRD EDITION
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POWER QUALITY
IN POWER SYSTEMS,
ELECTRICAL
MACHINES, AND
POWER-ELECTRONIC
DRIVES
THIRD EDITION
E F. F
WALD UCHS
DepartmentofElectrical,Computer,andEnergyEngineering,UniversityofColorado,Boulder,CO,UnitedStates
M A.S. M
OHAMMAD ASOUM
EngineeringDepartment,UtahValleyUniversity(UVU),Orem,UT,UnitedStates
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Contents
3. Modeling and analysis of induction
Preface ix
machines 197
Acknowledgments xiii
The climate dilemma xv
3.1 Completesinusoidalequivalentcircuitofa
Summary overview of chapters xvii three-phaseinductionmachine 199
3.2 Magneticfieldsofthree-phasemachines
1. Introduction to power quality 1
forthecalculationofinductivemachine
parameters 206
1.1 Definitionofpowerquality 2 3.3 Steady-statestabilityofathree-phase
1.2 Causesofdisturbancesinpowersystems 2 inductionmachine 210
1.3 Classificationofpowerqualityissues 4 3.4 Spatial(space)harmonicsofathree-phase
1.4 Formulationsandmeasuresusedfor inductionmachine 215
powerquality 17 3.5 Timeharmonicsofathree-phaseinduction
1.5 Effectsofpoorpowerqualityonpower machine 218
systemdevices 52 3.6 Fundamentalandharmonictorquesofan
1.6 Standardsandguidelinesreferringtopower inductionmachine 221
quality 53 3.7 Measurementresultsforthree-andsingle-phase
1.7 Harmonicmodelingphilosophies 61 inductionmachines 227
1.8 Powerqualityimprovementtechniques 63 3.8 Inter-andsubharmonictorquesofthree-phase
1.9 Summary 83 inductionmachines 244
1.10 Problems 84 3.9 Interactionofspaceandtimeharmonicsof
References 94 three-phaseinductionmachines 252
Additionalbibliography 96 3.10 Conclusionsconcerninginductionmachine
harmonics 255
2. Harmonic models of transformers 99 3.11 Voltage-stresswindingfailuresofAC
motorsfedbyvariable-frequency,
2.1 Sinusoidal(linear)modelingoftransformers 100 voltage-andcurrent-sourcePWM
2.2 Harmoniclossesintransformers 101 inverters 255
2.3 Deratingofsingle-phasetransformers 109 3.12 Nonlinearharmonicmodelsofthree-phase
2.4 Nonlinearharmonicmodelsoftransformers 120 inductionmachines 279
2.5 Ferroresonanceofpowertransformers 135 3.13 Staticanddynamicrotoreccentricityof
2.6 Effectsofsolar-geomagneticdisturbanceson three-phaseinductionmachines 282
powersystemsandtransformers 152 3.14 Operationofthree-phasemachines
2.7 Grounding 157 withinasingle-phasepowersystem 283
2.8 Measurementofderatingofthree-phase 3.15 Classificationofthree-phaseinduction
transformers 170 machines 283
2.9 Summary 184 3.16 Summary 285
2.10 Problems 185 3.17 Problems 285
References 193 References 293
AdditionalBibliography 196 Additionalbibliography 297
v
vi Contents
4. Modeling and analysis of synchronous 6.2 Applicationofcapacitorstoreactivepower
machines 299 compensation 581
6.3 Applicationofcapacitorstoharmonic
4.1 Sinusoidalstate-spacemodelingofasynchronous filtering 582
machineinthetimedomain 301 6.4 Powerqualityproblemsassociatedwith
4.2 Steady-state,transient,andsubtransient capacitors 585
operation 307 6.5 Frequencyandcapacitancescanning 605
4.3 Harmonicmodelingofasynchronous 6.6 Harmonicconstraintsforcapacitors 608
machine 371 6.7 Equivalentcircuitsofcapacitors 613
4.4 Discretizationerrorsofnumericalsolutions 396 6.8 Summary 616
4.5 Operatingpoint-dependentreactances 6.9 Problems 617
undersaturatedmagneticfieldconditions 399 References 622
4.6 Summary 402
7. Lifetime reduction of transformers and
4.7 Problems 403
References 416 induction machines 625
Additionalbibliography 419
7.1 Rationaleforrelyingontheworst-case
5. Performance of power-electronic conditions 626
