Voltage Source Converter Based High Voltage Direct Current Research Articles

Robust co-planning of AC/DC transmission network and energy storage considering uncertainty of renewable energy

This paper proposes a robust co-planning model of hybrid AC/DC transmission network and energy storage with the penetration of renewable energy to promote the accommodation of renewable energy and to avoid investment redundancy. The energy storage configured in the power grid can improve the power flow distribution and alleviate transmission congestion, postponing the investment of new devices. A deterministic co-planning model is firstly developed considering voltage fluctuation, reactive power flow and the flexibility of voltage source converter based high voltage direct current (VSC-HVDC). To address the solving complexity caused by the non-convexity of the model, second-order cone programming (SOCP) is applied to transform the proposed model into a convex problem. To cope with the uncertainty of renewable energy, the robust co-planning formulation is established, where the data-adaptive uncertainty set with the extreme scenario method is introduced to describe renewable generation uncertainty. The column-and-constraint generation (C&CG) algorithm is adopted to decompose the robust co-planning problem into a master problem and several slave problems, which reduces the calculation scale and accelerates the solving process. Two case studies on a modified Garver’s 6-bus system and a practical Jiangxi province power system in China are carried out to verify the effectiveness and superiority of the proposed robust co-planning model.

Aggregated SFR model for VSC HVDC interconnected power systems with high penetration of wind power

This letter proposes a novel aggregated system frequency response (ASFR) model, which can fully capture the frequency characteristics of the voltage source converter-based high voltage direct current (VSCHVDC) interconnected power system with high penetration of wind power. First, a multi-machine SFR model is presented, considering the inertia and frequency control processes of VSCHVDC and wind turbines (WTs). Then, a novel aggregation approach is proposed to transform the multi-machine SFR model into a single-machine SFR model on the basis of different control modes of the VSCHVDCs and WTs. Finally, simulation studies are conducted to validate the performance of the proposed ASFR model and its application in frequency response analysis.

Data-Mining Techniques Based Relaying Support for Symmetric-Monopolar-Multi-Terminal VSC-HVDC System

Considering the advantage of the ability of data-mining techniques (DMTs) to detect and classify patterns, this paper explores their applicability for the protection of voltage source converter-based high voltage direct current (VSC-HVDC) transmission systems. In spite of the location of fault occurring points such as external/internal, rectifier-substation/inverter-substation, and positive/negative pole of the DC line, the stated approach is capable of accurate fault detection, classification, and location. Initially, the local voltage and current measurements at one end of the HVDC system are used in this work to extract the feature vector. Once the feature vector is retrieved, the DMTs are trained and tested to identify the fault types (internal DC faults, external AC faults, and external DC faults) and fault location in the particular feeder. In the data-mining framework, several state-of-the-art machine learning (ML) models along with one advanced deep learning (DL) model are used for training and testing. The proposed VSC-HVDC relaying system is comprehensively tested on a symmetric-monopolar-multi-terminal VSC-HVDC system and presents heartening results in diverse operating conditions. The results show that the studied deep belief network (DBN) based DL model performs better compared with other ML models in both fault classification and location. The accuracy of fault classification of the DBN is found to be 98.9% in the noiseless condition and 91.8% in the 20 dB noisy condition. Similarly, the DBN-based DMT is found to be effective in fault locations in the HVDC system with a smaller percentage of errors as MSE: 2.116, RMSE: 1.4531, and MAPE: 2.7047. This approach can be used as an effective low-cost relaying support tool for the VSC-HVDC system, as it does not necessitate a communication channel.

Small-signal Stability Analysis and Improvement with Phase-shift Phase-locked Loop Based on Back Electromotive Force Observer for VSC-HVDC in Weak Grids

Voltage source converter based high-voltage direct current (VSC-HVDC) transmission technology has been extensively employed in power systems with a high penetration of renewable energy resources. However, connecting a voltage source converter (VSC) to an AC weak grid may cause the converter system to become unstable. In this paper, a phase-shift phase-locked loop (PS-PLL) is proposed wherein a back electromotive force (BEMF) observer is added to the conventional phase-locked loop (PLL). The BEMF observer is used to observe the voltage of the infinite grid in the stationary <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\alpha\beta$</tex> frame, which avoids the problem of inaccurate observations of the grid voltage in the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$dq$</tex> frame that are caused by the output phase angle errors of the PLL. The VSC using the PS-PLL can operate as if it is facing a strong grid, thus enhancing the stability of the VSC-HVDC system. The proposed PS-PLL only needs to be properly modified on the basis of a traditional PLL, which makes it easy to implement. In addition, because it is difficult to obtain the exact impedance of the grid, the influence of short-circuit ratio (SCR) estimation errors on the performance of the PS-PLL is also studied. The effectiveness of the proposed PS-PLL is verified by the small-signal stability analysis and time-domain simulation.

