High Voltage Direct Current Control Research Articles

Power grid practice of suppressing transient overvoltage of sending-end system by ultra high voltage direct current control parameters

The transient overvoltage off-grid problem of new energy in the sending-end network has become an important factor limiting the ultra high voltage direct current (UHVDC) transmission capacity. In this paper, the causes of transient overvoltage during the DC fault process is analysed firstly, then from the perspective of adjusting the reactive power consumption of the converter, taking the Qingyu UHVDC project in China as an actual simulation example, the influence of the DC control mode and current control parameters at the rectifier side on the transient overvoltage is deeply studied. Combined with the transient voltage evaluation results of the actual power grid, guiding suggestions for DC control strategies are given to improve the transmission capacity. The research results have important reference significance for improving the consumption of new energy and the transmission capacity of UHVDC projects.

Solvability region of AC–DC power systems with volatile renewable energy sources

The high voltage direct current (HVDC) is widely incorporated into today’s AC power grids. It is a key technology to address the issues for large power transmission and power flow control. However, the HVDC may influence the consumption-ability of systems for renewable energy sources (RES). This paper studies the solvability region in the AC–DC system with HVDC under the volatile RES generation and system operation constraints. The set of all admissible injection patterns of RES is termed dispatchable region, which is depicted by the Pareto frontier of multi-objective optimization problems. An adopted ε-constraints method is used to solve the multi-objective optimal power flow problem. Cases study on an adopted IEEE-30 bus system are provided to analyze the impaction of HVDC control strategies and parameters.

Design of Robust MMC Controls Considering HVDC Grid Protection: Small Signal-Based Tuning

In High Voltage Direct Current (HVDC) grids, system parameter and/or topology changes following HVDC grid protection actions affect system dynamics and in combination with the existence of line inductors in series with HVDC circuit breakers (DCCB), pose a challenge to designing converter controls that satisfy desired performance and stability requirements. To date, several methods have been proposed for evaluating the influence of the line inductors on system stability; however, tuning of the MMC controls considering system parameter and/or topology changes following HVDC grid protection actions haven’t been studied in detail. This paper presents a systematic tuning procedure for a robust operation of MMCs in any HVDC grid configuration. The proposed method analyzes the impact of variations in HVDC grid system parameters and control bandwidths (BWs) using small-signal based stability analysis and Singular Value Decomposition (SVD)-based performance analysis methods. In addition, it considers the impact of line outages associated with HVDC grid protection actions in order to select optimal control gains that fulfill performance and stability requirements of the HVDC grid for given HVDC Circuit Breakers (DCCBs) line inductor values. To illustrate the proposed methodology, a detailed step-by-step stability analysis in a 4-terminal HVDC grid test system is presented.

Adaptive Control of HVDC Links for Frequency Stability Enhancement in Low-Inertia Systems

Decarbonization of power systems has put Renewable Energy Sources (RES) at the forefront when it comes to electric power generation. The increasing shares of converter-connected renewable generation cause a decrease of the rotational inertia of the Electric Power System (EPS), and consequently deteriorate the system capability to withstand large load-generation imbalances. Low-inertia systems are subjected to fast and large frequency changes in case of in-feed loss, where the traditional primary frequency control is not sufficient to preserve the frequency stability and to maintain the frequency above the critical value. One possible solution to this rising problem is seen in Fast Frequency Response (FFR) provided by the High-Voltage Direct-Current (HVDC)-based systems. This paper presents the adaptive FFR control of HVDC-based systems for frequency stability enhancement in the low-inertia system. The EPS is considered as a “black box” and the HVDC response is determined only using the locally measured frequency change. Sliding Mode Control (SMC) of the Modular Multilevel Converter (MMC) was developed and demonstrated to provide faster and more appropriate frequency response compared to the PI controller. The described adaptive HVDC control considers the size of disturbance and the inertia of the power system, and it is verified by simulations on the IEEE 39 bus test system implemented in MATLAB/Simulink for different system configurations and different sizes of disturbance.

