2006 International Conference on Power System Technology

Analysis

and

Implement

of

Thyristor-based

STATCOM
Jianye Chen, Shan Song, Zanji Wang
Department of Electrical Engineering, Tsinghua University, Beijing, 100084

Abstract- As an important member of FACTS family, STATCOM has got more and more widely application. However,
conventional STATCOM is based on self-commutated devices,
the price and unavailable homemade devices limit its application
in China. Based on detailed analysis of commuting process of
conventional STATCOM, the authors find that as STATCOM
operated in the state of absorb reactive power, only turn-on
signals is available, and turn-off signals have no effects. And when
STATCOM generates reactive power, only turn-off signals are
available. Hence, this paper proposed a new kind of STATCOM,
where thyristors instead of self-commutated devices are used
as switching devices. Simulation and experimental results show
that such a thyristor-based VSC (Voltage source converter)
STATCOM can absorb inductive reactive power by adjusting
its fire angle and has the same characteristics as ordinary
STATCOM within its inductive operating range, so the thyristorbased STATCOM can be used for static var compensation in
power systems.
Index Terms- STATCOM, Static Var Compensation, Flexible
AC Transmission System.
I. INTRODUCTION
T ODAY'S power systems are widely interconnected

among different regions and countries for economic

reasons to reduce cost and improve reliability. But increasingly
complex power systems can become less secure because of
inadequate power flow control, excessive reactive power and
large dynamic swings, which become bottlenecks of fully
utilizing the potential of transmission interconnections[l][2].
The FACTS technology is effective on alleviating these difficulties. As an important kind of FACTS devices, SVC is
widely used in power systems for shunt reactive compensation.
However, using TCR and TSC for reactive power generating,
the thyristor controlled SVC brings harmonics and possible
harmonic resonance into system. Compared with SVCs, the
VSC based STATCOM has better compensating capability,
faster response, less harmonics and smaller physical size, and
thus becomes a serious competitive alternative to conventional

Based on detailed analysis of the commutation process

(turn-on/off sequence of self-commutated devices and diodes)
in a normal STATCOM, this paper proposes a thyristor-based
STATCOM, which can absorb reactive power. Simulation and
prototype experimental results show that the thyristor-based
STATCOM is applicable. Although cannot generate reactive
power, it has the same characteristics as normal STATCOM
when absorbing reactive power. So thyristor-based STATCOM
can be used for power system reactive compensation.
II. PHASE COMMUTING PROCESS OF A NORMAL
STATCOM
In order to explain the principles of thyristor-based STATCOM, a conventional STATCOM based on square-wave voltage source converter in Fig.1 is analyzed first. The converter
consists of 6 GTOs, 6 diodes and a capacitor at DC side. It
was connect to system through a Y/Y transformer. System line
voltage is 380V 50Hz. Transformer is 1OkVA 380/400V, with
leakage reactance of 0.2 p.u. and total loss of 0.04 p.u.. DC
capacitor is 2200,uF.

Fig. 1. Simulation circuit of 6 pulse STATCOM

Every GTO of the converter has a turn-on/off period of

1800. PAM is used. Assuming R is equivalent phase resistance,

L is equivalent phase reactance, d is converter fire angle, and

system voltage is:
UA (t)

v2_Us sin (wt)

UB (t)
vf2Us sin(wt
SVCs[3].
2w)
Normally, self-commutated devices such as GTO, IGCT
UC (t) = vUs sin(wt + 3
and IGBT are used in STATCOMs. To reduce switching
According to mathematical model of STATCOM, the dylosses, high-power STATCOMs usually use multi-leveled
namic
model of 6-pulse STATCOM in Fig. 1 can be described
square-wave converters rather than PWM converters. Selfcommutated devices as well as their firing, protection and as following:
1
diA
control are much more complex and expensive than those of
RiA]
=- [KUd, sin(wt + 6) -uA (t)
dt
L
1
27r
| diB
thyristors' and take up a great part of the total investment
- )
uB (t)
)
dt
L L3KUd, sin(w)t +
)t
RiB
in high-power STATCOMs. In order to take the advantage of
I
27r
diC
6
[KUd,
sin(wt
uC(t)
dt
3 )
thyristor's low price and robust thyristor's can be used instead
d Ud
27r
27r
C
of self-commutated devices in STATCOMs.
)
= -K iA sin(wt + 6) + iB sin(wt + 6 --) + iC sin(wt + 6 +
=

RiC

1-4244-0111-9/06/$20.00 c2006 IEEE.