Analysis of Additional Damping Control Strategy and Parameter Optimization for Improving Small Signal Stability of VSC-HVDC System

The voltage source converter based high voltage direct current (VSC-HVDC) system is based on voltage source converter, and its control system is more complex. Also affected by the fast control of power electronics, oscillation phenomenon in wide frequency domain may occur. To address the problem of small signal stability of the VSC-HVDC system, a converter control strategy is designed to improve its small signal stability, and the risk of system oscillation is reduced by attaching a damping controller and optimizing the control parameters. Based on the modeling of the VSC-HVDC system, the general architecture of the inner and outer loop control of the VSC-HVDC converter is established; and the damping controllers for DC control and AC control are designed in the phase-locked loop and the inner and outer loop control parts respectively; the state-space state model of the control system is established to analyze its performance. And the electromagnetic transient simulation model is built on the PSCAD/EMTDC simulation platform to verify the accuracy of the small signal model. The influence of the parameters of each control part on the stability of the system is summarized. The main control parts affecting stability are optimized for the phenomenon of oscillation due to changes in operation mode occurring on the AC side due to faults and other reasons, which effectively eliminates system oscillation and improves system small signal stability, providing a certain reference for engineering design.

Nonlinear Observer-Based Controller Design for VSC-Based HVDC Transmission Systems Under Uncertainties

Nonlinear Observer-Based Controller Design for VSC-Based HVDC Transmission Systems Under Uncertainties

Comparative Analysis of XLPE and Thermoplastic Insulation-Based HVDC Power Cables

The application of cross-linked polyethylene (XLPE) cables to voltage sourced converter (VSC)-based high voltage direct current (HVDC) systems has already been technically verified and has become common, and thermoplastic (TP) is attracting attention as an insulation material for next-generation cables due to the recent development of material-related technologies. However, studies related to TP cables are mainly focused on improving material properties, and studies related to cable systems are insufficient. In this paper, XLPE and TP cables were designed for application to VSC-based HVDC systems, and major characteristics such as electric field distribution and thermal stability were compared and analyzed through overvoltage simulation. The insulation design method of HVDC cable was presented, and the design was performed using XLPE and TP insulation materials. The temperature and electric field profiles of the cables were also analyzed through a finite element method simulation. To analyze the performance of the designed cable, it was simulated with the PSCAD/EMTDC program. Based on the simulation results, the major characteristics of XLPE and TP cables were compared and analyzed. Results showed that in the case of TP cables, insulation properties were excellent, but thermal conductivity was relatively low; therefore, countermeasures are needed.

Rapid Fault Detection with Periodic Update Feature for Transmission Line Parameters in HVDC Grids

Far distant wind farms are integrated nowadays with the help of Voltage Source Converter (VSC)-based HVDC grids. Rapid fault current is very common in VSC-based HVDC grids and, therefore, quick fault detection and fast executing protection methods are critical for the existence of the HVDC grids. This paper proposes a rise time-based fault detection method using local measurement data and Travelling Wave (TW) characteristics of incoming fault TW. Dominating frequency of the primary wavefront is computed by the rise time of incoming fault TW. With the help of auto-updating transmission line parameters and the dominating frequency of incoming TW, the fault location is identified. The performance of the proposed method has been observed in PSCAD Simulation with a 4-Terminal HVDC test grid in multiple scenarios and compared with the existing fault detection methods on multiple levels. The results show that the proposed method is very fast, and accurate and can complete the whole Fault Location process within a few microseconds just after the Inception of the fault.