Analysis of fault-induced inrush current of converter transformer in LCC HVDC system considering DC control and protection

Converter transformers are vital devices in line-commutated-converter (LCC) high-voltage direct-current (HVDC) systems. This paper introduces a new inrush current induced by a valve-side asymmetric ground fault on a converter transformer. It is defined as a “fault-induced inrush current (FIIC).” Taking a valve-side single-phase-to-ground (VSSPG) fault on a rectifier-side converter transformer as an example, the FIIC induced by this fault and its characteristics are first analyzed. Subsequently, the differences of the FIICs caused by the VSSPG faults occurring at the transformers in wye-grounded-wye (Y0/Y) and wye-grounded-delta (Y0/Δ) connections are discussed. After that, the effect of HVDC control and protection (C&P) on the characteristics of FIICs is considered. Finally, the impact of the FIIC on the transformer differential protection is analyzed. It is concluded that the transformer differential protection has a risk of being inappropriately blocked because of the FIIC. A suggestion for the HVDC C&P to apply a shorter protection action delay is proposed to reduce the risk. The theoretical analysis is verified through simulations performed in PSCAD/EMTDC. This study will be valuable for the research of inrush currents of converter transformers.

Frequency Stability of Power System with Large Share of Wind Power Under Storm Conditions

The operation of transmission systems with large share of wind power is specially challenging under storm conditions. Under the stormy wind speed conditions, wind turbine protection system is designed to shut down the turbine to avoid excessive mechanical load. The sudden loss of wind power from large offshore plants is difficult to forecast accurately, which results in a large amount of power imbalance. The severity of such a wind power imbalance towards frequency stability needs to be studied for the future power systems. In addition, the overhead transmission lines can also be affected during storms, thereby increasing their probability of failure in the operation of power system under the islanded conditions. This paper investigates how the stormy weather can threaten the frequency stability of future Danish power system with large share of wind power and how to avoid the frequency instability through proper control and defence strategies such as high-voltage direct current (HVDC) control and load shedding. Sensitivity studies are performed for ramp rates of HVDC control, load shedding strategies, inertia of the system with different volumes of disturbances to understand their impact on frequency stability.

Static and dynamic evaluation of different architectures for an actual HVDC link project

The employment of High-Voltage Direct Current (HVDC) transmission in modern power systems is mainly driven by requirements of increasing power transfer over high distances in a cost-efficient and controllable way. HVDC control can ensure fast and accurate power flow control to improve the whole system performance as well as increased flexibility to manage power flows from remote renewable generation to load centers, especially in a zonal market configuration. However, in the network planning phase the implications of a new HVDC connection, both on the steady-state and on the dynamic operation of a power system, must be carefully evaluated with particular reference to possible outage events, depending on the operating conditions and on the exploited control schemes. In this paper, a real HVDC project within the Italian transmission network is considered in both the Voltage Source Converter (VSC) and Line Commutated Converter (LCC) technologies. The study implies a methodology to analyze the impact on steady-state and dynamic performances in the presence of faults, with a focus on grid security and market efficiency aspects. The behavior of the interconnected Italian power system is simulated in a development planning viewpoint by means of software tools exploited by the System Operator.

Development of A Loss Minimization Based Operation Strategy for Embedded BTB VSC HVDC

Recently, there have been many cases in which direct current (DC) facilities have been placed in alternating current (AC) systems for various reasons. In particular, in Korea, studies are being conducted to install a back-to-back (BTB) voltage-sourced converter (VSC) high-voltage direct current (HVDC) to solve the fault current problem of the meshed system, and discussions on how to operate it have been made accordingly. It is possible to provide grid services such as minimizing grid loss by changing the HVDC operating point, but it also may violate reliability standards without proper HVDC operation according to the system condition. Especially, unlike the AC system, DC may adversely affect the AC system because the operating point does not change even after a disturbance has occurred, so strategies to change the operating point after the contingency are required. In this paper, a method for finding the operating point of embedded HVDC that minimizes losses within the range of compliance with the reliability criterion is proposed. We use the Power Transfer Distribution Factor (PTDF) to reduce the number of buses to be monitored during HVDC control, reduce unnecessary checks, and determine the setpoints for the active/reactive power of the HVDC through system total loss minimization (STLM) control to search for the minimum loss point using Powell’s direct set. We also propose an algorithm to search for the operating point that minimizes the loss automatically and solves the overload occurring in an emergency through security-constrained loss minimization (SCLM) control. To verify the feasibility of the algorithm, we conducted a case study using an actual Korean power system and verified the effect of systematic loss reduction and overload relief in a contingency. The simulations are conducted by a commercial power system analysis tool, Power System Simulator for Engineering (PSS/E).