driveswithrespecttospeedandtorque 421 7.2 Elevatedtemperatureriseduetovoltage
harmonics 627
5.1 Closed-formandnumerical-solutiontechniques 7.3 Weighted-harmonicfactors 628
forvariable-speed,variable-torquedrives,and 7.4 Exponentsofweighted-harmonicfactors 641
reviewofcircuitapproximationssuitablefor 7.5 Additionallossesortemperaturerisesversus
numericalsolutions 421 weighted-harmonicfactors 643
5.2 Three-phasedistributionsystemsupplyingenergy 7.6 Arrheniusplots 645
tolithium-ionbatteriesviarectifiers 427 7.7 Reactionrateequation 646
5.3 Three-phasepermanent-magnetgenerator 7.8 Decreaseoflifetimeduetoanadditional
supplyingenergytolead-acidbatteryvia temperaturerise 647
rectifier 479 7.9 Reductionoflifetimeofcomponentswith
5.4 Speedandtorquecontrolofdrivesconsistingof activationenergyE=1.1eVduetoharmonics
three-phaseinductionmachineconnectedto oftheterminalvoltagewithinresidentialor
current-controlled,voltage-sourceinverter 487 commercialutilitysystems 649
5.5 Speedandtorquecontrolofbrushless-DC 7.10 Possiblelimitsforharmonicvoltages 650
machineorpermanent-magnetmachine 7.11 Probabilisticandtime-varyingnatureof
fed/suppliedbyinverterforeithermotoror harmonics 657
generatoroperation 525 7.12 Thecostofharmonics 657
5.6 Controlofspeedandtorqueforthree-phase 7.13 Temperatureasafunctionoftime 658
synchronousmotor/machinefed/suppliedby 7.14 Variousoperatingmodesofrotating
eitherlithium-ionbatteryorfuelcellviainverter machines 660
foreithermotororgeneratoroperation 547 7.15 Summary 691
5.7 Performanceissueswithbatteries,fuelcells, 7.16 Problems 693
andcombustionengines 562 References 699
5.8 Summary 562
8. Power system modeling under
References 563
nonsinusoidal operating conditions 703
6. Interaction of harmonics with
capacitors 567 8.1 Overviewofamodernpowersystem 703
8.2 Powersystemmatrices 707
6.1 Applicationofcapacitorstopower-factor 8.3 Fundamentalpowerflow 722
correction 568 8.4 Newton-basedharmonicpowerflow 748
Contents vii
8.5 Classificationofharmonicpowerflow 11. Optimal placement and sizing of
techniques 782 shunt capacitor banks in the presence
8.6 Summary 794 of harmonics 1017
8.7 Problems 794
References 802
11.1 Reactivepowercompensation 1018
11.2 Commontypesofdistributionshuntcapacitor
9. Impact of poor power quality on
banks 1021
reliability, relaying, and security 805
11.3 Classificationofcapacitorallocation
techniquesforsinusoidaloperating
9.1 Reliabilityindices 805 conditions 1025
9.2 Degradationofreliabilityandsecuritydueto 11.4 Optimalplacementandsizingofshuntcapacitor
poorpowerquality 809 banksinthepresenceofharmonics 1047
9.3 Toolsfordetectingpoorpowerquality 840 11.5 Summary 1083
9.4 Toolsforimprovingreliabilityand References 1083
security 858
9.5 Loadsheddingandloadmanagement 873 12. Power quality solutions for renewable
9.6 Energy-storagemethods 873 energy systems 1087
9.7 Matchingtheoperationofintermittent
renewablepowerplantswithenergystorage 874
12.1 Energyconservationandefficiency 1087
9.8 Summary 875
12.2 Photovoltaicandthermalsolar(power)
9.9 Problems 876
systems 1098
References 905
12.3 Horizontalandvertical-axeswindpower
Additionalbibliography 912
(WP)plants 1113
12.4 Complementarycontrolofrenewableplants
10. The roles of filters in power
withenergystorageplants 1145
systems and unified power quality
12.5 ACtransmissionlinesvsDClines 1175
conditioners 915 12.6 Fast-chargingstationsforelectriccars 1175
12.7 Off-shorerenewableplants 1175
10.1 Typesofnonlinearloads 916 12.8 Metering 1176
10.2 Classificationoffiltersemployedinpower 12.9 Otherrenewableenergyplants 1176
systems 918 12.10 Productionofautomotivefuelfromwind,