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-)

The positive direction of line current is shown in Fig. 1.

Take positive zero-crossing point of phase voltage as reference
of 6, and leading zero point as positive direction of 6. K is
the coefficient for fundamental frequency of converter output
voltage. For 6-pulse bridge, K = 2/7. In steady state, 3 phase
line currents and absorbed reactive power of the STATCOM
can be calculated from the above model as following:
ii~iA(t)
A(t)

= N

~ ~ ~ ~ ~ Ot

UA

oL

3<

/ I1

U'i

4 iB(t) =X Us

sin(wt 61
2w
2
R
2
6 sin(wt + + 7r + 2w
l~i c (t) = v \2Usin
s
2
3
R
3U2 sin 26
2R

~~3)

(1)

UL L=380V
+1.8
-1.8

IA (A, RMS value)

12.0 (leading system voltage)
12.0 (lagging system voltage)

+7.9
-7.9

_~~~~~~~~~

iDl

61

=1.80

6 =-1.80
(Vt

GI, DIIX

7K,

i' I)X
4i.D4

GI .DI

(4

G4

~D1

GI :D4

G4~

In Fig.2, iAl leads UA by 7/2 + 6, approximately 900.

During the positive 1800 of gl, iA1 goes from the negative
maximum to the positive maximum. But GI can only conduct
current when iA1 > 0. So during this time, GI turns on
firstly when iA1 > 0, then D1 turns on when iA1 < 0.
Similarly, during the negative 180 of gl (positive 180 of G4
gate signal g4), G4 turns on firstly when iA1 < 0, then
D4 turns on when iA1 > 0. The commutation process is
D4-GIlDIlG4. Similarly, in Fig.3, when iAl lags iAl by
7/2- 6, the commutation process is GIlD4-G4-DI. Thus
tAl can be divided by conducting range of every thyristor and
diode as following:

Ui

(~I

D4

(I~~~~~~~~~~~~~~~~~~~~

Fig. 3. Relative phase of phase A voltage, current and fire signal when
6 =-1.8

kA X

UA

iA

(kVar)

The results in Table I are consistent with equation (1). In

(1), when d > 0, the fundamental frequency of phase current
leads system phase voltage by (7/2 + d). When d < 0, the
fundamental frequency of phase current lags system phase
voltage by (7/2 -). Taking phase A for example, the relative
phases of system phase voltage UA, inverter output phase
voltage UiA, GI fire signal gl, phase current iA and its
fundamental frequency iAl when d is +1.80 and -1.80 are
shown in Fig.2 and Fig.3.

