Documente Academic
Documente Profesional
Documente Cultură
): 30-40
http://dx.doi.org/10.5370/JEET.2015.10.2.030
ISSN(Print) 1975-0102
ISSN(Online) 2093-7423
Keywords: Multi-terminal Direct Current, Control strategy, Stability of MTDC system, Linecommutated converter (LCC) HVDC system.
1. Introduction
A multi-terminal direct current (MTDC) system had
been researched since early 1963 [1]. With the benefits of
the MTDC system such as flexibility in energy exchange
and economics, extending HVDC systems into the MTDC
system became an technical issue [2, 3]. A MTDC system
can be classified into three categories according to
composed three-phase converters: a MTDC system based
on the voltage source converter (VSC-MTDC), a MTDC
system based on the line-commutated converter (LCCMTDC), and a hybrid MTDC system based on both VSC
and LCC converters. The MTDC system based on VSC
HVDC technology is the most investigated owing to its
advantages such as operation in AC grids with low shortcircuit capacity, fast transient response, and black start
capability. However, the disadvantages of this configuration are the high investment cost, high power losses, and
low power capability. Nowadays, the development of
modular multilevel converters (MMC) is improving the
power capability of VSC HVDC with reduced power losses.
Thus, a MTDC system based on MMC HVDC will be
more attractive with respect to reliability and fault handing.
By comparison, a MTDC system based LCC HVDC
technology still remains the dominant technology for bulk
power transmission over long distances owing to low
investment cost and much high maximum power transfer
capacities. A hybrid MTDC system has combined
advantages of both VSC and LCC HVDC technologies. It
is estimated that each type of the MTDC system plays an
30
2. MTDC Modeling
This paper considers a MTDC system with 3-terminals
connected in parallel as shown in Fig. 1 as mentioned
before. The AC sides of the MTDC system include AC
supply networks, AC filters, and transformers on each AC
side of converters. AC supply networks are modeled by
voltage sources connected in series with a thevenin
equivalent impedance of the AC system [24]. The strength
of the AC system illustrated by the short circuit ratio
(SCR) has a significant impact on AC/DC system
interactions. AC filters such as single tuned and high pass
filters are used to eliminate harmonic voltage and current
generated by converters. Additionally, they also provide
the reactive power to converters [25]. Transformers are
added on both a rectifier and inverter sides for the purpose
of providing the appropriate voltage level to valve bridges.
The DC side of the MTDC system is composed of DC
Rectifier
DC cable 1
DC cable 2
Inverter 1
AC 2
AC 1
Vd
min
Vd
CEA
CC
CC
Operation
point
Vd
min
CEA
CC
CC
CC
Im
Iordr Id
0
Rectifier
Iordi1
Id
Inverter 1
Iordi2
Id
Inverter 2
Iordr Id (pu)
Overall
Vd
CIA
min
Operation
point
CIA
min
DC cable 3
CC
CC
CC
CC
Inverter 2
CC
Im
AC 3
Iordr
Rectifier
Id (pu)
Iordi1 Id
Inverter 1
Iordi2
Id
Inverter 2
Iordr
Overall
Id (pu)
http://www.jeet.or.kr 31
PI Controler
Inverter 1
DC Cable Line
Rectifier
Vdi1
Bs
In
G1
G2
Vd1
Vd
-Lc
As
Es
Vd2
Ds
G3
Hs
Gs
Out
Idi1
Id
G4
Measure
Vdi2
Cs
G2
Fs
G3
Ks
Idi2
Inverter 2
G4
PI Controler
Inverter 1
DC Cable Line
Rectifier
Bs
In
G1
G2
Vd1
Vd
G2
As
Es
Vd2
G3
Vdi1
G3
Ds
Hs
Gs
Idi1
Id
Cs
Vdi2
G2
Fs
G3
Ks
Idi2
Inverter 2
A = LC I d
eb
ea
A1
t
ea+eb
2
Vd
t
0
eb
ea
. The transfer
(2)
1
sT
G 2 ( s ) = Vd 0Ts sin 0 1 + e
2
G3 ( s ) = Lc e
sT
(5)
(6)
(4)
ec
A2
Vd = G 2 ( s ) + G 3 ( s ) I d
(1)
1
Vd 0Ts sin 0
2
A2 = A1
A1 =
(3)
G' 3 ( s ) = L'c e
ec
sT'
(7)
(8)
4.3 DC line
t
ea+eb
2
Vd
t
R1
v1
L1
R2
L2
i1
i2
R3
v2
L3
i3
v3
