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ANALYSIS OF DC LINK OPERATION VOLTAGE OF A HYBRID RAILWAY POWER
QUALITY CONDITIONER AND ITS PQ COMPENSATION CAPABILITY IN HIGH
SPEED CO-PHASE TRACTION POWER SUPPLY
By
A
PROJECT REPORT
Submitted to the Department of electronics & communication Engineering in the
FACULTY OF ENGINEERING & TECHNOLOGY
In partial fulfillment of the requirements for the award of the degree
Of
MASTER OF TECHNOLOGY
IN
ELECTRONICS & COMMUNICATION ENGINEERING
APRIL 2016
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CERTIFICATE
Certified that this project report titled “ANALYSIS OF DC LINK OPERATION VOLTAGE
OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS PQ
COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION POWER
SUPPLY” is the bonafide work of Mr. _____________Who carried out the research under my
supervision Certified further, that to the best of my knowledge the work reported herein does not
form part of any other project report or dissertation on the basis of which a degree or award was
conferred on an earlier occasion on this or any other candidate.
Signature of the Guide Signature of the H.O.D
Name Name
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DECLARATION
I hereby declare that the project work entitled “ANALYSIS OF DC LINK OPERATION
VOLTAGE OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS
PQ COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION
POWER SUPPLY” Submitted to BHARATHIDASAN UNIVERSITY in partial fulfillment of
the requirement for the award of the Degree of MASTER OF APPLIED ELECTRONICS is a
record of original work done by me the guidance of Prof.A.Vinayagam M.Sc., M.Phil., M.E.,
to the best of my knowledge, the work reported here is not a part of any other thesis or work on
the basis of which a degree or award was conferred on an earlier occasion to me or any other
candidate.
(Student Name)
(Reg.No)
Place:
Date:
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ACKNOWLEDGEMENT
I am extremely glad to present my project “ANALYSIS OF DC LINK OPERATION
VOLTAGE OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS
PQ COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION
POWER SUPPLY” which is a part of my curriculum of third semester Master of Science in
Computer science. I take this opportunity to express my sincere gratitude to those who helped me
in bringing out this project work.
I would like to express my Director, Dr. K. ANANDAN, M.A.(Eco.), M.Ed., M.Phil.,(Edn.),
PGDCA., CGT., M.A.(Psy.) of who had given me an opportunity to undertake this project.
I am highly indebted to Co-Ordinator Prof. Muniappan Department of Physics and thank from
my deep heart for her valuable comments I received through my project.
I wish to express my deep sense of gratitude to my guide
Prof. A.Vinayagam M.Sc., M.Phil., M.E., for her immense help and encouragement for
successful completion of this project.
I also express my sincere thanks to the all the staff members of Computer science for their kind
advice.
And last, but not the least, I express my deep gratitude to my parents and friends for their
encouragement and support throughout the project.
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ABSTRACT:
Hybrid Railway Power Quality Conditioner (HPQC) is newly proposed for its effective
reduction in DC link operation voltage while providing similar power quality compensation in
co-phase traction power supply compared to conventional railway power quality conditioner
(RPC). However, reduction in HPQC operation voltage limits its power quality compensation
capability. For instance, the previously proposed HPQC design based on minimum operation
voltage under fixed rated load has minimum power quality compensation capability. Under
practical conditions when load varies, the required HPQC active and reactive compensation
power also changes. The DC link operation voltage of HPQC may therefore need to be enhanced
to increase its power quality compensation capability. Therefore in this paper, the relationship
between DC link voltage of HPQC and its power quality compensation capability, as well as its
limitations, are being analyzed. Simulation and experimental results are also presented to verify
the mentioned relationship via investigations of system performance under different loading
conditions. The research can provide a guideline for determination of HPQC operation voltage
when load varies.
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INTRODUCTION:
With rapid country and city development around the world, electric railway
transportation has played an essential role in economics and daily lives. This causes high and
increasing transportation demand.
It is therefore important that traction power supply is stable and can provide power with
high power quality to locomotives. However, traction power supply usually suffers from various
power quality problems such as reactive power, system unbalance and harmonics, etc. Various
power quality compensation techniques, which are discussed in later sections, are therefore
proposed.
The key concept of the capacitive current balancing methods is the use of blocking
capacitor,. A series connected blocking capacitor in the secondary side of the transformer
balances the current of two LED strings. By the charge conservation, the average current flows
through the two LED strings (Avg(iLED1) and Avg(iLED2) are naturally balanced without the
active components.