Technology and engineering application of cross area HVDC interconnection system high-precision simulation modeling based on ADPSS

In recent years, a large number of high voltage direct current (HVDC) transmission projects have been connected to AC systems. This has started to have an impact on AC/DC hybrid power grids, particularly receiving terminal power grids. An HVDC system is a large-scale power electronic integrated nonlinear system, and it includes a primary system and a control and protection system. Hence, the precision and degree of detail of HVDC systems directly affect the actual effect of simulation. In recent years, in the case of the normal operation and failure of AC power grids, the abnormal fluctuation and even locking of HVDC systems caused by the inappropriate strategies of the control and protection system component have strongly affected power grids. This has significantly affected the safety and stability of receiving power grids and normal operation. In this study, the actual engineering HVDC control logic provided by a manufacturer is analyzed and simulated based on the user defined component library of the ADPSS electromagnetic transient calculation program, and an HVDC control model based on an actual system is established. The accuracy of the DC control custom model based on ADPSS is verified through the simulation of an actual power grid.

Recent developments in HVDC transmission systems to support renewable energy integration

The demands for massive renewable energy integration, passive network power supply, and global energy interconnection have all gradually increased, posing new challenges for high voltage direct current (HVDC) power transmission systems, including more complex topology and increased diversity of bipolar HVDC transmission. This study proposes that these two factors have led to new requirements for HVDC control strategies. Moreover, due to the diverse applications of HVDC transmission technology, each station in the system has different requirements. Furthermore, the topology of the AC-DC converter is being continuously developed, revealing a trend towards hybrid converter stations.

Analysis of the influence of dynamic components of AC/DC system on transient voltage stability based on energy function method

With the interconnection of large power networks, transient voltage stability of AC/DC power systems has been paid more attention in recent years. To investigate main influence of generating facility, high-voltage direct current (HVDC) and motor load for transient voltage stability, from the perspective of the generalised branch potential energy, the new indexes, and analysis method is proposed here. First, an energy function for AC/DC system is constructed with major dynamic components, namely classical HVDC control systems and motors in third-order model. Accordingly, the influence effects of the above major dynamic elements are investigated based on indexes from the corresponding generalised branch potential energy. With the rule of change in transient potential energy distribution in the network and information in stability margins, an evaluating procedure is established. Here, the judgment of transient voltage stability employs a heuristic energy function method. Finally, simulation tests on three-machine system with a HVDC transmission line are conducted in PSAT package, and the obtained results demonstrate the feasibility and effectiveness of the proposed method.

Distributed Control of HVDC Links for Primary Frequency Control of Time-Delay Power Systems

This paper considers high voltage direct current (HVDC) links for the primary frequency control of interconnected time-delay power systems with electric vehicles (EVs). Novel distributed control of HVDC links is proposed to minimize the differences in the frequency deviations between the connected power areas. A power system with EVs, HVDC links and multiple time delays is first presented. Then, we propose a new robust distributed HVDC controllers design method to stabilize the closed-loop system with a guaranteed $H_{\infty }$ performance. The design method can be flexibly extended to design static output feedback controllers of various structures to cater for different power system topologies. The performance and usefulness of our proposed controller design method is validated by extensive simulations.