A backup protection scheme for the transmission lines based on the directional traveling wave and waveform similarity

The voltage source converter based high voltage direct current (VSC-HVDC) system is a practical solution to improve renewable energy integration, flexible consumption, and wide-range complementarity. Because the DC line fault must be cleared within a few milliseconds, a reliable and rapid identification of faulty lines and poles is crucial. Unfortunately, the traditional backup protection cannot respond to internal faults fast enough and is sensitive to fault resistance. What is worse is that a double-pole-to-ground fault with unequal positive-pole and negative-pole fault resistances cannot be identified by most of the existing protection methods. The paper proposes a pilot backup protection based on directional traveling wave and waveform similarity for VSC-HVDC transmission lines to compensate for the drawbacks. The fault characteristic of 1-mode directional traveling waves and the waveform similarity of instantaneous currents of DC lines are elaborated theoretically. Based on the analyses, the protection is established, and the four-terminal VSC-HVDC grid is modeled in PSCAD and OPAL-RT. Detailed theoretical analyses and extensive simulation/experiment results have proven that the proposed protection scheme has higher reliability, selectivity, rapidity, and sensitivity. Compared with the existing backup protections, the proposed protection scheme has superiorities in fault resistance and distance tolerance (2,000 Ω and the entire length of DC lines), fault differentiation of double-pole-to-ground fault with unequal positive-pole and negative-pole fault resistances, immunity from signal noise and measurement error interference, and quicker fault judgment (less than 4 ms).© 2017 Elsevier Inc. All rights reserved.

Fault identification and fault location methods for VSC-HVDC transmission lines based on the traveling waveform difference

Due to the low-damping characteristic of the voltage source converter based high voltage direct current (VSC-HVDC) transmission system, the line current will reach the peak value within a few milliseconds after DC fault, threatening the safety of power electronic devices. Therefore, a reliable and rapid protection scheme comprising fault identification and location is necessary. The detection time cost of traditional backup protections is high. Worse still, most existing methods cannot distinguish the double-pole-to-ground fault with unequal positive and negative pole fault resistances. To solve the issues, a backup protection based on the same/different-mode traveling wave, differential forward/backward current, and traveling waveform difference for VSC-HVDC lines is proposed in the paper. The fault characteristics of same/different-mode traveling wave and relationship between fault distance and differential forward/backward current are elaborated. The waveform differences in positive/negative-pole same/different-mode traveling waves and 1-mode differential forward/backward currents are summarized. According to these analyses, the protection is established and the VSC-HVDC is modeled in PSCAD. Based on the sufficient simulation tests, it is verified the proposed fault identification and location schemes have great performance, with superiority in fault resistance and distance tolerance (2,000 Ω and the whole line), strong anti-interference capability, fast fault distinguishment, and accurate fault location.

A robust intelligent nonlinear control for a VSC-based HVDC station

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Fast Harmonic compensation in hybrid HVDC offshore system

Hybrid HVDC systems have been proposed as an alternative for nominal VSC-Based HVDC for offshore applications. Hybrid HVDC systems consist of an offshore power station composed of the connection of high-power diode rectifiers in series with a fractional power VSC-HVDC. This hybrid configuration allows large power transfer from offshore sites, with the added robustness, simplicity and efficiency of uncontrolled rectifiers. In this research, a robust and fast-acting controller, the Two Degrees of Freedom Internal Model controller (2DF-IMC), is used to control the active power filter features of the fractional-power VSC-HVDC system, resulting in a much faster overall THD reduction in the offshore AC currents in dynamic conditions (i.e. time-varying wind power) when compared with standard active power filter controllers. This improvement is the direct consequence of the fast closed-loop dynamics of the 2DF-IMC controller that do not require filtering stages. Additionally, the increased closed-loop response time did not affect the overall robustness of the control system, thanks to the enhanced disturbance rejection capabilities of the 2DF-IMC configuration.

A Bidirectional Active DC Fault Current Limiter Based on Coupled Inductor

When a fault occurs on the dc side of the voltage source converter based high voltage direct current (VSC-HVDC) transmission system, the fault current rises quickly due to the low damping of the dc system. Using a dc fault current limiter (DC-FCL) to limit the rise of the fault current can significantly reduce the breaking requirements of the DCCB. A topology of a bidirectional active dc fault current limiter (BA-FCL) based on coupled inductor is proposed in this paper. No expensive full-controlled power electronic devices are used in this topology. Only a few half-controlled power electronic devices are used to achieve active control of the current limiting unit. Compared with many topologies of current limiter at present, the fault current limiting effect of BA-FCL is improved significantly while the cost, volume, topology complexity, and control complexity are reduced. The stress analysis and parameter design of the proposed current limiter are carried out. Finally, the simulation case study and hardware experiment are implemented to verify the good economy and current limiting performance of the proposed topology.