The capacitive method is very cost-effective in that it uses small number of components.
In the primary side of the passive current balancing drivers, a current source type inverter is
required in order to use the charge balance of the blocking capacitor. LLC converter is widely
used because of its zero voltage switching characteristics.
However, the LLC converter requires two main switches and the additional resonant
inductor to obtain wide output voltage range. Therefore, the passive current balancing drivers
that use the LLC converter have a limitation in their system volume and cost.
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EXISTING SYSTEM:
In traditional AC traction power supply, the power in three phase grid is transformed into
two single phase outputs through substation and supply power to locomotives. Since the two
single phase power is of different phase, neutral sections (without power supply) are required to
avoid risk of phase mixing. As locomotives run through neutral sections, they lose power and
velocity.
Traditional AC power structure is therefore not suitable for high-speed railway. It is
basically composed of a back to back converter with a common DC link. One converter, or
instance, the Vac phase converter is connected to the locomotive phase through inductive
coupled impedance; and another phase, Vbc phase converter, is connected to the unloaded phase
through inductive coupled impedance. In order to control the power flow so as to achieve power
quality compensation, the energy of the DC link must be higher than the point of common
coupling (PCC) point. In other words, the DC link voltage must be higher than the peak of Vac
voltage.
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PROPOSED SYSTEM:
In co-phase traction power locomotive loadings are connected across one single phase
output of substation transformer only, leaving another phase unloaded. This proposed structure is
beneficial for effective reduction of neutral sections and higher transformer utilization ratio. The
co-phase structure is thus more suitable for application in high-speed railway. Hybrid railway
power quality conditioner (HPQC) is thus proposed and developed. Different from traditional
RPC, the Vac phase converter in HPQC is connected to the PCC through capacitive coupled
impedance
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ADVANTAGES:
 The capacitive coupled capacitance can help to provide support voltage during reactive
power compensation so that the DC link voltage can be decreased.
 The device rating and cost of HPQC can thus be reduced
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BLOCK DIAGRAM:
FILTER
CONVERTER1ENERGY
STORAGE
CONVERTER2
FILTER
INDUCTIVE
LOAD
12V
DC
5V DC
PICCONTROLLER
WITH BUFFER
DRIVER
CIRUIT
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TOOLS AND SOFTWARE USED:
 MPLAB – microcontroller programming.
 ORCAD – circuit layout.
 MATLAB/Simulink – Simulation
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APPLICATIONS:
 Electric railway transportation
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CONCLUSION:
In this paper, the relationship between HPQC DC link voltage and its power quality
compensation capability in co-phase traction power is being analyzed and discussed. Co-phase
traction power has high potential to be power supply system. However, the operation voltage
requirement of conventional inductive coupled RPC within the system is high due to its high
power requirement to control power flow. This leads to higher cost and device ratings. The
capacitive coupled HPQC is therefore newly proposed for reduction of operation voltage while
providing similar performance at rated load. Nevertheless, reduction in HPQC operation voltage
limits its power quality compensation capability. Therefore, it is essential to determine the
relationship between HPQC DC operation voltage and the corresponding power quality
compensation capability so as to provide a guideline for the design of HPQC.
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ECWAY TECHNOLOGIES
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REFERENCES:
[1] Amrutha Paul, P. ; Anju, U.D. ; Anoop, M.P. ; RajanPallan, M. ; Roshna, N.K. ; Sunny, A.,
“Effects of two phase traction loading on a three phase power transformer”, in Annual
International Conference on Emerging Research Areas: Magnetics, Machines and Drives,
AICERA/iCMMD, 2014, pp. 1-5.
[2] Joseph, V.P. ; Thomas, J., “Power quality improvement of AC railway traction using railway
static power conditioner a comparative study”, in International Conference on Power Signals
Control and Computations , EPSCICON, 2014, pp. 1-6.
