Control and Operation of Multi-terminal

VSC-HVDC VSC-HVDC
Temesgen Haileselassie
Kjetil Uhlen j
1
Conclusions / Hypothesis yp
A meshed HVDC grid has the potential to improve
it f l ! security of supply!
A multi-terminal HVDC grid in the North Sea can
effectively integrate the synchronous interconnections
(UK, UCTE and Nordic)
Can be operated as ONE control area (if desirable)
R ( i d d ) b h d Reserves (primary and secondary) can be shared
without technical constraints
Fast control and protection will enable network splitting
to avoid risk of cascading outages and complete
blackouts
Fully integrate the power markets across the
2
Fully integrate the power markets across the
asynchronous areas.
O tli Outline
Introduction: Why HVDC VSC HVDC
Multi-terminal HVDC Multi-terminal HVDC
Power system security and Control
objectives
Modelling and control design Modelling and control design
Examples (illustrating security control
t ) aspects)
3
HVDC Why? y
1. To reduce total transmission loss for long distance
power lines power lines
Break even distance for onshore application is
4
about 600km and less than 100km for subsea
transmissions
Cont
2. AC transmission becomes weak (unstable) for very large
Cont
( ) y g
distances
3. Subsea power transmission 3. Subsea power transmission
- Large capacitive currents in AC cables severly limit the
transmission capacity of long distance AC cables
- The most common application area of HVDC is for subsea power
transmission
5
Limits of transmission capacity,
Submarine HVAC cables (ref Nexans)
6
Why multiterminal VSC-HVDC (MTDC) in the
N th S ? North Sea?
7
Grid integration
8
P t it Power system security
Security standards: Deterministic (N-1) or risk based
Ability to manage contingencies / outages:
Availability of reserves
Availability of transmission capacity Availability of transmission capacity
Stability and control
9
Main challenges in operation and Main challenges in operation and
control
Primary control:
Less primary reserves if new generation provide less Less primary reserves if new generation provide less
frequency response
Secondary control: Secondary control:
More need for secondary reserves with more variable
generation generation
Tertiary control:
Benefits with larger control areas and exchange of
reserves.
New possibilities with an offshore Multi-terminal
HVDC grid!
10
HVDC grid!
Control objectives: Desired Control objectives: Desired
operational capabilities p p
Balancing of offshore wind power variation
Resilience, e.g. to loss of a VSC-HVDC
terminal (load/generation loss) or line/cable terminal ( load/generation loss) or line/cable
Frequency response enhancement of AC grids
Market integrated operation
AC and DC fault handling capabilities AC and DC fault handling capabilities
C t ll h ld b d i d t t Controllers should be designed to meet
the requirements specified above.
11
the requirements specified above.
Modelling:
Active and Passive AC grid Connections
Passive AC grid connection:
-AC voltage control at PCC
Time-average VSC model
AC voltage control at PCC
-no synchronization
-no control of current no control of current

, ,
2 2 2
1
a dc b dc c dc
a b c
m U mU mU
V V V
Active AC grid connection:
-Grid synchronization

1
2
o a a b b c c
I m i m i m i
-control of current flow
12
Control of VSC Connected to Passive Control of VSC Connected to Passive
AC Grid
AC voltage control AC voltage control
at PCC, |V|
13
Control of VSC Connected to Active Control of VSC Connected to Active
AC grid g
Two options:
|m|, control: uses phasor measurements
decoupled axes (dq) control : uses
instantaneous measurements instantaneous measurements
14
|m|, control
Suitable for modelling VSC control in phasor based
l t i i l ti t l ( DI SILENT) electric power simulation tools (eg: DIgSILENT).
Voltage and current phasor measurements introduce
additional time constant into the controllers
0
o
+
-
|m|
*
additional time constant into the controllers