Convex Relaxations of Probabilistic AC Optimal Power Flow for Interconnected AC and HVDC Grids

High Voltage Direct Current (HVDC) systems interconnect AC grids to increase reliability, connect offshore wind generation, and enable coupling of electricity markets. Considering the growing uncertainty in power infeed and the complexity introduced by additional controls, robust decision support tools are necessary. This paper proposes a chance constrained AC-OPF for AC and HVDC grids, which considers wind uncertainty, fully utilizes HVDC control capabilities, and uses the semidefinite relaxation of the AC-OPF. We consider a joint chance constraint for both AC and HVDC systems, we introduce a piecewise affine approximation to achieve tractability of the chance constraint, and we allow corrective control policies for HVDC converters and generators to be determined. An active loss penalty term in the objective function and a systematic procedure to choose the penalty weights allow us to obtain AC-feasible solutions. We introduce Benders decomposition to maintain scalability. Using realistic forecast data, we demonstrate our approach on a 53-bus and a 214-bus AC-DC system, obtaining tight near-global optimality guarantees. With a Monte Carlo analysis, we show that a chance constrained DC-OPF leads to violations, whereas our proposed approach complies with the joint chance constraint.

Comparison of the characteristics of three kinds of HVDC systems with ABB, SIMENS, and Cigre Benchmark

This study presents the comparison among three control systems: Cigre Benchmark model, ABB model, and SIMENS model based on PSCAD. Firstly, the control systems which refer to Cigre Benchmark control model, ABB control model, and SIMENS control model are introduced, respectively. Analysis and comparison are done on these control systems about their design theories, control logic, and functional models, and the advantages and disadvantages of each control system are concluded. Secondly, simulations in both normal and fault conditions are done in order to verify the conclusions. On the one hand, the steady-state response characteristics of these three high-voltage direct current (HVDC) models are obtained and compared by setting different voltage of the receiving terminal AC bus. On the other hand, the transient response characteristics of these three HVDC models under different operating conditions are obtained, such as symmetrical and asymmetrical short-circuit fault, line switching on or off etc. The research results will provide experiences and references for the future optimisation of the HVDC control system.

Analytical Calculation for Multi-Infeed Interaction Factors Considering Control Modes of High Voltage Direct Current Links

The multi-infeed interaction factor (MIIF) is used extensively in indicating the degree of interaction among high-voltage direct current (HVDC) converters and is currently calculated by simulation methods according to the definition, or by using the equivalent impedance ratio method. The first method is an experimental calculation method and the second method does not account for the effects of HVDC control modes. An analytical calculation method for MIIF considering control modes of HVDC links is proposed in this paper. First, the voltage variation of converter bus in the context of small disturbance is equated by using the bus impedance matrix. In this way the equations for the solution of MIIF considering HVDC control mode are obtained. Subsequently, based on two rational assumptions, the practical analytical calculation expression of MIIF is deduced in detail. The MIIF calculation method proposed in this paper is an improvement of the equivalent impedance ratio method and reflects the main influencing factors of voltage interaction including HVDC control modes. Moreover, the derived analytical expression can give a fundamental insight into parameter dependencies of voltage interaction. Finally, the validity and accuracy of the proposed approach are demonstrated in both dual-infeed HVDC system and actual large-scale power grid.

A New Design of Wide-Area MIMO Coupling Robust HVDC Supplementary Controller

A new multi-input multi-output (MIMO) robust coordination approach for the controller design of multi-infeed high voltage direct current (HVDC) system is proposed. This design will enhance the damping of certain low frequency oscillation mode. The dominant mode ratio (DMR) is applied to choose the appropriate feedback signals, while time delay of wide-area signals is considered. The Total Least Squares-Estimation on Signal Parameters via Rotational Technique (TLS-ESPRIT) algorithm serves in identifying the MIMO system model. To reach the best control effect and disturbance suppression level, the mixed H2/H∞ robust theory with regional poles placement is introduced to design the controller. The new MIMO design approach avoids system decoupling in complex situation, and it uses the interactions of different control loops to enhance the system's stability when most MIMO HVDC controllers are designed by decoupling strategy. Simulation results of a multi-infeed HVDC system validate the control effect and robustness of the proposed method.