[3] Gunavardhini, N. ; Chandrasekaran, M. ; Sharmeela, C. ; Manohar, K., “A case study on
Power Quality issues in the Indian Railway traction sub-station” in 7th International Conference
onIntelligent Systems and Control, ISCO, 2013, pp. 7-12

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Analysis of dc link operation voltage of a hybrid railway power quality conditioner and its pq compensation capability in high speed co phase traction power supply

  • 1. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT ANALYSIS OF DC LINK OPERATION VOLTAGE OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS PQ COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION POWER SUPPLY By A PROJECT REPORT Submitted to the Department of electronics & communication Engineering in the FACULTY OF ENGINEERING & TECHNOLOGY In partial fulfillment of the requirements for the award of the degree Of MASTER OF TECHNOLOGY IN ELECTRONICS & COMMUNICATION ENGINEERING APRIL 2016
  • 2. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT CERTIFICATE Certified that this project report titled “ANALYSIS OF DC LINK OPERATION VOLTAGE OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS PQ COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION POWER SUPPLY” is the bonafide work of Mr. _____________Who carried out the research under my supervision Certified further, that to the best of my knowledge the work reported herein does not form part of any other project report or dissertation on the basis of which a degree or award was conferred on an earlier occasion on this or any other candidate. Signature of the Guide Signature of the H.O.D Name Name
  • 3. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT DECLARATION I hereby declare that the project work entitled “ANALYSIS OF DC LINK OPERATION VOLTAGE OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS PQ COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION POWER SUPPLY” Submitted to BHARATHIDASAN UNIVERSITY in partial fulfillment of the requirement for the award of the Degree of MASTER OF APPLIED ELECTRONICS is a record of original work done by me the guidance of Prof.A.Vinayagam M.Sc., M.Phil., M.E., to the best of my knowledge, the work reported here is not a part of any other thesis or work on the basis of which a degree or award was conferred on an earlier occasion to me or any other candidate. (Student Name) (Reg.No) Place: Date:
  • 4. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT ACKNOWLEDGEMENT I am extremely glad to present my project “ANALYSIS OF DC LINK OPERATION VOLTAGE OF A HYBRID RAILWAY POWER QUALITY CONDITIONER AND ITS PQ COMPENSATION CAPABILITY IN HIGH SPEED CO-PHASE TRACTION POWER SUPPLY” which is a part of my curriculum of third semester Master of Science in Computer science. I take this opportunity to express my sincere gratitude to those who helped me in bringing out this project work. I would like to express my Director, Dr. K. ANANDAN, M.A.(Eco.), M.Ed., M.Phil.,(Edn.), PGDCA., CGT., M.A.(Psy.) of who had given me an opportunity to undertake this project. I am highly indebted to Co-Ordinator Prof. Muniappan Department of Physics and thank from my deep heart for her valuable comments I received through my project. I wish to express my deep sense of gratitude to my guide Prof. A.Vinayagam M.Sc., M.Phil., M.E., for her immense help and encouragement for successful completion of this project. I also express my sincere thanks to the all the staff members of Computer science for their kind advice. And last, but not the least, I express my deep gratitude to my parents and friends for their encouragement and support throughout the project.
  • 5. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT ABSTRACT: Hybrid Railway Power Quality Conditioner (HPQC) is newly proposed for its effective reduction in DC link operation voltage while providing similar power quality compensation in co-phase traction power supply compared to conventional railway power quality conditioner (RPC). However, reduction in HPQC operation voltage limits its power quality compensation capability. For instance, the previously proposed HPQC design based on minimum operation voltage under fixed rated load has minimum power quality compensation capability. Under practical conditions when load varies, the required HPQC active and reactive compensation power also changes. The DC link operation voltage of HPQC may therefore need to be enhanced to increase its power quality compensation capability. Therefore in this paper, the relationship between DC link voltage of HPQC and its power quality compensation capability, as well as its limitations, are being analyzed. Simulation and experimental results are also presented to verify the mentioned relationship via investigations of system performance under different loading conditions. The research can provide a guideline for determination of HPQC operation voltage when load varies.
  • 6. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT INTRODUCTION: With rapid country and city development around the world, electric railway transportation has played an essential role in economics and daily lives. This causes high and increasing transportation demand. It is therefore important that traction power supply is stable and can provide power with high power quality to locomotives. However, traction power supply usually suffers from various power quality problems such as reactive power, system unbalance and harmonics, etc. Various power quality compensation techniques, which are discussed in later sections, are therefore proposed. The key concept of the capacitive current balancing methods is the use of blocking capacitor,. A series connected blocking capacitor in the secondary side of the transformer balances the current of two LED strings. By the charge conservation, the average current flows through the two LED strings (Avg(iLED1) and Avg(iLED2) are naturally balanced without the active components. The capacitive method is very cost-effective in that it uses small number of components. In the primary side of the passive current balancing drivers, a current source type inverter is required in order to use the charge balance of the blocking capacitor. LLC converter is widely used because of its zero voltage switching characteristics. However, the LLC converter requires two main switches and the additional resonant inductor to obtain wide output voltage range. Therefore, the passive current balancing drivers that use the LLC converter have a limitation in their system volume and cost.
