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HVDC Classic
Examiner
Professor Stefan stlund
Royal Institute of Technology
Department of Electrical Systems
Division for Electrical Machines and Power Electronics
Abstract
In this Masters project, a simplified control model for HVDC classic has been
built in the EMTDC simulation program with PSCAD v.4.2 interface. The control
functions in the simplified control are based on functions from ABB Power
Systems. A number of cases have been simulated to evaluate the simplified
control model, which demand correct function during earth fault and load
disturbances. The main functions in the simplified control are the Voltage
Dependent Current Order Limiter (VDCOL), Current Order Amplifier (CCA), as
well as functions that are acting on the upper and lower limits of the CCA.
The VDCOL will reduce the current order at direct voltage reduction. This will
avoid voltage instabilities during and after AC disturbances. It will also ease the
stresses on the valves and speed up the recovery after disconnection of the earth
fault. The CCA is principally a proportional-integral controller, which give the
current control loop proper dynamics. For an inverter, it will decrease the firing
angle and for a rectifier it will increase the firing angle. Furthermore, the CCA
controller may also be used for controlling the DC voltage to a constant value.
Through simulation it has been shown that during single-phase ground fault
disturbances between the converter transformers and the rectifier, the current and
the voltage curve shapes are practically the same, independent of which model is
used in the surge arresters that are connected in parallel with each thyristor valve.
The current and the voltage curve shapes in the surge arrestors connected to the
neutral line deviate in some cases. However, the shape of the DC voltage when
the system is disturbed is practically the same when the simplified control model
is used compared to the detailed model. This is probably the best result that can
expected with a simplified control. Unfortunately the simplified model cannot
control the DC voltage when there is a disturbance in the AC network.
Preface
This Masters thesis constitutes the final of my Master of Science programme in
Electrical Engineering at the Royal Institute of Technology. With this preface, I
would like to acknowledge those who have assisted me and contributed to this
work.
I especially would like to thank all at ABB Power Systems that participated in the
study for all their support during this work. Furthermore, I would like to thank my
supervisor at KTH, Professor Stefan stlund for his input on this work.
Table of Contents
1 Introduction...................................................................................................................... 2
1.1 Background............................................................................................................... 2
1.2 Purpose ..................................................................................................................... 2
2 HVDC system .................................................................................................................. 3
2.1 Why use direct current transmission? ....................................................................... 3
2.2 Basic conversion principle........................................................................................ 3
2.2.1 The commutation process .................................................................................. 4
2.2.3 Triggering delay................................................................................................. 5
3 Control of HVDC converters ........................................................................................... 9
3.1 Basics principles of control....................................................................................... 9
3.1.1 Operation requirements.................................................................................... 10
3.1.2 Control characteristics ..................................................................................... 10
3.2 Valve blocking and bypassing ................................................................................ 12
4 Methods ......................................................................................................................... 13
4.1 Current control amplifier ........................................................................................ 14
4.2 Voltage Dependent Current Order Limiter ............................................................. 15
4.3 Voltage controller ................................................................................................... 17
4.4 Overvoltage limiter ................................................................................................. 18
4.5 Rectifier alpha min limiter ...................................................................................... 18
4.6 Alphamax controller ............................................................................................... 19
4.7 GAMMA0 controller .............................................................................................. 20
5 Results............................................................................................................................ 22
5.1 Ground fault between the valve bridge and the converter transformer................... 22
5.1.1 Valve arrester stresses...................................................................................... 22
5.1.2 Stresses on ground return bus arrester ............................................................. 26
5.1.3 Stresses on metallic return bus arrester............................................................ 29
5.2 Energizing an open DC line.................................................................................... 32
5.3 Lost of AC network at inverter ............................................................................... 33
5.4 Commutation failure ............................................................................................... 35
6 Discussion...................................................................................................................... 36
6.1 The project .............................................................................................................. 37
6.2 Future work............................................................................................................. 37
7 Conclusions.................................................................................................................... 39
8 References...................................................................................................................... 40
Appendix A....................................................................................................................... 41
1 Introduction
1.1 Background
This Masters project is performed at ABB Power Systems, a company
specialized in High Voltage Direct Current (HVDC) technology. In a HVDC
system, electric power is taken from one point in a three-phase alternating current
(AC) network, converted to direct current (DC) in a converter station, then
transmitted to the receiving point by an overhead line or cable and converted back
to AC in another converter station and finally injected into the receiving AC
network. DC current and voltage are precisely controlled to modulate the desired
power transfer in level and direction. Therefore the control system in a HVDC
system complex has several different parameters that need fine adjustments for
each project before the control systems can be used. To start the dimension studies
before the project specific control is developed, ABB Power Systems requires a
control model to the simulation program PSCAD/EMTDC which should not be
project specific, but rather adjustable to any individual projects.
