INDUCTION REGULATOR FOR POWER FLOW CONTROL IN AN AC TRANSMISSION NETWORK AND A METHOD OF CONTROLLING SUCH NETWORK

Abstract

A device for controlling the voltage and the phase angle of a polyphase electric transmission network including an induction regulator that is connected between the primary side and the secondary side of the transmission network. A gap is provided with a magnetic layer having a relative permeability that is controllable, wherein the magnitude (amplitude) of the secondary voltage vector is also adapted to be controlled by controlling the permeability of the magnetic layer. The magnetic layer may include a magnetic fluid or a solid material.

Description

FIELD OF THE INVENTION

The present invention relates to an induction regulator for controlling the voltage and the phase angle of a polyphase electric transmission network, which induction regulator is connected between a primary side and a secondary side of the transmission network and comprises a stator with stator windings and stator poles and a partial rotatable rotor with rotor windings and rotor poles, and a gap between the respective stator pole and rotor pole.

The invention also relates to a method of controlling voltage and phase angle of a polyphase transmission network.

The invention further relates to use of a power-flow control device for a polyphase transmission network for high voltage.

DESCRIPTION OF THE BACKGROUND ART

The active power flow in an ac network is controlled by the equation

$P=\frac{U_1U_2}{X}\sin \delta$

where U₁ and U₂ are the voltages at the transmitting and receiving ends, respectively, of the network. The line reactance is X and δ is the angle between the voltages.

One reason for having power flow control in a network is to be able to utilize the transport system (the network) from production (generators) to consumption (load) as well as possible. This means that generators with a low production cost may be utilized more. If unforeseen events occur in a network, it will require that the generators be planned in a non-optimal way with regard to the production costs. With controllability in the network, it will therefore be possible to produce electricity in a less expensive manner.

It is known that an active power flow in a network may be influenced in a plurality of ways by:

• • decreasing or increasing voltage amplitudes
  • changing the reactance by adding a series capacitor
  • changing the angle δ with a phase-shifting transformer
  • adding a shunt and series voltage, usually named UPFC, SSSC, FACTS and the like acronyms, depending on the method,
  • using an induction regulator.

When influencing the active power flow by reducing or increasing the voltage amplitudes, the control range for reducing or increasing the voltage amplitudes for voltage changes is limited because of the maximally allowed voltage level (usually ±5%) and the fact that operation at a high voltage level is preferable in order to reduce the losses in the network.

When influencing the active power flow by using a series capacitor, the reactance can only be reduced to a certain level and it is not possible to force the current irrespective of the state of the line since it is not possible in practice to overcompensate the line.

A phase shifter, on the other hand, can control the power flow and force any current by introducing a phase shift between its terminals.

A UPFC (Unified Power Flow Controller) makes use of power electronics to transmit power between a shunt-connected and a series-connected transformer. By proper control, it is possible to achieve an optional output voltage within the rated power of the apparatus. The disadvantages of existing UPFCs have primarily been associated with the difficulty of protecting the power electronics on the series-transformer side. There have also been discussions whether a network point really needs full controllability both in amplitude and in phase position. Some network points require more voltage control and others more angular control to utilize the system in an optimum manner.

Induction regulators for controlling voltage and angle were used in laboratories and other locations where a very accurate and continuous voltage control was necessary. Today, induction regulators are used substantially as small units as regards voltage and power. An older field of use is voltage control of generators where the field winding on the rotor of the machine can be fed via an induction regulator. Nowadays, however, power electronics are used for the most part for this purpose.

The induction regulator is an asynchronous machine, which does not operate as a motor but with a stationary rotor, but where the rotor may be rotated in an angular direction to control the voltage.

The control is dependent on a mechanical movement of the rotor to connect a certain amount of flow from one phase to another. The power required to rotate the rotor is proportional to the power flowing through it. The control speed is low and considerable mechanical force is required to achieve the slow change of the output voltage. In the induction regulator, both a voltage change and an amplitude change occur. In this case, the output voltage follows a circle. An disadvantage of the induction regulator is that the voltage amplitude is changed when the angle δ is changed.

The power flow in a power line is controlled in essentially two different ways depending on the method.

One category of components transmits power between the phases and the other only influences the impedance in a specific phase.