  • 7. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT EXISTING SYSTEM: In traditional AC traction power supply, the power in three phase grid is transformed into two single phase outputs through substation and supply power to locomotives. Since the two single phase power is of different phase, neutral sections (without power supply) are required to avoid risk of phase mixing. As locomotives run through neutral sections, they lose power and velocity. Traditional AC power structure is therefore not suitable for high-speed railway. It is basically composed of a back to back converter with a common DC link. One converter, or instance, the Vac phase converter is connected to the locomotive phase through inductive coupled impedance; and another phase, Vbc phase converter, is connected to the unloaded phase through inductive coupled impedance. In order to control the power flow so as to achieve power quality compensation, the energy of the DC link must be higher than the point of common coupling (PCC) point. In other words, the DC link voltage must be higher than the peak of Vac voltage.
  • 8. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT PROPOSED SYSTEM: In co-phase traction power locomotive loadings are connected across one single phase output of substation transformer only, leaving another phase unloaded. This proposed structure is beneficial for effective reduction of neutral sections and higher transformer utilization ratio. The co-phase structure is thus more suitable for application in high-speed railway. Hybrid railway power quality conditioner (HPQC) is thus proposed and developed. Different from traditional RPC, the Vac phase converter in HPQC is connected to the PCC through capacitive coupled impedance
  • 9. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT ADVANTAGES:  The capacitive coupled capacitance can help to provide support voltage during reactive power compensation so that the DC link voltage can be decreased.  The device rating and cost of HPQC can thus be reduced
  • 10. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT BLOCK DIAGRAM: FILTER CONVERTER1ENERGY STORAGE CONVERTER2 FILTER INDUCTIVE LOAD 12V DC 5V DC PICCONTROLLER WITH BUFFER DRIVER CIRUIT
  • 11. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT TOOLS AND SOFTWARE USED:  MPLAB – microcontroller programming.  ORCAD – circuit layout.  MATLAB/Simulink – Simulation
  • 12. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT APPLICATIONS:  Electric railway transportation
  • 13. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT CONCLUSION: In this paper, the relationship between HPQC DC link voltage and its power quality compensation capability in co-phase traction power is being analyzed and discussed. Co-phase traction power has high potential to be power supply system. However, the operation voltage requirement of conventional inductive coupled RPC within the system is high due to its high power requirement to control power flow. This leads to higher cost and device ratings. The capacitive coupled HPQC is therefore newly proposed for reduction of operation voltage while providing similar performance at rated load. Nevertheless, reduction in HPQC operation voltage limits its power quality compensation capability. Therefore, it is essential to determine the relationship between HPQC DC operation voltage and the corresponding power quality compensation capability so as to provide a guideline for the design of HPQC.
  • 14. OUR OFFICES @CHENNAI/ TRICHY/ KARUR / ERODE / MADURAI / SALEM / COIMBATORE / BANGALORE / HYDRABAD CELL: 9894917187 | 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 Visit: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: ecwaytechnologies@gmail.com ECWAY TECHNOLOGIES IEEE SOFTWARE | EMBEDDED | MECHANICAL | ROBOTICS PROJECTS DEVELOPMENT REFERENCES: [1] Amrutha Paul, P. ; Anju, U.D. ; Anoop, M.P. ; RajanPallan, M. ; Roshna, N.K. ; Sunny, A., “Effects of two phase traction loading on a three phase power transformer”, in Annual International Conference on Emerging Research Areas: Magnetics, Machines and Drives, AICERA/iCMMD, 2014, pp. 1-5. [2] Joseph, V.P. ; Thomas, J., “Power quality improvement of AC railway traction using railway static power conditioner a comparative study”, in International Conference on Power Signals Control and Computations , EPSCICON, 2014, pp. 1-6. [3] Gunavardhini, N. ; Chandrasekaran, M. ; Sharmeela, C. ; Manohar, K., “A case study on Power Quality issues in the Indian Railway traction sub-station” in 7th International Conference onIntelligent Systems and Control, ISCO, 2013, pp. 7-12