7E/2

~~~~~~~~~~~~~~~~~~I

oA

TABLE I
PHASE A CURRENT RMS VALUE AND ABSORBED REACTIVE POWER OF
SIMULATION SYSTEM

(degree)

o Wi~ ~ ~ ~ ~ ~ ~ o

1I

oi K

When d is +1.8 and -1.80, the steady-state phase current

and absorbed reactive power of STATCOM are in Table I

\.
E
z

IU2=

gl

2Us Rsin 6 sin(wt + d +-)

.D4

Fig. 2. Relative phase of phase A voltage, current and fire signal when
6= +1.8

GI
D1
G4

wt[
E[6, 6+ 2]
wt E

-6+]

wt[
E[6+r, 6+ 2 ]
D4 wtC[ 6+3~,2w 6]
D1 wt[
E[-6, 6
+ 2]
wtCE [-d +2 76+]
D4 wtC[[6++
6+ 2]
+ 327 2- 6]
G4 wtE[

When considering harmonics, the zero-crossing points of

iA are little different from iAl, but the commutation process
remains the same. Thus iA can be divide according to commutation process as shown in bottom of Fig.2 and Fig.3. The
commutation process is illustrated in Fig.4 and Fig.5.
When d = +1.80, the commutation sequence of phase A is
D4-GIlDIlG4, as shown in Fig.4(a)-(d). In Fig.4(a), D4
is on. The turn-on signal of GI arrives at 1.80 leading UA
positive zero-crossing point, as shown in Fig.2. GI turns on
and iA flows through the leakage reactance during commuting
until GI takes over iA from D4, as in Fig.4(b). After about
1/4 cycle, GI naturally turns off when iA zero-crossing point
arrives, and DI turns on as in Fig.4(c). The commuting process
from DI to G4 is the same as that from D4 to GI. Finally,
G4 turns off when iA crosses 0 and D4 turns on, which goes

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Simulation results of the thyristor-based STATCOM are in

from Fig.4(d) back to Fig.4(a).

CV .Tl

Fig.7.

<-

i,4,

VI
I

Al--

Cot

'11.

1) EL

Vill,

O)t

`.Uy

AT.

500

0~~

-500
0.4

0.405

0.41

0.415

0.42

0.425

0.43

0.435

0.44

0.425

0.43

0.435

0.44

0.43

0.435

(s)
20

<.-,,

-20 t

GI

ik,,.I-A

0.4

iAl.

')

"'A

cot

----I

,4L_TAA

l-

(3)

-I

(3)

0.405

0.41

0.415

i10

A/

0.42

(s)

XTl DJ\Tti

,,

0.425

0.44

30

10

(4)
0.4

Fig. 4. Phase A commutation process when 6 = +1.8

0.42

20

C,4.1

4w

0.415

a20
.J7,
-0

'

0.41

(s)

0.4

0.405

30

Fig. 5. Phase A commutation process when

1.8

0.405

iDl II

iDl
0.41

0.415

0.42

(s)

0.425

Fig. 7. Phase A current waveforms when 6

0.43

T4

0.435

0.44

+1.8'

When d = -1.80, the commutation process of phase A

In Fig.7, when d = +1.8, the waveform of line current is
is GIlD4-G4-DI, as shown in Fig.5(a) (d). GI is on in the same as in Fig.2. The commutation process of phase A
Fig.5(a). As in Fig.3, the turn-off signal of GI arrives at 1.8 is D4-TIlDIlT4, the same process as in Fig.2 and Fig.4.
lags UA negative zero-crossing point and GI is forced to turn Thyristors take over line currents from diodes when fire signals
off. The leakage reactance keeps iA during this commuting arrive.
process until iA goes from GI into D4. D4 is on as in Fig.5(b).
According to simulation, when d= +1.8, the STATCOM
After about 1/4 cycle, iA crosses 0 and D4 naturally turns in Fig.7 has an absorbed reactive power of 7.9kVA. The line
off. At this time, G4 turn-on signal has already arrived, so current RMS value is 12.OA. These results are the same as
G4 naturally turns on as in Fig.5(c). The commuting process calculated using equation (1).
from G4 to DI is the same as that from GI to D4. Finally, D4
The simulation shows that thyristor-based STATCOM benaturally turns off and GI turns on when iA crosses 0, which haves just the same as normal STATCOM when d > 0 and
goes from Fig.5(d) back to Fig.5(a).
line currents are continuous. They have same phase comThe above analysis reveals the essential features of a mutation process and can be described with same equations.
STATCOM: when d > 0 and STATCOM inputs reactive So thyristor-based STATCOM can also be used for reactive
power, GTOs takes over line currents from diodes when turn- power compensation. Since thyristors cannot be turned off,
on signals arrive, and turn-off signals have no effects. When the thyristor-based STATCOM can only input reactive power.
d < 0 and STATCOM generates reactive power, line currents It must be used together with capacitors to generate reactive
in GTOs are forced into diodes when turn-off signals arrive, power.
and turn-on signals have no effects. Thus when d > 0, GTOs
behave just the same as thyristors. It is possible to replace selfIV. PROTOTYPE VERIFICATION OF THYRISTOR-BASED
commutated devices in a normal STATCOM with thyristors to
STATCOM
get a thyristor-based STATCOM, which can input adjustable