*
+
cos
+
m
a
*
t

PI

*
P
*
+
120
o
+
-
cos t m
*

|m|
*
PI
P
-
PI
+
|m|
*
|V|
*
or |Q|
*

*
cos
+
t m
b

-
|V| or |Q|
240
o
+
-
cos
t
*
|m|
*
15

*
cos
+
t
m
c

Decoupled axes (dq) control Decoupled axes (dq) control

Involves abc/dq transf.
Fast control responses
Mostl sed in practice Mostly used in practice
for VSC control
Modelling is possible g p
with electromagnetic
transient softwares such
PSCAD as PSCAD
16
Outer Controllers
Set the references to active & reactive (inner) current controllers
Active power and/or DC bus voltage control (there types shown below)
Reactive power and/or AC voltage control (not shown here)
17
Safe operating area of a VSC Safe operating area of a VSC
Controller actions are limited within safe operating area Controller actions are limited within safe operating area
Safe operating area of a VSC: (a) U vs I safe operating region
(b) U vs P safe operating region
18
(b) U vs P safe operating region
Constant power control within the safe
operating region
P* = power reference P* = power reference
19
Constant DC voltage control within the
safe operating region
U* = DC voltage reference U* = DC voltage reference
20
DC voltage droop control within the safe
operating region
U* = DC voltage reference U* = DC voltage reference
21
Two terminal VSC-HVDC Control
HVDC
S
L
Rectifier
(Source converter)
Inveter
(Load converter)
transmission
P
S
P
L
Control modes (3x3=9 combinations) Remarks
Rectifier Inverter
Fixed power Fixed power X (Not viable)
Fixed power DC Droop (With risk of DC overvoltage) Fixed power DC Droop (With risk of DC overvoltage)
Fixed power Fixed DC voltage (With risk of DC overvoltage)
DC Droop Fixed power (Good P control by Inv ) DC Droop Fixed power (Good, P control by Inv.)
DC Droop DC Droop (Good, P control by Both)
DC Droop Fixed DC voltage (Good P control by Rect ) DC Droop Fixed DC voltage (Good, P control by Rect.)
Fixed DC voltage Fixed power (Good, P control by Inv.)
Fi ed DC oltage DC Droop (Good P control b In )
22
Fixed DC voltage DC Droop (Good, P control by Inv.)
Fixed DC voltage Fixed DC voltage X (Not viable)
DC Voltage Control
HVDC
S
L
Rectifier
(Source converter)
Inveter
(Load converter)
Responses
(Primary & secondary DC voltage control)
HVDC
transmission
( y y g )
P
S
P
L
U
DC
P
L0
Operating
point P
L1
U
DC
P
L0
P
L1
U
DC
P
L0
C
P
L1
P
S
P
S1
B
A
C
P
S0
P
S1
A
C
P
S0
A
B
P
P
P
S0
399
400
401
g
e

399
400
401
e

399
400
401
P
B
S0
395
396
397
398
D
C

v
o
l
t
a
g
Rectifier(source)
terminalDCbusvoltage
395
396
397
398
D
C

v
o
l
t
a
g
e
Rectifier(source)
terminalDCbusvoltage
395
396
397
398
D
C

v
o
l
t
a
g
e

Rectifier(source)
terminalDCbusvoltage
10 20 30 40 50 60 70
950
1000
1050
)

950
1000
1050
W
)

10 20 30 40 50 60 70
395
950
1000
1050
10 20 30 40 50 60 70
395
800
850
900
P
o
w
e
r

(
M
W
)
Powertakenby
inverter(load)terminal
800
850
900
P
o
w
e
r

(
M
W
Powertakenby
inverter(load)terminal
800
850
900
P
o
w
e
r

(
M
W
)
Powertakenby
inverter(load)terminal
23
10 20 30 40 50 60 70
750
Time(s)
10 20 30 40 50 60 70
750
Time(s)
10 20 30 40 50 60 70
750
Time(s)
(a) (b) (c)
Power flow control in DC grid : Power flow control in DC grid :
achieved by DC voltage droop
No need for communication between terminals No need for communication between terminals
Many converter terminals contribute to DC voltage regulation
DC analogy to distributed frequency droop control in AC
24
DC analogy to distributed frequency droop control in AC
systems
Similarities of AC grid frequency droop control
d DC lt d t l f MTDC and DC voltage droop control of MTDC
Steady state characteristic of: (a)synchronous generator (b)VSC-
HVDC terminal (The dots at the end of the characteristic lines
25
HVDC terminal (The dots at the end of the characteristic lines
show tripping points.)
Test model: North Sea DC grid Test model: North Sea DC grid
Offshore load
(Oil/gas platform)
P
rated
=250 MW
C t t P
All cable resistances: r=0.01 /km
All bl i 5 F/k
P
rated
=450 MW
P
rated
=1000 MW
DC d d
l
4
5
=
2
5
0
5
Constant Power
terminal
All cable capacitances:c=5 F/km
Bipolar DC transmission for all cases
Rated DC voltage =+/-200 kV
DC droop mode
DC droop mode
l
14
=500 km
5
0