For the PSCAD/EMTDC program CIGR has developed a benchmark system for
HVDC, know as the CIGR Benchmark Model [1][2]. The control system in
the CIGR model is based on the control systems from Siemens HVDC systems,
and can be used as a complement for this work.
1.2 Purpose
The purpose of this thesis is to develop a simplified control system to HVDC
Classic based on the control function from ABB Power Systems by using the
EMTDC simulation program with PSCAD v.4.2 user interface. ABB Power
Systems are in need of a simplified control model so the employees that are not
specialized on how the detailed control is built up and function can start with
dimension studies while waiting for the project specific control to be ready. The
studies the control will be used for require a correct function during earth fault
and load disturbances. The control should not be project specific and should be
easy to adjust to individual projects i.e. a basic control.
2
2 HVDC system
In this chapter a general description of HVDC systems and power conversion will
be given.
3
2.2.1 The commutation process
To understand basic principle of three-phase rectification we will consider the
idealised case of a converter bridge connected to an infinitely strong voltage
source, i.e. of zero source impedance.
In figure 2.1, the cathodes of valves 1, 3 and 5 at the top are connected together.
Therefore the thyristor with its anode at the highest potential will conduct id,
which is when the phase to neutral voltage is more positive than the voltages of
the other two phases. In the bottom group where 4, 6 and 2 are connected
together, the thyristor with its cathode at the lowest potential will conduct [4].
The resulting DC voltage has a ripple of six times the system frequency, the
voltage waveforms in the circuit of figure 2.1 are show in figure 2.2. In the graph
(figure 2.2) the phase voltages va, vb and vc are shown as dotted curves, cathode
potential (v1) and anode potential (v2) are shown as solid curves.
The average value of the ideal no load voltage, Vd0, which is the maximum output
voltage, can be calculated by integrating the instantaneous value over a 60
period.
6
1
2VLL cos wt d ( wt ) = 1.35VLL
3 - 6
Vd 0 = (2.1)
Where VLL is the root mean square (rms) value of AC phase-to-phase voltage.
1.5
v1
1
0.5
Voltage [p.u.]
-0.5
-1
v2
-1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
t [rad]
Figure 2.2 Dotted curves are phase to ground voltages and solid curves
are cathode potential (v1), anode potential (v2).
4
2.5
2 Vd
1.5
0.5
Voltage [p.u.]
0
-0.5
-1
-1.5
-2
-2.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
t [rad]
Figure 2.3 Dotted curves are phase-to-phase voltages and solid curve is
direct voltage (Vd).
0.8
0.6 v1
0.4
0.2
Voltage [p.u.]
-0.2
-0.4
-0.6
-0.8 v2
-1
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
t [rad]
Figure 2.4 Dotted curves are phase to ground voltages and solid curves
are cathode potential (v1), anode potential (v2).
5
1.5
0.5
Voltage [p.u.]
0
-0.5
-1
-1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
t [rad]
Figure 2.5 Dotted curves are phase-to-phase voltages and solid curve is
direct voltage (Vd).