The first category includes phase-shifting transformers, HVDC and UPFCs.

The second category includes mostly other categories of FACTS and series capacitors.

The first category has a considerable advantage since it is able to actively control the power flow without relying too much on the surrounding ac system. The second category is dependent on the other impedances of the ac network and may only to a certain extent influence the power flow. A device according to the first category is able to control the power flow within minimum and maximum ranges almost independently of the load states, whereas a control device according to the second category cannot always fulfil this requirement.

The fundamental principle of induction regulators is described, for example, in “TRANSFORMERS for Single and Multiphase Currents” by Gisbert Kapp, London, Sir Isaac Pitman & Sons, LTD, (pp. 274-283).

Induction regulators are also known from GB 400.100 and GB 549,536

Induction regulators may be single-phase or polyphase, but the present invention relates to polyphase induction regulators, preferably three-phase induction regulators.

The mode of operation of a three-phase induction regulator is described in the following. The induction regulator is used when it is desired to achieve a continuous rotation of the voltage vector, that is, a continuous change of the phase angle of the voltage. The rotor is kept stationary but is arranged so as to be rotatable through a certain angle in relation to the stator. The mechanical rotation suitably occurs via a worm gear. When the rotor is stationary, the direction of the EMF vectors of the rotor side depends on the position of the rotor in relation to the stator. If the machine is excited from the stator side, phase equality exists between the voltage induced in the stator winding and that induced in the rotor winding in those cases where the winding phases of the stator and the rotor are positioned opposite to each other, but when the rotor is rotated forwards in the direction of rotation of the induction flux a certain angle α in electrical degrees (one pole pitch=180 electrical degrees), then the secondary voltage vector corresponding to the time angle is displaced in time (lags behind in phase). If the rotor is rotated in the opposite direction, the vector of the secondary voltage will have a phase angle of the opposite sign compared to the preceding case.

A drawback of the induction regulator is that the possibilities of control are limited to the voltage change that the secondary voltage vector achieves and this while changing the phase angle of the voltage. This renders parallel connection of lines and apparatus difficult, since an angular rotation brings about a voltage change and hence a circulating reactive effect.

According to a first aspect the present invention seeks to provide an improved induction regulator for power flow control in high voltage ac polyphase transmission networks.

According to a second aspect the present invention seeks to provide an improved method of controlling voltage and phase angle of such polyphase transmission network for high voltage with an inductor regulator.

According to a third aspect the present invention seeks to provide use of an induction regulator for controlling voltage and phase angel of such polyphase transmission network for high voltage.

SUMMARY OF THE INVENTION

According to the first aspect of the present invention there is provided an induction regulator for controlling the voltage and the phase angle of a polyphase electric transmission network as specified in claim 1.

Appropriate embodiments of the invention according to this first aspect will become clear from the subsequent subclaims 2-18.

According to the second aspect of the present invention there is provided a method of controlling voltage and phase angle as specified in claim 19.

Appropriate embodiments of the invention according to this second aspect will become clear from the subsequent subclaims 20-21.

According to the third aspect of the present invention there is provided use of a power-flow control device for a polyphase transmission network for high voltage as specified in claims 22-23.

By influencing the relative permeability μ_r of the magnetic layer, the magnetic flux in the gap/air gap between stator pole and rotor pole is changed, which means that the amplitude of the secondary voltage vector may be controlled, and this independently of the control caused by a rotation of the rotor. The control function of the induction regulator is thus achieved by changing the relative permeability of the magnetic layer by varying the temperature in the vicinity of the temperature where the phase transition of the magnetic material lies (the ferromagnetic Curie temperature), or by a change of pressure or a change of concentration.

When the relative permeability μ_r is controlled by a change of temperature, it has proved according to the invention that the element gadolinium (Gd) is a material that is especially suited in the magnetic layer. This is based on the realization that gadolinium, which is a ferromagnetic material, has the unique property that its Curie temperature is low, actually 292° K., which corresponds to 19° C. The Curie temperature is the limit above which a ferromagnetic material exhibits normal paramagnetic performance. This implies that the permeability of gadolinium is changed when its temperature varies around the Curie temperature. It is realized that for gadolinium, therefore, the permeability may be controlled if the temperature varies around room temperature and above. A special property of gadolinium is the considerable change in permeability that occurs also with small temperature variations in the interval above the Curie point. For example, the relative permeability may be changed in the order of magnitude of from 1 to 1000 by a change in temperature from 20° C. to 40° C.