reactive power when d > 0.
A. Structure of 12-pulse Prototype System
A 12-pulse prototype of thyristor-based STATCOM was
III. SIMULATION OF THYRISTOR-BASED STATCOM
built to verify the theoretical and simulation analysis. The
The thyristor-based STATCOM is shown in Fig.6. Replace structure of prototype system is shown in Fig.8. The main
the GTOs GIG6 in Fig.1 with thyristors TIT6. Other circuit consists of a Y/YID three-winding transformer (D
windings lag Y by 300), 2 six-pulse bridges of thyristors and
parameters remain the same. Set fire angle d = +1.8.
diodes (thyristors TYITY6, diodes DYIDY6 in Y bridge,
thyristors TD1-TD6, diodes DD1-DD6 in D bridge), and a
DC side capacitor.
The operation of main circuit is controlled by digital controllers. As in Fig.8, the 12-pulse thyristor STATCOM has an
open-loop controller based on FPGA (Xilinx XC3S200) and
a close-loop controller based on DSP (TI TMS320F2812).
The open-loop controller obtains synchronized signals from
3-phase system voltage, produces 12 fire signals according to
Fig. 6. Simulation circuit of 6 pulse thyristor-based STATCOM
required fire angle, and amplifies fire signals to drive gates

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Fig. 8. Prototype system of 12 pulse thyristor-based STATCOM

of thyristors. The fire angle in open-loop controller can be

calculated in close-loop controller according to voltage and
current signals and transfer to open-loop controller through
16bit data bus. In prototype experiments, fire angle is set to
different fixed values to verify the absorbed reactive power
under different fire angles.
The phase shifting and pulse generating in the open-loop
controller are implemented as in Fig.9. Taking phase A for
example, the 4 thyristors in leg A of Y and D bridges (TYI,
TY4, TD1, TD4) are synchronized to phase A system voltage.
The phase shifting counter starts when rising/falling edge
of voltage synchronize signal arrives. The counter value is
compared to fire angle register value in a comparator. The
comparator generates start signals for TYI, TY4, TD1, TD4 at
the right moment. Since TYI and TY4 (TD1 and TD4) are on
the same leg, and their fire signals cannot overlap each other,
same pulse-width counter and pulse-modulator can be used for
TYI and TY4 (TD1 and TD4). The pulse-width counter gives
a square-wave signal according to thyristor start signal and
required pulse width. The square-wave is modulated by pulse
modulator into a pulse group. The pulse group is amplified
and goes through pulse transformer to drive thyristor gates.

is 8us (z 0.140). In prototype of thyristor based STATCOM,

the same precision is needed. But most of existing thyristor
phase-shifting and firing circuits and ICs cannot provide such
a precision. In the FPGA open-loop controller, the delay
between rising edge of the square wave from pulse-width
counter and the first rising edge of the pulse group from pulse
modulator is limited into 2 clock cycles by special designs
in the counter and modulator in Fig.9. According to field
tests, the total error of fire angles from voltage zero-crossing
detection, FPGA phase shifting and delay in thyristor fire
circuits is no more than 0.10, which meets the requirement
of STATCOM.
B. Experimental Results of 12-pulse Prototype
In experiments, the prototype device is 5kvar, system phase
voltage is 190V/5OHz. The equivalent phase reactance wL
3.5Q, resistance R 1.3Q. DC capacitor is 2200,uF.
1) Steady-state Current Waveforms: Set the fire angle of
12-pulse prototype to 1.80 and 3.6(leading system phase
voltage by 100 and 200us). Fig.10 is the phase A waveforms.
The channel 1 of waveforms is system phase voltage UA. The
positive direction of iA, tAY, 'AD is marked in Fig.8.

(a) 6= 1.8, iA

(b) 6

3.6, iA

U
.

:1)Chl1

....~~~~~~~~~~~.....

10O0Vlt: loinl

....... . . . .....

2)Ch2

As 1O

-i

)C h l1:
2)Ch2:

()6 1.8' iAY

(d)

lo0InS
lO ms

...

3.6, iAY

U
OH.l-z('

Fig. 9. Phase shifting and pulse generating in FPGA

The operating range of fire angle in a STATCOM is usually

several degrees(e.g., about 100 in the prototype device). To adjust fire angle within this range and control absorbed/generated
reactive power accurately, the precision of fire signals must be
high enough. In reference [4][5]and[6] mentions a STATCOM
controller providing pulse signals at a precision of 0.10. Fire
signal precision of the STATCOM controller in reference [7]

1)Chl

2) Ch2

100l Volt 10ins

A 1O ms

(e) 6