6
With commutation overlap and triggering delay the average DC voltage output is:
3X c
Vd = Vd 0 Vd = Vd 0 cos Id (2.8)
Figure 2.6 describes the commutation process.
Xc ia 1
- + a
+ vXa - Id
Va iu
Xc 5 +
- + c
n + vXc - ic
Vb Vd
Xc Id 6
- + b -
Vc
(a)
ic ia
Id Id
(b)
Figure 2.6 (a) Equivalent circuit of the commutation from valve 5 to valve 1.
(b) The commutating currents [4].
7
AC AC
system system
8
3 Control of HVDC converters
In this chapter, the basic control principles for an HVDC transmission are
discussed.
DC-line
Id
Three- Three-
Vd0rcos Vd0icos phase ac
phase ac
Rectifier Inverter
(a)
Rcr RL -Rci
+ Id +
Vd0rcos Vdr Vdi Vd0icos
- -
(b)
Figure 3.1 (a) Schematic diagram of a HVDC link. (b) Equivalent circuit.
The direct current, Id, flowing from rectifier to the inverter is [1]:
Vdor cos Vdoi cos
Id = (3.1)
RL + Rcr + Rci
The DC voltage at the rectifier DC terminals can be expressed as:
Vdr = Vdor cos Rcr I d (3.2)
Vd0r and Vdoi are the no-load direct voltage in the rectifier and the inverter
respectively, Rcr and Rci are the equivalent commutation resistance (due to
commutation overlap it accounts for the voltage drop in the converters) and RL is
the line resistance.
By controlling the voltages Vd0rcos and Vd0icos the DC current or the active
power can be controlled. This is done either by controlling the rectifier valve
ignition angle or extinction angle of an inverter, or by controlling Vd0r and Vd0i
by the transformer tap changer. Control of valve ignition is used for rapid action
and is then followed by tap changing to restore the converter quantities to their
normal range.
9
3.1.1 Operation requirements
In practice the line and converter resistance are relatively small, hence a small
difference between Vdor and Vdoi causes a large change in Id. This implies that if
and are kept constant and small changes in the AC voltage magnitude are made
at either end, the direct current can vary over a wide range. Such variations are
unacceptable for a satisfactory performance of the power system.
The power factor should be as high as possible. This is important for several
reasons, e.g. to avoid excessive consumption of reactive power, to reduce the
amplitude of the harmonics and to minimize the stresses on the valves and the
transformers. The power factor of the converter can approximately be expressed
as [3]:
To achieve high power factor the angle for a rectifier and for inverter must be
kept low.
In order to secure a certain positive voltage across the valve at firing the firing
control in the rectifier operation is arranged so that the angle will not be decreased
below a certain minimum value min(5). Since a too small value of the
extinction angle will make the converter too vulnerable for commutation
failures, it should never decrease below a certain minimum value min(17).
3 Ls
Vd = 1.35VLL cos + Rdc I d (3.3)
Where VLL is the rms value of line-to-line voltages and Ls is the AC-side
inductance. We see from the expression that there are three variables, VLL, and
Id, which define the level of the direct voltage. The maximum Vd is obtained if
= min at it is minimum value, and the rectifier will operate at constant ignition
angle (CIA), The Vd-Id characteristics starts at a value obtained by using Eq.(3.4).
Vd = 1.35VLL cos min (3.4)
10
and CIA being represented by a line of negative slope (segment FA in figure 3.2)
for increasing Id.
The segment AB in figure 3.2 represents the normal constant current (CC) control
mode. Operation with constant current and variable results in vertical line in the
Vd-Id diagram. This is the normal mode of rectifier operation in which the rectifier
controls the direct current by varying to meet the voltage on the DC side.
Consequently, the complete rectifier characteristics at normal voltage are defined
by FAB and E is the point of operation.
At reduced voltage the CIA characteristic would follow FA and the inverter
CEA characteristic (CD) would not intersect FAB, this would cause the current
and the power to be reduced to zero, and the system would run down.
In order to avoid the above problem, the inverter is also provided with a current
controller, which is set at a value lower than the current setting for the rectifier.