Gadolinium belongs to the group of rare-earth metals and occurs in several minerals but does not exist freely in nature.

BRIEF DESCRIPTION OF THE DRAWINGS

An embodiment of the present invention is described below by way of example only, in greater detail with reference to the accompanying drawings, where FIG. 1 schematically shows the connection of an induction regulator to a three-phase network according to the prior art,

FIGS. 2 a-d show the output controlled voltage as a vector sum of input voltage and the secondary voltage vector at different rotor positions of the induction regulator,

FIG. 3 schematically shows an induction regulator according to an embodiment of the invention,

FIG. 4 schematically shows in detail the gap in an induction regulator according to an embodiment of the invention as well as control means,

FIG. 5 schematically shows how the control range is extended by an embodiment of the invention,

FIG. 6 shows in the form of a diagram the ferromagnetic Curie point and the Neel point, respectively, of a few rare-earth metals versus the absolute temperature.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

In the description and the figures below, the invention is only exemplified for control of a three-phase network with the phases r, s, t, since three-phase distribution networks are the most commonly used in practice, whereas the invention as such is applicable also to a polyphase network with a different number of phases.

In FIG. 1, 1 denotes a source of current that is connected to a consumer 2 via a three-phase network with its three phases 3r, 3s and 3t, said network exhibiting a primary side 3 and a secondary side 4. An induction regulator 5 is connected between the current source and the consumer. Between the current source 1 and the induction regulator 5, the phase voltage Ea in the network is variable, whereas the phase voltage En in the network between the induction regulator and the consumer is maintained constant. The induction regulator exhibits three stator windings 6r, 6s and 6t and three rotor windings 7r, 7s and 7t. The respective stator winding exhibits a primary connection 8 that is connected to the primary side 3 of the network, and a secondary connection 9 that is connected to the secondary side 4 of the network. At the respective secondary connection 9, the respective stator winding is connected to the respective rotor winding 7 (r, s, t). These, in turn, are interconnected, in their second, connection, to the other rotor windings.

The voltage, ΔE, induced between the stator winding and the rotor winding, is vector-added to the primary voltage Ea to form the secondary voltage En. In those cases where the stator winding and the rotor winding are positioned right in front of each other, phase equality exists between the voltage induced in the stator winding and that induced in the rotor winding; however, if the rotor is rotated from this position, an arbitrary position may be imparted to the secondary voltage vector in relation to the corresponding primary vector, both ahead of and after the same.

FIGS. 2 a-d illustrate how the secondary voltage vector ΔE is added to the primary voltage vector Ea to form the secondary voltage En. In FIG. 2a, Ea has its lowest value and forms the voltage vector En together with ΔE. If the phase voltage Ea increases, as is clear from FIG. 2b, the position of the rotor must be displaced, whereby the phase position of ΔE is displaced so that the sum of Ea and ΔE is still constant En. When Ea has its highest value (FIG. 2c), the rotor must be displaced further to 180 electrical degrees in relation to FIG. 2a, whereby ΔE is directed in a direction opposite to that of Ea. When the rotor is displaced in the opposite direction, ΔE will have an opposite direction, which is clear from FIG. 2e.

It is clear from the above that the control range for a conventional induction regulator is, in principle, ±ΔE.

The magnitude of ΔE depends substantially on the magnetic flux induced in the stator and the rotor winding and on the relative permeability in the gap between the stator and the rotor poles.

An induction regulator according to an embodiment of the present invention is schematically shown in FIG. 3.

Here, the primary side of the three-phase network with its phases 3r, 3s, 3t is connected to the respective stator windings 6r, 6s, 6t via their respective primary connections 8 and connected to the respective secondary side via the secondary connections 9. 11 denotes a stator pole. 10 denotes a rotor with rotor windings 7. 12 denotes a rotor pole. A gap 14 is shown between the stator pole and the rotor pole. The rotor and its poles is displaceable, by means of rotation, in relation to the stator and its poles, but preferably 180 electrical degrees at most, which, depending on the total number of poles, only implies a minor mechanical rotational movement in either direction from the position where the poles in the stator and the rotor are positioned opposite to each other.