C v1
F v2
K v3
(9)
5. Simulation Results
5.1 Calculated frequency response for MTDC system
Fig. 7 shows the frequency response of the MTDC
system in term of the Bode diagram. Gain margin and
phase margin of the open-loop control system also are
shown in the figure. In order to maintain the stable close-
(10)
50
Magnitude (dB)
I1 As
I 2 = Ds
I 3 Gs
Bode Diagram
Gm = 28.5 dB (at 404 rad/s) , Pm = 45 deg (at 62.5 rad/s)
0
-50
-100
-150
-200
-90
Z3
Z1Z 2 + Z1Z 3 + Z 2 Z 3
Cs =
Z 2
Z1Z 2 + Z1Z 3 + Z 2 Z 3
Ds =
Es =
Z3
Z1Z 2 + Z1Z 3 + Z 2 Z 3
( Z1 + Z 3 )
Z1Z 2 + Z1Z 3 + Z 2 Z 3
Z1
Fs =
Z1Z 2 + Z1Z 3 + Z 2 Z 3
Gs =
Z2
Z1Z 2 + Z1Z 3 + Z 2 Z 3
Hs =
Z1
Z1Z 2 + Z1Z 3 + Z 2 Z 3
( Z1 ?+ Z 2
Ks =
Z1Z 2 + Z1Z3 + Z 2 Z 3
Z1 = R1 + sL1 ; Z 2 = R2 + sL2 ;?Z 3 = R3 + sL3
34 J Electr Eng Technol.2015;10(1): 30-40
-135
-180
-225
-270
0
10
10
10
10
Frequency (rad/s)
10
10
Bs =
50
0
-50
-100
-45
Phase (deg)
Z 2 + Z3
As =
Z1Z 2 + Z1Z 3 + Z 2 Z 3
Phase (deg)
where
-90
-135
-180
0
10
10
10
10
Frequency (rad/s)
10
10
(11)
(12)
30 Phase margin 60
1.2
Rectifier
1.0
0.8
Inverter 1
Rectifier
1.0
Inverter 1
0.8
0.6
0.6
VDCOL
0.4
Inverter 2
Inverter 2
VDCOL
0.4
0.2
0.2
0.0
0.0
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0.0
1.4
0.2
0.4
0.6
1.0
1.2
1.4
1.2
1.0
1.0
RectifierInverter 1
0.8
Rectifier
0.8
0.6
0.6
0.4
Inverter 2
0.2
0.4
Inverter 1
0.2
Inverter 2
0.0
0.0
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
0.0
0.2
0.4
0.6
Rectifier
0.6
1.0
1.2
1.4
Inverter 1
0.4
0.8
t (s)
t (s)
Alpha (degree)
0.8
t (s)
t (s)
0.8
1.0
1.2
1.4
160
140
120
100
80
60
40
20
0
0.0
Inverter 1
Inverter 2
Rectifier
0.2
0.4
0.6
0.8
1.0
1.2
1.4
t (s)
t (s)
1.2
1.2
Rectifier
1.0
0.8
Inverter 1
0.6
Inverter 2
0.4
Rectifier
1.0
0.8
Inverter 1
0.6
Inverter 2
0.4
0.2
0.2
0.0
0.0
1.8
2.0
2.2
2.4
2.6
2.8
1.8
3.0
2.0
2.2
2.6
2.8
3.0
1.2
Inverter 1
1.1
1.1
Inverter 1
1.0
1.0
Rectifier
0.9
Inverter 2
0.9
Rectifier
0.8
Inverter 2
0.8
1.8
2.0
2.2
2.4
2.6
2.8
3.0
1.8
2.0
2.2
t (s)
160
140
120
100
80
60
40
20
160
140
120
100
80
60
40
20
Inverter 1
Rectifier
2.0
2.2
2.4
2.6
2.8
3.0
Inverter 2
1.8
2.4
t (s)
2.4
t (s)
t (s)
2.6
2.8
3.0
Inverter 1
Inverter 2
Rectifier
1.8
2.0
t (s)
2.2
2.4
t (s)
2.6
2.8
3.0
6. Conclusion
The VSC-MTDC system and the hybrid MTDC system
become more attractive. However, with their lower power
capability and higher investment cost compared to the
LCC-MTDC system, it is anticipated that the LCC-MTDC
still plays an important position in the future grids, such as
integration onshore grids over long distances and bulk
power transmission. This paper dealt with the proper
control strategy for the LCC-MTDC system with high
stability and fast response.
Two types of control strategies for the LCC-MTDC
system were analyzed using a LCC-MTDC system modeled
in PSCAD / EMTDC program as well as MATLAB /
SIMULINK under different operation conditions. The
simulations results showed that the LCC-MTDC system
based on CIA-type control is more stable and has faster
response than CEA-type control. It can be explained as
follows;
36 J Electr Eng Technol.2015;10(1): 30-40
Appendix
The parameters of MTDC system are as follows.
Table 1. Parameters of MTDC system
Parameter
AC frequency [Hz]
AC voltage [kV]
SCR
DC voltage [kV]
DC power [MW]
Inductance of AC source [H]
Rectifier
60
345
3-85
500
1000
0.005
Inverter 1
60
345
3-85
500
700
0.005
Inverter 2
60
345
3-85
500
300
0.005
y Cable parameters:
- Length of DC cable = 100 km
- Resistance of cable r = 0.07 /km
- Inductance of cable l = 0.0024 H/km
y Converter parameters:
- Firing angle = 24
- Ignition advance angle = 24
- Overlap angle = 20
- Smoothing inductance L = 0.5 H
[10]
[11]
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