Master self‐tuning VDCOL function for hybrid multi‐terminal HVDC connecting renewable resources to a large power system

To take advantage of line commutated converter (LCC) and voltage source converter high-voltage, direct current (HVDC) technologies a hybrid multi-terminal HVDC (MTDC) is designed to exploit the power from renewable resources. A previous study showed that the voltage dependent current order limiter (VDCOL), an emergency function to reduce the current order of an HVDC converter station when voltage is depressed, should be installed in all of the LCC stations of the hybrid MTDC. This study presents a design for a master self-tuning VDCOL function implemented in a hybrid multi-terminal HVDC system. This controller aims to generate an adaptive current reference for each LCC station of the VDCOL in a low-voltage condition. The parameter of this adaptive VDCOL can be chosen according to the summary table of practical experiences; therefore, no tuning technique is required. The developed HVDC control algorithm is implemented on the simplified South East (SE) Australian 14 generator system using DIgSILENT PowerFactory. The simulation results demonstrate the effectiveness of the proposed control function in reducing the complexity of the control system and operation along with improving system transient stability.

Multi-Core CPU Parallel Power Flow Computation in AC/DC System Considering DC Control

In order to integrated the control mode of the High-Voltage Direct Current (HVDC) into the power flow solution method and make it applicable to large-scale AC/DC hybrid system, a multi-core CPU parallel power flow computation method was proposed. First, the mathematical model of HVDC system and the frequently-used control methods of converter are introduced, and then models that have not been considered by conventional power flow programs, such as the adjustment of converter transformer tap and reactive power control management of the converting station, are built. Next, the loop-iteration algorithm is proposed to simulate the conversion of the HVDC control modes, and the AC/DC sequential solution is adopted to solve the AC/DC hybrid power flow. To solve the low speed problem of power flow solution for large-scale systems containing multi-circuit two-terminal DC, this paper handles each circuit separately so that the parallel computation capability of multi-core CPU can be used to improve the computation speed. Finally, the accuracy of the algorithms is validated in a small-scale hybrid system with 5-node and 2-circuit DC, and the excellent convergence and computation efficiency of the algorithms are proved by a large-scale hybrid system with 9241-node and 60-circuit DC as well.

Real‐time estimation of AC‐grid short circuit capacity for HVDC control application

Being able to estimate the AC grid strength using short circuit capacity (SCC) from the perspective of a connected high-voltage direct current (HVDC) station allows adjustment of converter control parameters or to select the converter's operational control mode. The SCC can be calculated by estimation of the grid's impedance and its equivalent voltage. This study presents the operational and practical challenges in real-time implementation of the grid estimation algorithms especially for HVDC applications. This study shows that the recursive least-square algorithm can be very efficiently used for the real-time estimation of SCC. This technique forms a regression problem using algebraic complex equations with an objective to minimise the error between estimated and measured parameters. The algorithm has been reformulated and simplified to make it non-complex without the use of matrices, in order to facilitate further implementation on an industrial real-time controller. The performance of the real-time implementation has been evaluated using a hardware-in-the-loop platform. A sensitivity analysis has been also carried out to study the impact of different parameters and operational conditions on the performance of the estimation algorithm. Finally, the actual application of real-time SCC estimation for the HVDC systems has been demonstrated.

Synchronverter-Based Emulation and Control of HVDC Transmission

This paper presents a new control strategy for high voltage direct current (HVDC) transmission based on the synchronverter concept: the sending-end rectifier controls emulate a synchronous motor (SM), and the receiving end inverter emulates a synchronous generator (SG). The two converters connected with a DC line provide what is called a synchronverter HVDC (SHVDC). The structure of the SHVDC is firstly analyzed. It is shown that the droop and voltage regulations included in the SHVDC structure are necessary and sufficient to well define the behavior of SHVDC. The standard parameters of the SG cannot be directly used for this structure. A specific tuning method of these parameters is proposed in order to satisfy the usual HVDC control requirements. The new tuning method is compared with the standard vector control in terms of local performances and fault critical clearing time (CCT) in the neighboring zone of the link. The test network is a 4-machine power system with parallel HVDC/AC transmission. The results indicate the contribution of the proposed controller to enhance the stability margin of the neighbor AC zone of the link.