An electric line 13 connects the secondary connection 9 of the respective stator winding to the associated rotor winding 7. The line 13 is preferably arranged flexibly to follow the rotational movement of the rotor. Alternatively, the line may be electrically connected to the rotor winding via slip rings (not shown embodiment). The rotor windings are connected in their respective secondary connections 15 to a common neutral point 16.

To make possible improved control of the induction regulator, the gap 16 thereof is provided according to the invention with a magnetic layer 17, which exhibits a permeability that is controllable, whereby the magnitude of the secondary voltage vector ΔE may be controlled by controlling the permeability of the layer.

According to one embodiment, the magnetic layer is divided into sub-layers 17a and 17b, respectively, which is clear from FIG. 4 which schematically shows a gap according to the invention. A thin air layer 23 is provided between the stator and the rotor, preferably at the rotor side, to enable movement between these.

According to one embodiment, the layer or sub-layers consist of a solid magnetic material, the magnetic phase transition of which lies in the vicinity of the normal working temperature of the device. Here, channels 22 are arranged in the layers as well as temperature-controlling means 18-21 for controlling the temperature of the sub-layer/sub-layers, hence influencing the permeability of the magnetic material, which is controllable, whereby the magnitude of the secondary voltage vector ΔE may be controlled by controlling the permeability of the material.

According to one embodiment, the magnetic sub-layer/sublayers 17, 17a,b contain Gd (gadolinium).

According to one embodiment, the sub-layer/sub-layers 17, 17a,b contain Gd (gadolinium) doped with a substance that influences the structure of the crystal lattice, and/or doped with a substance that influences the magnetic coupling intrinsically in the material, for influencing the temperature for its magnetic phase transition. The substances for doping are suitably one or more of the substances belonging to the group of rare-earth metals, such as La, Ce, Pr, Nd, Pm, Sm, Eu, Tb, Dy, Ho, Er, Tm, Yb, Lu.

According to one embodiment, the temperature-control means 18-21 are arranged to vary the temperature of the solid sublayer/layers 17, 17a,b between 20° C. and 150° C., preferably between 30° C. and 70° C.

According to one embodiment, the layer consists of a magnetic fluid which exhibits a permeability that is controllable, whereby the magnitude of the secondary voltage vector ΔE may be controlled by controlling the permeability of the fluid.

One example of a magnetic liquid is that it contains magnetostrictive ferrofluids. Examples of such fluids are Fe—Co, Mn—Bi, Fe—Al, Fe—Ti, Ni—Ti. By using a fluid in the gap, this may also be utilized for cooling the induction regulator.

According to one embodiment, the permeability of the magnetic fluid is temperature-dependent, whereby means for controlling the temperature of the fluid are arranged.

According to one embodiment, the magnetic fluid contains the element Gd (gadolinium), which exhibits the property that the relative permeability is very greatly temperature-dependent. If, for example, the temperature is controlled between 20 and 40° C., the relative permeability may be changed from 1 to 1000. It is realized that, compared with conventional induction regulators, where the gap between the stator and rotor, defining the air gap, normally consists of air, the invention provides an additional parameter to control the phase voltage En. This makes possible a mode of operation whereby the control may be made without influencing the phase angle between voltage and current, or by a suitable selection between changing the phase angle and the amplitude of the phase voltage En. It is realized that this offers considerable operational advantages since, depending on the mode of operation, it is possible to choose to control the voltage linearly or with a reactive component for the desired phase compensation.

How the control range is extended by the invention is clear from FIG. 5, which shows controlled voltage as vector sum of the input voltage Ea and the secondary voltage vector ΔE. By mechanical rotation of the rotor, the secondary voltage vector may be controlled within the circular range 21, and the controllable range may be extended by controlling the magnetic layer 17 to the circular range 22. At 21 the magnetic layer has its lowest relative permeability, which occurs at a high temperature, whereas at 22 the layer has reached its highest relative permeability, which occurs when, the layer has its lowest temperature within the temperature-control interval.

Other ways of influencing the relative permeability of the magnetic fluid in the gap is to utilize the situation that the permeability is pressure-dependent when fluid contains magnetostrictive ferrofluids. However, this method provides a lower control range than temperature control. At increased pressure, the relative permeability increases.