A waveform-similarity-based protection scheme for the VSC-HVDC transmission lines

The protection for the voltage source converter based high voltage direct current (VSC-HVDC) transmission lines must detect the faulty DC lines and faulty poles within a few milliseconds, because the fault current rises quickly. The traditional protections are easily influenced by fault resistance and signal noise. What is worse, the double-pole-to-ground (DPG) fault with its positive-pole fault resistance unequal to negative-pole fault resistance cannot be detected accurately. To solve the problems, a non-unit protection scheme based on the waveform similarity and wavelet transform modulus maximum (WTMM) theories for the VSC-HVDC lines is proposed in this paper. A four-terminal VSC-HVDC power network is modeled in PSCAD to verify the protection. Extensive simulations of various fault situations prove that the protection scheme can detect high-fault-resistance, DPG, and remote faults. Moreover, it is insensitive to the sampling frequency, signal noise, smoothing reactor, and start delay. Furthermore, it can meet the rapidity requirement. Therefore, the proposed protection can identify the DC faults accurately, which minimizes the disturbance to power grids and improves system security and stability.

DC fault current approximation and fault clearing methods for hybrid LCC-VSC HVDC networks

The DC-side fault analysis of Line commutated converter based high voltage direct current (LCC-HVDC) and Voltage source converter based high voltage direct current (VSC-HVDC) networks has been studied by most researchers and achieved fruitful results. However, the traditional fault analysis method does not consider in detail the change process of the trigger angle of the LCC converter station and the AC current feeding of the VSC converter station caused by the control strategy. Therefore, this paper proposes a new DC side fault transient analysis method suitable for hybrid multi-terminal HVDC transmission networks. In addition, considering the deficiency that the active fault current suppression method only relying on the control strategy cannot fundamentally clear the DC fault, this paper proposes a new Z-source current-limiting circuit (ZCLC) with reference to the topology of the Z-source dc circuit breaker (DCCB). Then, ZCLC will cooperate with DCCB to improve the fault clearing capacity of the whole system. Firstly, this paper establishes the equivalent Laplace transform model of the three-terminal LCC-VSC-VSC, and analyzes the short-circuit current expression on both sides. Then, the change process of trigger angle is approximately linearized by the least square method, which obtains a new expression of fault transient current on the LCC side. Similarly, the composition of AC current fed to DC side is deduced by using the commonly used inner-loop PI controller model, which also obtains a new expression of fault transient current on the VSC side. Secondly, referring to the traditional crossed-type Z-source DCCB, series-type Z-source DCCB, and parallel-type Z-source DCCB, this paper also proposes a new ZCLC and analyzes its working principle and parameter design. Then, the newly proposed ZCLC is combined with DCCB to be applied to the hybrid multi-terminal HVDC network. Finally, the simulation results based on Matlab/Simulink verify the effectiveness of the fault analysis and passive fault clearing methods, and the semi-physical experimental platform based on PLECS/RTbox verifies the superiority of the new ZCLC.

Control of the Parallel Operation of DR-HVDC and VSC-HVDC for Offshore Wind Power Transmission

This paper presents a control of the parallel operation of diode rectifier based high-voltage direct current (DR-HVDC) and voltage source converter based HVDC (VSC-HVDC) links. The two links are connected to offshore wind farms (OWFs). The VSC-HVDC controls the voltage and frequency of the offshore AC-grid needed for the OWFs start-up. The proposed grid forming control is based on controlling the OWFs voltage by controlling the active power balance at the VSC-HVDC AC-bus. When the OWFs inject more power than a certain active power reference established for the VSC-HVDC, the OWFs voltage increases and the DR-HVDC starts conducting. Then, the offshore voltage automatically accommodates the required value for transmitting the OWFs power through the DR-HVDC link while the system frequency is controlled by the VSC-HVDC through satisfying the reactive power balance. The power transmitted through the VSC-HVDC can be set by adjusting the corresponding power command while the DR-HVDC will automatically close the power balance. The main advantage of the proposed control system is that the VSC-HVDC can be sized just to support the system energization; while once the OWFs are in operation, the DR-HVDC will be loaded automatically. Simulation results verify the proposed control system.