The resulting inverter CC characteristic is given by the section GH.
The difference between rectifier and inverter current order is called the current
margin and is denoted by Im in Figure 3.2 and it is normally around 0.1 p.u. [3][5].
If the AC voltage in the inverter network is slightly reduced i.e. Vdi is reduced, the
rectifier must increase its in order to keep the direct current at the requested
level and the new point of operation will be A. If the AC voltage reduction
occurs in the rectifier network, the inverter current control system will react to the
decreased direct current and increase i.e Vdr is reduced. Thus the inverter takes
over the current control and restores stable operation with direct current equal to
the current reference in the inverter, and the new point of operation will be E [3].
Most HVDC systems are provided with bidirectional power flow capability,
which means that each converter can operate both as rectifier as well as inverter.
A reversal of the power direction can be obtained by changing the voltage
11
magnitude at the converter terminals. This can be done by using a type of firing-
angle control [5]. These combined characteristics are show in figure 3.3.
Vd Vd
Converter 1 (CIA) Converter 1 (CIA)
E Converter 2 Converter 2
(CEA) (CEA)
Im Im
Id Id
E
Converter 1 Converter 1
(CEA) (CEA)
Converter 2 Converter 2
(CIA) (CIA)
(a) (b)
Figure 3.3 Combined rectifier-inverter characteristic. (a) Power flow direction from
converter 1 to converter 2. (b) Power flow direction from converter 2 to converter 1.
12
4 Methods
The control system is described in general terms in chapter 3. This chapter
describes the function and the block diagram of the control system model that are
used in the simplified control system.
13
Figure 4.1 The control system.
Only the necessary and relevant function that is required to get the model in
steady state and comparable behavior to the detailed model 60 ms after a
disturbance are used.
14
used to set restrictions on the acting range of the CCA during special
circumstances.
Iord
Io max
Io min VDCOL
Io min
Vd low Vd high Vd
Figure 4.3 The static characteristic of VDCOL.
15
The influence of the VDCOL on the Vd-Id characteristic is shown in figure 4.4 and
the block diagram of the VDCOL is shown in figure 4.5.
The low pass filter has different time constants depending on if the Vd input
increases or decreases at rectifier or inverter operation. The rectifier time constant
should be lower than the inverter time constant in order to maintain the current
margin. The difference between the time constants in the rectifier and inverter
operation has an influence on the restart time. The rectifier time constant should
also be set to a value that gives a controlled restart after disturbance. The time
constant for decreasing Vd is low, 10 ms or less, to rapidly force the current order
to a low value during disturbance.
If Vd becomes lower than Vd low the reduction of the maximum limitation will stop
and the limitation level will be kept at Io min VDCOL. The level of Io min VDCOL is
normally 0.3 p.u. to prevent stress on the valves.
The minimum limitation (Io min) of the current order prevents discontinuous
conduction of the current during conduction intervals. The typical value of Io min is
0.1 p.u.
16
4.3 Voltage controller
The controller is used for reduced voltage operation, but can also be used for
normal voltage operation.
The voltage controller is a PI-regulator acting on the minimum and maximum
limits of the current controller. In inverter operations, it will decrease the
maximum alpha limit and in rectifier operation increase the minimum alpha limit
of the CCA.
At reduced voltage operations, the reference voltage is lowered to the desired
value and the controller consequently lowers the DC voltage.
The influence of the voltage controller on the Vd-Id characteristic is shown in
figure 4.6.
The new operation point is moved away from min in a stable mode of operation.
Figure 4.7 shows the block diagram of the voltage controller.
17
The voltage reference Vd ref is slightly higher in the rectifier in order to maintain
the voltage control in the inverter. To obtain the correct control function the
polarity is switched depending on the operation mode (rect/inv).
18
Figure 4.9 Block diagram of RAML controller.