It is also possible to have an arrangement where the control takes place by providing means for controlling the concentration of the contents of Gd or other magnetostrictive ferrofluids in the magnetic fluid. Here, the relative permeability of the magnetic fluid increases when the concentration increases as above.

FIG. 4 further shows schematically a device 18-20 for controlling the permeability of the magnetic fluid.

Here, the rotor is schematically indicated by the arrow 10 and the corresponding stator poles by the arrow 11.

Two containers 18, 19 containing a liquid medium are provided, by way of feed lines 20, with mixing valves 11 and return lines 22 arranged to circulate a liquid medium through the magnetic layer 17 or the sub-layers 17a,b.

Where the magnetic layer consists of a magnetic fluid, this fluid also constitutes said liquid medium.

Where the magnetic layer consists of a solid magnetic material, the circulated liquid medium according to the above consists of a suitable cooling medium, which is circulated in channels 22 arranged within the layer 17, 17a,b.

The fluid is stored in two containers 18, 19, one with a high temperature, for example 40° C., and one with a low temperature, for example 20° C. A magnetic fluid of the desired temperature is supplied to the respective layer 17a,b in the gap through a mixing valve.

Alternatively, the fluid is stored with different pressures in the containers 18, 19, and fluid of a suitable pressure is supplied to the layers in the gap through the mixing valves 21.

Alternatively, the fluid is stored with different concentrations of magnetic material in the respective containers 18, 19, and the fluid is supplied to the layers in the gap with a suitable concentration through the mixing valves.

Means (not shown) for respectively heating/cooling, pressure increase or concentration control are also suitably arranged for the circulating liquid medium, depending on the mode of operation, to be in the respective container. It is also realized that the number of containers and associated conduits and valves may be varied in a suitable way to fulfil the requirements for controllability.

FIG. 6 shows in the form of a diagram the magnetic Curie temperature of a few rare-earth elements. The absolute temperature (° K.) is shown on the Y-axis and on the X-axis elements belonging to rare-earth elements are stated according to the number 4f of electrodes. These elements are La, Ce, Pr, Nd, Pm, Sm, Eu, Gd, Tb, Dv, Ho, Er, Tm, Yb and Lu.

The curve designated NP shows the Neel temperature and the curve designated FCP shows the ferromagnetic Curie temperature of these materials.

The diagram shows, inter alia, that gadolinium is the substance that has the highest Curie temperature of these substances, that is, around room temperature.

The induction regulator is primarily designed for control of polyphase, preferably three-phase transmission networks for high voltage, that is, networks with an operating voltage that provides a possibility of continuously substantially transporting electric power, but not information. In practice, the invention may be used for applications above 1 kV. Common operating voltages for transmission networks are 200-750 kV, for sub-transmission networks 70-200 kV, and for distribution networks 10-70 kV.

According to one embodiment, the stator and/or rotor windings are constituted by cable windings fully insulated against ground, of the kind that is known from, for example, generators for high voltage described in patent document WO97/45919. It is advantageous that the temperature of the windings during operation then be kept at a relatively low temperature, for example, within a temperature interval of around 70° C.

According to an aspect the invention also relates to a method of controlling the voltage and the phase angle of a polyphase, or three-phase, transmission network for high voltage with an induction regulator, wherein the control takes place by rotation of the rotor in relation to the stator as well as control of the relative permeability of the gap.

According to another aspect the invention also relates to use of a power-flow control for a polyphase, or three-phase, transmission network for high voltage. One field of use is to use the device as a slowly Unified Power Flow Controller (UPFC) in the power network.

Any range or device value given herein may be extended or altered without losing the effect sought, as will be apparent to the skilled person for an understanding of the teachings herein.

Disclosures in Swedish patent application No. 0502169-6 of Sep. 29, 2005 and Swedish patent applications No. 0502715-6 and 0502716-4 of Nov. 29, 2005, from which applications this application claims priority, are incorporated herein by reference.

Claims

1. An induction regulator for controlling the voltage and the phase angle of a polyphase electric transmission network, the induction regulator being connected between a primary side and a secondary side of the transmission network and comprising:

a stator comprising stator windings and stator poles,

a partial rotatable rotor comprising rotor windings and rotor poles, and

a gap between the respective stator pole and rotor pole, wherein the gap comprises a magnetic layer comprising a part with a relative permeability that is controllable.