K
m
1 4
NORDEL Grid
Scotland
l
12
=300 km
l
34
=700 km
l
23
=600 km
UCTE Grid
UK National
Grid
P
rated
=800 MW
DC droop mode
2
3
P
rated
=750 MW
DC droop=
6
l
2
6
=
1
2
0

k
m
England
P
rated
=600 MW
Variable (wind) power
26
Offshore windfarm
S it l i Security analysis
Examples illustrating security aspects p g y p
related to operation and control
Managing normal wind variations
Outage of DC connections Outage of DC connections
Outage of generation (wind farm tripping)
P i t l t id Primary control response to ac grid
contingency (exchange of primary reserves)
Need for secondary control
27
Variations of DC Variations of DC
voltage with
fluctuating wind
460
480
500
W
)

fluctuating wind
power and DC
droop control
380
400
420
440
P
o
w
e
r

(
M
W
Generatedwindpower
fromoffshoreWF
p
responses
10 20 30 40 50 60 70 80 90 100 110
360
380

402
404
DC bus 1 (Scotland)
396
398
400
402
v
o
l
t
a
g
e

(
k
V
)
DCbus1(Scotland)
DCbus2(England)
DCbus3(UCTE)
DCbus4(NORDEL)
l
4
5 =
2
5
0

K
m
10 20 30 40 50 60 70 80 90 100 110
392
394
396
D
C

600
DCbus5(Oil/gasplatform)
DCbus6(OffshoreWindfarm)
m
400
500
600
(
M
W
)
FromScotland(viaConv1)
ToEngland(viaConv2)
To UCTE (via Conv3)
l
2
6 =
1
2
0

k
m
200
300
P
o
w
e
r

ToUCTE(viaConv3)
FromNORDEL(viaConv4)
Tooil/gasplatform(viaConv5)
FromoffshoreWF(viaConv6)
28
10 20 30 40 50 60 70 80 90 100 110
Time(s)
Outage of DC line 1-2
Terminal-1 (Conv-1)
ti t d
5
200
250
M
W
)

PowerviaLine12
PowerviaLine13
continues to draw
power from DC grid via
lines 1-3 and 1-4 when
50
100
150
L
i
n
e

P
o
w
e
r

(
M
PowerviaLine14
PowerviaLine23
line 1-2 is disconnected.
85 90 95 100 105
0
L

402
PowerviaLine43
398
400
l
t
a
g
e

(
k
V
)
DCbus1(Scotland)
DCbus2(England)
DCbus3(UCTE)
DC bus 4 (NORDEL)
l
4
5 =
2
5
0

K
m
394
396
D
C

v
o
l
DCbus4(NORDEL)
DCbus5(Oil/gasplatform)
DCbus6(OffshoreWindfarm)
85 90 95 100 105
450
500
550
W
)

FromScotland(viaConv1)
ToEngland(viaConv2)
l
2
6 =
1
2
0

k
m
250
300
350
400
P
o
w
e
r

(
M
W
ToUCTE(viaConv3)
FromNORDEL(viaConv4)
Tooil/gasplatform(viaConv5)
29
85 90 95 100 105
150
200

Time(s)
FromoffshoreWF(viaConv6)
Outage of connection to windfarm Outage of connection to windfarm
500
550
From Scotland
400
450
500
FromScotland
(viaConv1)
ToEngland
(via Conv 2)
300
350
00
W
)
(viaConv2)
ToUCTE
(viaConv3)
l
4
5 =
2
5
0