10.3 Passivefiltersasusedinpowersystems 920 water,andCO 1177
2
10.4 Activefilters 942 12.11 Waterefficiency 1177
10.5 Hybridpowerfilters 945 12.12 Villagewith2600inhabitantsachieves
10.6 Blockdiagramofactivefilters 950 energyindependence 1178
10.7 Controloffilters 952 12.13 Reductionoflifetimeasafunctionof
10.8 Compensationdevicesatfundamentaland temperature 1178
harmonicfrequencies 972 12.14 Parallelingoftwopowersystems 1181
10.9 Unifiedpowerqualityconditioner 12.15 TheTEXASsynchrophasornetwork 1182
(UPQC) 978 12.16 Summary 1182
10.10 TheUPQCcontrolsystem 983 12.17 Problems 1183
10.11 UPQCcontrolusingthePark(dqo) References 1202
transformation 985
10.12 UPQCcontrolbasedontheinstantaneous Glossary of symbols, abbreviations, and
realandimaginarypowertheory 988 acronyms 1209
10.13 PerformanceoftheUPQC 1001
Appendices 1225
10.14 Summary 1012
References 1014 Index 1245
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Preface
This book is intended for graduate stu- NobelPrizeacceptancespeech.Powergener-
dentsandprofessionalsworkinginthefields ationatthistimewasmainlybasedoncoal-
ofpowersystems,renewableenergy,suchas firedandhydropowerplants.Powerquality
windandphotovoltaics,andstoragedevices, playedasubordinaterolebecauseonlyafew
suchasbatteriesandfuelcells,includingthe mercury rectifiers and inverters were
design of electric power-electronic drives. employedwithinthecentralanddistribution
The main objective of this book is to design power system environment.
components that meet acceptable power The invention of the semiconductor p-n
quality standards. junction [4], along with the development of
rectifiers[5]andinverters[6],ledHingorani
[7]tobelievethatallendowedelectronspass
1. Past and future electric energy at least once through power-electronic com-
systems ponentswithinthepowersystem.Thedevel-
opment of light-emitting-diode (LED) lights
Edison’s Pearl Street direct-current (DC) [8] and variable-speed drives, such as
power station in Manhattan, NYC, opened brushlessDCmachines(inverter-fedACma-
in1882[1],wasthefirstcentralpowerplant chines) [9], confirm Hingorani’s prediction.
in the United States, providing electric Thus, modern power systems with a high
poweronlytoclientsintheimmediatevicin- penetrationofpower-electroniccomponents
ity,duetoitslowvoltageandveryhighcur- cameabout, relying mostlyon wind, photo-
rent, which had to be transmitted in buried voltaic, solar thermal, and nuclear power
DC very-large-cross-section cables to limit plants,asdiscussedinthenextsection.This,
ohmic losses. The voltage was controlled inturn,createdanincreasedneedtoinvesti-
within the fenced-in power station. This gatepowerqualityduetosource-andload-
power station was able to function due to generated harmonics and transients—while
theinventionofthemechanicalcommutator, on the other hand, an efficiency increase is
onwhichDCmachinesarebased,converting achieved.
theACcurrent/voltageoftherotortodirect
current/voltage at the terminals of the DC
2. Renewable hybrid energy system
generator employing carbon brushes.
developments
On the other hand, Tesla favored—with
hisinventionofthetwo-phaserotatingfield
[2]—an alternating current (AC) central Fig.1showsafuturesmartinterconnected
fenced-inpowerstationwithvoltageandfre- power and load system where control and
quency control. Electricity conduction is dispatch centers combine the advantages of
basedonendowedelectrons capableofuse- DC transmission [1]—no stability prob-
ful work, as explained by Franck [3] in his lems—with those of AC transmission [2],
ix