19
I 0 VdN
= arccos cos 2dx K ( I o I d ) (4.5)
I dN Vd 0
The output signal alpha max is calculated as:
max =180- (4.6)
Beta I contribute to the value of Amax by the difference between the current order
and the current response. The slope of Amax is set by the gain K. A block diagram
of alpha max is shown in figure 4.10.
20
0.6 Vd low
x Comparator
inv
& to CCA
&
Vd ref T1
rect
Vd
Comparator T2
0.7 x
0.03 Comparator
GAMMA0
VCA to CCA
Amax
The principal function of the controller is shown in figure 4.12. The GAMMA0
controller is activated when the DC voltages becomes less than 0.6Vdref after a
given delay time, T1, the minimum firing angle is set equal to the maximum firing
angle, 110 = max. If the DC voltage is re-established before T1 is expired the
control is deactivated, otherwise the control is not deactivated until the DC
voltage rises above 0.7Vdref, and after a delay time T2.
Vd
0.7Vd
0.6Vd
time
T1 T2
max
time
21
5 Results
This chapter presents the results from the simulations to evaluate the simplified
control model, transient over voltages generated in the AC and DC system are
calculated in the two models. Corresponding arrester stresses in form of current,
voltage and energy are compared between the models.
The energy in the arresters as shown in figure 5.1 was evaluated assuming a time
of 60 ms after the fault was applied, 10 ms for the fault detection and 50 ms for
the breaker opening.
V V V
V V V
DC EM
AC
system Filters
A2 A V V V
Filter
Subbank V V V
EL
22
Operation mode was ground return and the prefault conditions on the DC side
were:
Vd =1.0 p.u. (= 500 kV), Id =0.1 p.u. (= 300 A)
The following cases were investigated:
Only ground fault, without control action.
Ground fault and delayed with by-pass pair.
The following three alternative by-pass pairs were
studied:
o By-pass of valve 1 and 4
o By-pass of valve 2 and 5
o By-pass of valve 3 and 6
Figure 5.2, 5.3 and 5.4 shown the energies, currents and voltages in the arrestors
parallel with upper group of the thyristors connected to Yy-transformer and figure
5.5 shown the DC voltage in the rectifier of case 4. Case 4 generates more energy
23
than the other four cases. The energy difference between the detailed and the
simplified model is approximately 2 % (26 kJ), where the detailed model
generates more energy in the surge arrestors during the fault. The current graph
peaks at t =1.51 s and the detailed model is 0.3 kA higher. The shape of the
voltage curves over the thyristors (figure 5.4) and the direct voltage (figure 5.5) is
nearly identical.
The shape of the DC voltage curve in the graphs of case 3 and 4 are nearly
perfect. In case 2 the difference in curve shape of the DC voltage between the two
models could be caused by the fact that the bpp is formed in leg 1 and the fault is
applied in phase A that is connected to leg 1.
In case 1, it is approximately 6 % (0.18 MJ) more energy in the surge arresters in
the simplified model compared with the detailed model. Moreover, the shape of
the curves differs between the two models. One reason could be that a by-pass
pair is not formed after the fault and the function of the control has more influence
than in case 2 to 4.
2500 2500
Energy [kJ]
Energy [kJ]
2000 2000
1500 1500
1000 1000
500 500
0 0
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
24
Valve arrester currents Valve arrester currents
0.2 0.2
Valve 1 Valve 1
Valve 3 Valve 3
0 Valve 5 0 Valve 5
-0.2 -0.2
Current [kA]
Current [kA]
-0.4 -0.4
-0.6 -0.6
-0.8 -0.8
-1 -1
-1.2 -1.2
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
300 300
200 200
Voltage [kV]
Voltage [kV]
100 100
0 0
-100 -100
-200 -200
-300 -300
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
450 450
400
400
350
350
300
V oltage [k V ]
V oltage [k V ]
300
250
250
200
200
150
150
100
100 50
50 0
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
25
5.1.2 Stresses on ground return bus arrester
In this test the current and the voltage in the arrestors EL in figure 5.1 on the
electrode line to earth are calculated.