Inertia Emulation and Fast Frequency-Droop Control Strategy of a Point-to-Point VSC-HVdc Transmission System for Asynchronous Grid Interconnection

This article proposes a novel inertia emulation and fast frequency-droop (IEFF) control strategy for a point-to-point voltage source converter-based high voltage direct current (VSC-HVdc) transmission system. It allows asynchronous ac grid synchronization in forms of inertial and fast frequency-droop responses provided to “both” sides of the VSC-HVdc interconnected grids, different from the historically reported schemes only providing these responses to one grid. Under the IEFF scheme, the power-regulating VSC (PR-VSC) station emulates a synchronous generator directly through its active power control, whereas the dc-voltage-regulating VSC (DR-VSC) station employs a dc voltage/frequency droop control to convey its connected grid frequency communication-free to the remote PR-VSC for inertial and fast frequency-droop oriented power variations. To avoid the clash of the PR-VSC IEFF and DR-VSC IEFF control under simultaneous frequency events in the asynchronous grids, a novel frequency support mode selection scheme is designed to effectively prioritize the IEFF support with a higher frequency gradient. The key parameters of the IEFF controller are optimized through small signal stability analysis. The effectiveness of the proposed IEFF scheme is verified through controller hardware-in-the-loop experiments. The results show that the proposed IEFF scheme effectively promotes synchronization and enhances overall frequency stability for the two interconnected asynchronous grids.

Fast Low Frequency Fault Location and Section Identification Scheme for VSC-Based Multi-Terminal HVDC Systems

Penetration of DC networks is rapidly increasing in modern power systems. As transient behavior of DC grids is different from that of AC ones, AC grid protection schemes might not be applicable to protect DC networks. Exact fault location is vital for protection of DC networks to reduce repair cost and achieve fast power recovery. This paper proposes a novel topology independent multi-terminal DC scheme to identify fault section and location for DC transmission systems. Voltage and current signals measured at the terminals are analyzed by the least squares error (LSE) algorithm. Then, the proposed scheme uses low frequency components of the signals to locate DC faults offline. Unlike some other methods, it does not require sophisticated sensors and hardware to capture very high frequency content of the signals. Hence, the proposed scheme can be implemented in practice without additional measuring infrastructure. The performance of the proposed scheme is evaluated under various fault conditions for different topologies of DC networks in both overhead lines and cables. Numerous simulations carried out demonstrate that the proposed scheme is quite accurate and provides excellent performance under different fault resistances, sections, and locations.

Tech-Economic Assessment of Power Transmission Options for Large-Scale Offshore Wind Farms in China

China is taking initiative in energy transition to cope with the long-term controversy of its enormous energy consumption, aiming to use less carbon. Wind power, especially offshore wind energy, has become a prevailing alternative due to its low carbon emissions, renewability, competitiveness, and operation security. The layout of a transmission channel is a key consideration in marine project implementation. This paper investigates the technical characteristics, application status, and viable advantages of a conventional AC transmission, voltage source converter-based high-voltage direct current (VSC-HVDC) transmission, gas-insulated line (GIL) transmission, and hybrid HVDC transmission. A component-resolved evaluation model was proposed to estimate the costs to be incurred of four electrical transmission options for offshore wind power along the coast of Eastern China, with technical feasibility and economical considerations. Cost comparisons and component sensitivity analyses were developed with different transmission distances and capacities. Results suggest HVAC transmission and VSC-HVDC are the preferable solutions for present offshore wind farm development in Eastern China, and the economic potential of the hybrid HVDC makes it feasible for future deployment. Some conclusions can be applied in disparate regions across the globe.

A Low-Cost DC Chopper With Coupling Transformer for Offshore Wind VSC-HVdc System

The dc chopper (DCC) is the key equipment of offshore wind voltage source converter based high-voltage direct current (VSC-HVdc) system. Combining the advantages of the ac chopper and the centralized DCC, a novel dc chopper with coupling transformer (CT-DCC) is proposed. The use of the coupling transformer can reduce the voltage on the concentrated resistor to eliminate the high-voltage wall bushing effectively. Compared with the traditional DCC, the cost of CT-DCC is reduced by 35% for ±400 kV/1100 MW offshore wind VSC-HVdc project. In addition, the application of the coupling transformer provides an opportunity for the introduction of freewheeling inductance, which greatly eliminates the interference of pulse-current generated by the existing DCC on dc-link voltage. Through system simulation, the peak value of the dc-link voltage during the fault ride through is 1.02 p.u., and the dc-link voltage ripple is only 1%–2%, which meets the system requirements. After the detailed analysis of the working principle and characteristics of CT-DCC, the control strategy and design principle are given. Furthermore, a prototype experiment of up to 10 kV/10 MW is conducted to verify the feasibility of CT-DCC.