2. The induction regulator according to claim 1, wherein the magnetic layer is divided into a number of sub-layers, the permeability of said sub-layers being individually controllable.

3. The induction regulator according to claim 1, wherein the magnetic layer or sub-layers comprise a magnetic fluid.

4. The induction regulator according to claim 3, wherein the permeability of the fluid is pressure-dependent and a pressure control is arranged for controlling the pressure of the fluid.

5. The induction regulator according to claim 3, wherein the permeability of the fluid is temperature-dependent and a temperature control is arranged for controlling the temperature of the fluid.

6. The induction regulator according to claim 3, wherein the magnetic fluid comprises magnetostrictive ferrofluids.

7. The induction regulator according to claim 3, wherein the magnetic fluid comprises gadolinium.

8. The induction regulator according to claim 3, further comprising:

quantity control configured to control a quantity of magnetostrictive ferrofluids and gadolinium, respectively, in the magnetic fluid in the magnetic layer/sub-layers.

9. The induction regulator according to claim 3, wherein the magnetic fluid is arranged, via the gap, to serve as cooling of the rotor windings and stator windings.

10. The induction regulator according to claim 2, wherein the magnetic layer or sub-layers comprise a solid magnetic material, the magnetic phase transition of which lies in the vicinity of the normal operating temperature of the device and temperature control and channels provided in the layer are arranged for controlling the temperature of the sub-layer/sub-layers.

11. The induction regulator according to claim 10, wherein the magnetic sub-layer/sub-layers comprise gadolinium.

12. The induction regulator according to claim 10, wherein the magnetic sub-layer comprises gadolinium which is doped with a substance that influences the symmetry of the crystal lattice, and/or doped with a substance that influences the magnetic coupling intrinsically in the material, for influencing the temperature for its magnetic phase transition.

13. The induction regulator according to claim 11, wherein the dopant comprises at least one rare-earth element.

14. The induction regulator according to claim 10, wherein the temperature control is adapted to vary the temperature of the solid sub-layer between 20° C. and 150° C.

15. The induction regulator according to claim 1, wherein the poles of the rotor are arranged to be displaced in relation to the respective stator pole through a maximum of 180 electrical degrees.

16. The induction regulator according to claim 1, wherein the three-phase transmission network is for high voltage, that is, between 200 and 750 kV.

17. The induction regulator according to claim 1, wherein the stator and/or rotor windings comprise cable windings fully insulated against ground.

18. The induction regulator according to claim 1, wherein the polyphase transmission network is comprises a three-phase transmission network.

19. A method of controlling voltage and phase angle of a polyphase transmission network for high voltage with an inductor regulator comprising a stator with stator poles and a rotatable rotor with rotor poles forming a gap between opposing stator and rotor poles, the method comprising:

displacing the rotor in relation to the stator, and

controlling the relative permeability of layers arranged in the gap.

20. The method of controlling voltage and phase angle according to claim 19, wherein the layers comprise a magnetic fluid and the control of the relative permeability of the layers is made by controlling the pressure of the fluid.

21. The method of controlling voltage and phase angle according to claim 19, wherein the control of the relative permeability of the layers comprises controlling the temperature of the layers.

22. Use of a power-flow control device for a polyphase transmission network for high voltage according to claim 1.

23. Use of a power-flow control device according to claim 20, wherein the device is used as a slowly Unified Power Flow Controller in the power network.

24. The induction regulator according to claim 6, wherein the magnetostrictive ferrofluids include Fe—Co, Mn—Bi, Fe—Al, Fe—Ti, Ni—Ti.

25. The induction regulator according to claim 13, wherein the rare-earth element is selected from the group consisting of La, Ce, Pr, Nd, Pm, Sm, Eu, Tb, Dy, Ho, Er, Tm, Yb, Lu.

26. The induction regulator according to claim 14, wherein the temperature control is adapted to vary the temperature of the solid sub-layer between 30° C. and 70° C.

27. The induction regulator according to claim 16, wherein the three-phase transmission network is for high voltage, that is, between 70 and 200 kV.

28. The induction regulator according to claim 16, wherein the three-phase transmission network is for high voltage, that is, between 10 and 70 kV.