Operation mode was ground return and the prefault conditions on the DC side
were:
Vd =1.0 p.u. (= 500 kV), Id =1.2 p.u. (= 3600 A)
The following cases were investigated:
Only ground fault, without control action.
Ground fault and delayed with bpp.
The following three alternative by-pass pairs were
studied:
o By-pass of valve 1 and 4
o By-pass of valve 2 and 5
o By-pass of valve 3 and 6
26
Figure 5.6, 5.7 and figure 5.8 shown the energies, currents and voltages in the
arrestors connected on the electrode line to earth and figure 5.9 shown the DC
voltage in the rectifier of case 1.
Case 1 generates more energy than the other three cases. The energy differences
in case 1 between the simplified and the detailed model is 30% (1.4 MJ), where
the simplified model generates more energy in the surge arrestors during the fault.
In case 3 and 4 the differences in surge arrestor energy between the two models is
quite similar. The reason for the larger difference versus the models in case 1
compare to case 3 and 4 is that the fault is followed by bpp in case 3 and 4, where
the controller does not have any influence at the circuit.
In case 2 the simplified model is producing approximately 20% (0.7 MJ) more
energy during the fault compared to the detailed model. In case 3 and 4, fault is
also followed by a bpp and the differences in these cases are 4% (0.1 MJ) and 9%
(0.3 MJ) respectively. The reason for the larger difference in case 2 versus to case
3 and 4 could be that the bpp is formed in leg 1 (thyristors 1 and 4) and the fault is
applied in phase A that is connected to leg 1.
Neutral bus arrester Neutral bus arrester
4 5
4.5
3.5
4
3
3.5
2.5 3
Energy [MJ]
Energy [MJ]
2 2.5
2
1.5
1.5
1
1
0.5 0.5
0 0
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
0
1
-0.5
-1
0
-1.5
Current [kA]
Current [kA]
-2 -1
-2.5
-2
-3
-3.5
-3
-4
-4.5 -4
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
27
Neutral bus arrester Neutral bus arrester
300 300
200 200
100 100
Voltage [kV]
Voltage [kV]
0 0
-100 -100
-200 -200
-300 -300
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
500 500
400 400
300 300
200 200
Voltage [kV]
Voltage [kV]
100 100
0 0
-100 -100
-200 -200
-300 -300
-400 -400
-500 -500
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
28
5.1.3 Stresses on metallic return bus arrester
In this test the current and the voltage in the arrestors EM in figure 5.1 at metallic
return bus are calculated.
Operation mode was metallic return and the prefault conditions on the DC side
were:
Vd =1.0 p.u. (= 500 kV), Id =1.2 p.u. (= 3600 A)
The following cases were investigated:
Only ground fault, without control action.
Ground fault and delayed with bpp.
The following three alternative by-pass pairs were
studied:
o By-pass of valve 1 and 4
o By-pass of valve 2 and 5
o By-pass of valve 3 and 6
29
Figure 5.10, 5.11 and 5.12 shows the energies, currents and voltages in the
arrestors connected on the electrode line to earth and figure 5.13 shown the DC
voltage in the rectifier in case 3.
Case 3 generates more energy than the other four cases. The energy difference
versus the detailed and the simplified model is approximately 2 % (0.4 MJ),
where the simplified model generates more energy in the surge arrestors during
thefault.
1 1
0.5
0
0
Current [kA]
Current [kA]
-1
-0.5
-2
-1
-3
-1.5
-4 -2
-5 -2.5
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
22
35
20
30 18
Energy [MJ]
Energy [MJ]
16
25
14
20 12
10
15
8
10 6
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
30
Neutral bus arrester Neutral bus arrester
350 300
300
200
250
200 100
V oltage [kV ]
V oltage [kV ]
150
0
100
50 -100
0
-200
-50
-100 -300
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
500 500
400 400
300 300
V oltage [kV ]
V oltage [kV ]
200 200
100 100
0 0
-100 -100
-200 -200
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58
Time [s] Time [s]
31
5.2 Energizing an open DC line
To energizing an open DC line is a test of the OVL controller. When energizing
an open DC line high voltage will be generated as described in section 4.4
Overvoltage Limiter.