K
m
200
250
P
o
w
e
r

(
M
W
FromNORDEL
(viaConv4)
100
150
Tooil/gas
platform
(viaConv5)
l
2
6 =
1
2
0

k
m
0
50 FromoffshoreWF
(viaConv6)
Terminals 1, 2 and 4 compensate for lost power
83 84 85 86 87 88 89 90 91 92
Time(s)
30
flow from offshore wind farm.
Frequency response enhancement
of AC grids by VSC HVDC of AC grids by VSC-HVDC
Frequency droop control implemetation on VSC-HVDC with:
( ) t t t l (b) DC lt d t l (a) constant power control (b) DC voltage droop control
31
Frequency response enhancement
example: two terminal VSC-HVDC
32
Effect of frequency droop control (in VSC-
HVDC ) AC id f HVDCs) on AC grid frequency responses
33
Frequency response enhancement
of AC grids by MTDC of AC grids by MTDC
1.001
u
.
)

UKnationalgrid
0.998
0.999
1
f
r
e
q
u
e
n
c
y

(
p
.
u
UCTEgrid
NORDELgrid
Oil/gasplatform
l
4
5 =
2
5
0

K
m
402
100 110 120 130 140 150 160 170 180
0.997
0.998
G
r
i
d

f

Oil/gasplatform
OffshoreWF
l
2
6 =
1
2
398
400
402
a
g
e

(
k
V
)

DCbus1(Scotland)
DCbus2(England)
DCbus3(UCTE)
1
2
0

k
m
392
394
396
D
C

v
o
l
t
a
DCbus4(NORDEL)
DCbus5(Oil/gasplatform)
DCbus6(OffshoreWindfarm)
UCTE grid frequency
500
600
W
)

FromScotland(viaConv1)
ToEngland(viaConv2)
100 110 120 130 140 150 160 170 180
392
UCTE grid frequency
supported by NORDEL
and UK (via two HVDC
i l d
300
400
P
o
w
e
r

(
M
W
ToUCTE(viaConv3)
FromNORDEL(viaConv4)
Tooil/gasplatform(viaConv5)
F ff h WF ( i C 6)
34
stations: one at England
and the other in Scotland)
100 110 120 130 140 150 160 170 180
200

Time(s)
FromoffshoreWF(viaConv6)
Comparison of grid responses (UCTE grid): with
and without frequency support from DC grid and without frequency support from DC grid

0.9995
1
0.999
)
0.998
0.9985
e
q
u
e
n
c
y

(
p
.
u
.
WithfrequencysupportbyMTDC
WithoutfrequencysupportbyMTDC
0.997
0.9975
G
r
i
d

f
r
e
0.9965
0.997
100 110 120 130 140 150 160
0.996
Time(s)
35
Frequency response improves with presence of frequency
support from DC grid.
( )
Precise control of power flow
Schedule/ dispatch
Control
type
Terminal
No
P
DC
(MW)
U
DC
(kV)
No. (MW)
1 600 - Droop
2 - 400 Droop
3 -750 - Fixed P
4 550 - Droop
5 -900 - Fixed P
Control references
Control
type
Terminal
No
P
DC
(MW)
U
DC
(kV)
No. (MW)
DC
( )
1 600 400 Droop
2 500 400 Droopp
3 -750 400 Fixed P
4 550 400 Droop
N t i !
36
5 -900 400 Fixed P Not precise!
Cntd
Schedule/ dispatch
Control
type
Termina
l No.
P
DC
(MW)
U
DC
(kV)
( )
1 600 - Droop
2 - 400 Droop
3 750 Fi d P 3 -750 - Fixed P
4 550 - Droop
5 -900 - Fixed P
DC Power
flow analyisis
Control references
Control
t
Termina P
DC
flow analyisis
type
Termina
l No.
P
DC
(MW)
U
DC
(kV)
1 600.00 399.550 Droop
2 535.94 400.000 Droop
3 -750.00 396.613 Fixed P
4 550 00 396 928 D
Precise!
37
4 550.00 396.928 Droop
5 -900.00 385.247 Fixed P
Precise!
(Desired power flow achieved)
F t k MTDC Future works on MTDC
Protection schemes
F lt d t ti d l li ti Fault detection and localization
algorithms
Communication based (?) Communication based (?)
38
Future works Future works
Impact of wide area MTDC Impact of wide area MTDC
(Stability, operational, )
39
Thank you!
40