1.8, iAD

Fig. 10. Phase A current waveforms when 6

(f) d = 3.6, iAD

=

1.8 and 3.6

In Fig. 10, the output direction is the positive direction

of line currents, just the same as in Fig.8. According to

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+<>r~ Fieanlg

experimental results, when d is 1.80 and 3.60, the output

line current leads phase voltage by 90 (input line current
lags phase voltage by 900), indicating that the STATCOM
absorbs reactive power. As d increases, IA and Q increase.
Experimental results have verified the theory analysis that
thyristor-based STATCOM is applicable.
2) d Q curve of 12-pulse prototype device: Let 0 <
< 11.70. In 0
4.50, fix dat every 0.90(50,us). In 4.50
11.70, fix d at every 1.80(100,us). Measure the steady-state
absorbed reactive power under every fixed 6, a d - Q curve
can be drawn as in Fig.lI. In Fig.lI, when d > 1.8, Q is in

5
4
3
2
_S

C~
~
~

Fig. 11.

curve

~~

6
8
6 (degree)

10

12

of 12-pulse prototype device

proportion to 6, which is consistent with equation (1). When

d < 1.80, a non-adjustable region exists in which Q does
not change much as d decreases. This is because the phase
current of thyristor-based STATCOM is not continuous when
d is relatively small. This non-adjustable region can be reduced
by increasing equivalent reactance.
3) Experiment of Close-loop Control: A algorithm consists
of feed forward and feed back control is used in the DSP
close-loop controller, as shown in Fig. 12.
F-ed-back

co---tntrol
reactive power

maeanx

fI

Feed f6-ard

control

Fig. 12.

Close-loop control algorithm

The feed forward loop calculate 60 directly from control

objective Qref using coefficient KFD, and the feed back
loop calculate A6 from Q,f - Q through a PI controller. To
simplify the calculation, p.u. value is used in the algorithm,
the measured reactive power Q is converted to p.u. value by
coefficient 1/Qbase. The p.u. value of d is calculated from
control loop and converted to real value by coefficient 6base
When using p.u. value, the feed forward coefficient KFD = 1.
To test the close-loop control algorithm, the step response of
input reactive power Q is measured. Let KP = 6.0, KI = 3.0,
and Qref jumps from 0.2p.u. to 0.3p.u.. The step response of
Q is shown in Fig.13. The curve data of Q is calculated in DSP
and acquired by emulator. In Fig.13, the total transient time is

5
0.32l

ll

.3

0.226

b--

a0.24 _

-L;;
0

Fig. 13.

10

20

30

40

-X

50
t (ms)

60

70

Close-loop step response of Q when Kp

80

---

90

6.0, KI

1 00

3.0

about 30ms(1.5 cycle). The result of step response indicates

that by choosing appropriate coefficients, the algorithm in
Fig.12 can provide a fast-response control for thyristor-based
STATCOM.
V. CONCLUSION
Based on the analysis of commutation process in a normal
STATCOM, this paper presents a thyristor-based STATCOM
which can input adjustable reactive power when fire angle > 0.
Simulation results show that it behaves the same as normal
STATCOM within its operating range. Detailed implementation commentary for the 12-pulse prototype system and its
digital controller is provided. Experimental results show good
agreement to the theoretical and simulation analysis, indicating
thyristor-based STATCOM has the same characteristics as
normal STATCOM when inputting reactive power. So in power
systems, the thyristor-based STATCOM has the potential for
shunt reactive compensation when used together with shunt
capacitors.
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[2] D. J. Hanson and M. L. Woodhouse, "Statcom, a new era of reactive
compensation," Power Engineering Journal), vol. 16, no. 3, pp. 151-160,
2002.
[3] N. G. Hingorani and L. Gyugyi, Understanding FACTS: Concepts and
Technology of Flexible AC Transmission Systems. IEEE Press, 2000.
[4] Q. Jiang, "Modeling and controlling of advanced static var generator,"
Ph.D. dissertation, Tsinghua University, 1999.
[5] C. Li, Q. Jiang, and W. Liu, "Field test of a DSP-based control system
for 20 MVar STATCOM," in Industrial Electronics Society, 26th Annual
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[6] L. Xiu, Q. Wang, and D. Shen, "Study on high accurate asvg digital pulse
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pp. 35-38, 1997.
[7] Q. Chang and L. C. Mariesa, "A multi-processor control system architecture for a cascaded STATCOM with energy storage," in Applied Power
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