The figures below show the DC voltage and current in the rectifier during a
simulation. The rectifier is started at time t=0.3 s and the inverter is never
deblocked. As seen in figure 5.15 the direct current is nearly zero and the direct
voltage stabilizes at 1.0 p.u. in figure 5.14a and at 1.15 p.u in figure 5.14b. In the
detailed model the OVL controller regulate the DC voltage when it is above 1.15
p.u. (between 0.41-0.48 s in figure 5.14a), after which the Voltage controller
adjust the DC voltage to 1.0 p.u. In the simplified model the OVL controller
regulates the DC voltage to the reference value 1.15 p.u. and remain at that
reference. In the simplified control model, the Voltage controller cannot act on the
lower limit of the CCA and thus cannot regulate the DC voltage to 1 p.u.
1.2 1
1
0.8
0.8
Voltage [p.u.]
Voltage [p.u.]
0.6
0.6
0.4
0.4
0.2
0.2
0 0
-0.2 -0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [s] Time [s]
0.7 0.7
0.6 0.6
0.5 0.5
Current [p.u.]
Current [p.u.]
0.4 0.4
0.3 0.3
0.2 0.2
0.1 0.1
0 0
-0.1 -0.1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [s] Time [s]
32
5.3 Lost of AC network at inverter
This test is to dimension the surge arrestors at the AC bus, where its arrestors
protect the AC side of the converter transformer and the AC filter buses. The
prefault conditions on the DC side and the AC-side were nominal voltages and the
current and the AC network were strong on rectifier side and weak on the inverter
side. At t=1.5s the AC line breakers at the inverter side opens and remains open
the reaming time of the simulation.
Figure 5.16 shown the AC bus voltage between the inverter and the AC breakers.
When the breakers open at the inverter the AC voltage is oscillating between the
filter subbank and the converter transformers. This oscillating is reduced faster in
the detailed model compared to the simplified model. However it is not possible
to compare the two models because the prefault in alpha order is 134 in the
detailed model and 141 in the simplified model, as shown in figure 5.18, but the
result of this test is that the behavior of the simplified control system is not equal
to the detailed model during this kind of fault.
AC bus voltage AC bus voltage
800 800
Phase A Phase A
Phase B Phase B
600 600 Phase C
Phase C
400 400
200 200
Voltage [kV]
Voltage [kV]
0 0
-200 -200
-400 -400
-600 -600
-800 -800
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.59 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.59
Time [s] Time [s]
800 800
600 600
400 400
Voltage [kV]
Voltage [kV]
200 200
0 0
-200 -200
-400 -400
-600 -600
1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.59 1.49 1.5 1.51 1.52 1.53 1.54 1.55 1.56 1.57 1.58 1.59
Time [s] Time [s]
33
Alpha order Alpha order
150 170
140 160
130 150
120 140
Degrees
130
Degrees
110
100 120
90 110
100
80
90
70
34
5.4 Commutation failure
The system is disturbed at the AC bus on the inverter side with an inductance of
0.05 H at each phase. The AC network is strong on the rectifier side and weak on
the inverter side. The disturbance is applied at t=1.5s and the fault duration is
50ms.
This test is to investigate the stability of the HVDC system and to investigate how
the control system can take care of load disturbances. As shown in figure 5.19a
and 5.19b the inverter AC voltage is quite similar for both models. This is due to
the isolating converter transformer between the converter and the AC system.
The differences in alpha-order between the detailed and the simplified model are
caused by a function named Commutation Failure Prediction (CFPRED) included
in the detailed model but not in the simplified model. The function of CFPRED is
to detect one and three phase AC faults. The detection of AC faults will give an
angle reduction in the Alphamax controller. As shown in figure 5.21a, the alpha
order decreases when the fault is applied and is dependent on CFPRED.
200 200
100 100
Voltage [kV]
Voltage [kV]
0 0
-100 -100
-200 -200
-300 -300
-400 -400
-500 -500
1.5 1.52 1.54 1.56 1.58 1.6 1.5 1.52 1.54 1.56 1.58 1.6
Time [s] Time [s]
500
500
400
400 300
200
Voltage [kV]
Voltage [kV]
300
100
0
200
-100
100 -200
-300
0
-400
-100 -500
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2 1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time [s] Time [s]
35
Alpha order Alpha order
152 160
150 155
148 150
146 145
Degrees
Degrees
144 140
142 135
140 130
138 125
136 120
1.4 1.5 1.6 1.7 1.8 1.9 2 1.4 1.5 1.6 1.7 1.8 1.9 2
Time [s] Time [s]
36
6 Discussion
In this chapter there will be a discussion about problems that arose during the
work, possible reasons for their occurrences and suggestions on how to continue
with this work.
37
5.4. Commutation failure. To make the simplified control work correctly, the
function CFPRED could be tried.
38
7 Conclusions
In this master thesis, I have developed a simplified control system to HVDC
Classic based on the control function from ABB Power Systems by using the
EMTDC simulation program with PSCAD v.4.2 user interface. The control is a
basic control that can easily be used for different projects. Further, the control
model will mainly be used to dimension surge arresters for different disturbances
that are applied in the systems.
Through simulation I have shown that during single-phase ground fault
disturbances between the converter transformers and the rectifier (surge arresters
is connected in parallel with each thyristor valve), the current and the voltage
curve shapes are practically the same independent of which model is used. In the
case of a bpp formation in leg 3 more energy will be generated compared to the
other four cases. The detailed model generates 2 % more energy than the
simplified model which is a highly acceptable result.
The current and voltage curve shapes in the surge arrestors connected to the
neutral line deviate in some cases. When a bpp is not followed by a fault is
applied the energy difference in the surge arrestors is 30 % more in the simplified
versus the detailed model. One reason to the large differences could be that the
converter is not the same in the two models. However, the shape of the DC
voltage when the system is disturbed is practically the same when the simplified
control model is used compared to the detailed model. This is probably the best
result one can expect with a simplified control. Unfortunately the simplified
model cannot control the DC voltage when there is a disturbance in the AC
network. Therefore future development is required before the simplified control
can be used in the design of the surge arresters.
39
8 References
[1]. M. Szechman, T. Wess, & C.V. Thio. First benchmark model for HVDC
control studies, CIGRE WG 1991:14(2); 5473.
[2]. M. O. Faruque, Y. Zhang, V. Dinavahi. Detailed Modeling of CIGRE
HVDC Benchmark System Using PSCAD/EMTDC and PSB/SIMULINK.
IEEE Trans. Power Delivery. 2006: 21; 378387.
[3]. Kundur P, Power System Stability and Control. McGraw-Hill, Inc. ISBN
0-07-035958-X, McGraw-Hill, 1994
[4]. Mohan N, Undeland T, M and Robbins W.P, Power Electronics. ISBN
0-47142908-2, John Wiley & Sons, Inc, 2003
[5]. Arrillaga, J. High voltage direct current transmission, ISBN 0-
85296941-4, The Institution of Electrical Engineers, 1998
[6]. Ekstrm, . High Power Electronics HVDC and SVC, EKC Electric
Power Research Center, 1990
[7]. Woodford, D. HVDC Transmission, Manitoba HVDC Research
Centre, Canada, 1998
[8]. Francisco Jurado, Natividad Acero, Jos Carpio and Manuel
Castro, Using various computer tools in electrical transients studies,
30 th ASEE/IEEE Frontiers in Education Conference, Kansas City 2000
40
Appendix A
CCA
41
VDCOL
42
Voltage controller
43
Alphamax controller
44
Gamma0 controller
45
Over voltage limiter
46
RAML
47