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HVDC and FACTS ControllersApplications of Static Converters in Power Systems
POWER ELECTRONICS AND POWER SYSTEMS
POWER QUALITY ENHANCEMENT USING CUSTOM POWER DEVICESArindam Ghosh, Gerard Ledwich, 1-4020-7180-9COMPUTATIONAL METHODS FOR LARGE SPARSE POWER SYSTEMS ANALYSIS:
An Object Oriented Approach,S. A. Soman, S. A. Khaparde, and Shubha Pandit, ISBN 0-7923-7591-2
OPERATION OF RESTRUCTURED POWER SYSTEMSKankar Bhattacharya, Math H.J. Bollen and Jaap E. Daalder, ISBN 0-7923-7397-9
TRANSIENT STABILITY OF POWER SYSTEMS: A Unified Approach toAssessment and ControlMania Pavella, Damien Ernst and Daniel Ruiz-Vega, ISBN 0-7923-7963-2
MAINTENANCE SCHEDULING IN RESTRUCTURED POWER SYSTEMSM. Shahidehpour and M. Marwali, ISBN: 0-7923-7872-5
POWER SYSTEM OSCILLATIONSGraham Rogers, ISBN: 0-7923-7712-5
STATE ESTIMATION IN ELECTRIC POWER SYSTEMS: A Generalized ApproachA. Monticelli, ISBN: 0-7923-8519-5
COMPUTATIONAL AUCTION MECHANISMS FOR RESTRUCTURED POWERINDUSTRY OPERATIONS
Gerald B. Sheblé, ISBN: 0-7923-8475-XANALYSIS OF SUBSYNCHRONOUS RESONANCE IN POWER SYSTEMS
K.R. Padiyar, ISBN: 0-7923-8319-2POWER SYSTEMS RESTRUCTURING: Engineering and Economics
Marija Ilic, Francisco Galiana, and Lester Fink, ISBN: 0-7923-8163-7CRYOGENIC OPERATION OF SILICON POWER DEVICES
Ranbir Singh and B. Jayant Baliga, ISBN: 0-7923-8157-2VOLTAGE STABILITY OF ELECTRIC POWER SYSTEMS
Thierry Van Cutsem and Costas Vournas, ISBN: 0-7923-8139-4AUTOMATIC LEARNING TECHNIQUES IN POWER SYSTEMS,
Louis A. Wehenkel, ISBN: 0-7923-8068-1ENERGY FUNCTION ANALYSIS FOR POWER SYSTEM STABILITY
M. A. Pai, ISBN: 0-7923-9035-0ELECTROMAGNETIC MODELLING OF POWER ELECTRONIC CONVERTERS
J. A. Ferreira, ISBN: 0-7923-9034-2SPOT PRICING OF ELECTRICITY
F. C. Schweppe, M. C. Caramanis, R. D.Tabors, R. E. Bohn, ISBN: 0-89838-260-2THE FIELD ORIENTATION PRINCIPLE IN CONTROL OF INDUCTION MOTORSAndrzej M. Trzynadlowski, ISBN: 0-7923-9420-8FINITE ELEMENT ANALYSIS OF ELECTRICAL MACHINES
S. J. Salon, ISBN: 0-7923-9594-8
Series EditorsM. A. Pai and Alex Stankovic
Other books in the series:
HVDC and FACTS ControllersApplications of Static Converters in Power Systems
Vijay K. Sood, Ph.D., ing., FEIC
by
KLUWER ACADEMIC PUBLISHERSNEW YORK, BOSTON, DORDRECHT, LONDON, MOSCOW
eBook ISBN: 1-4020-7891-9Print ISBN: 1-4020-7890-0
©2004 Kluwer Academic PublishersNew York, Boston, Dordrecht, London, Moscow
Print ©2004 Kluwer Academic Publishers
All rights reserved
No part of this eBook may be reproduced or transmitted in any form or by any means, electronic,mechanical, recording, or otherwise, without written consent from the Publisher
Created in the United States of America
Visit Kluwer Online at: http://kluweronline.comand Kluwer's eBookstore at: http://ebooks.kluweronline.com
Boston
This book is dedicated to my family for their everloving support over the years. My thanks to my wife
Vinay, daughter Nishi and son Ajay.
Contents
PrefaceAcronyms
xviixxi
1. INTRODUCTION TO HVDCTRANSMISSION
1.1 Introduction
1.2 Comparison of AC-DC Transmission
1.2.11.2.21.2.31.2.4
Evaluation of Transmission CostEvaluation of Technical ConsiderationEvaluation of Reliability and Availability CostsApplications of dc Transmission
1
1
5
1.3 Types of HVDC Systems 12
1.3.11.3.21.3.3
Monopolar LinkBipolar LinkHomopolar ink
1.4 References 13
2. TYPES OF CONVERTERS 15
2.1 Introduction 15
2.2 Current Source Converters (CSC) 17
2.2.12.2.2
Case with no overlap periodCase with overlap period less than 60 degrees
2.3 Voltage Source Converters (VSC)
2.3.12.3.2
IntroductionControl of the DC Capacitor Voltage
26
viii Contents
2.3.32.3.4
VSC with AC Current ControlVSC with AC Voltage Control
2.4 Closing Remarks
2.5 References
38
38
3. SYNCHRONIZATION TECHNIQUESFOR POWER CONVERTERS 39
3.1 Introduction 39
3.2 Review of GFUs 40
3.2.13.2.2
Individual Phase Control (IPC) UnitEqui-Distant Pulse Control (EPC) Unit
3.3 GFUs - Design And Analysis 42
3.3.13.3.23.3.3
Conventional GFUDQO GFUComparison
3.4 Tests On GFUs 503.4.13.4.2
Loss of Synchronization VoltageHarmonic Distortion Test
3.5 EMTP Simulation Of A Test System 54
3.5.13.5.23.5.33.5.4
Start-up Of System Model10% Step Change In Current OrderSingle Phase FaultDC Line Fault
3.6 Conclusions
3.7 Acknowledgement
3.8 References
65
65
65
4. HVDC CONTROLS 67
4.1 Historical Background 67
4.2 Functions of HVDC Controls 69
HVDC and FACTS Controllers ix
4.3 Control Basics for a Two-terminal DC Link 71
4.4 Current Margin Control Method 75
4.4.14.4.2
Rectifier Mode of OperationInverter Mode of Operation
4.5 Current Control at the Rectifier 80
4.6 Inverter Extinction Angle Control 82
4.6.14.6.2
Measurement of Gamma - Approach 1Prediction of Gamma - Approach 2
4.7 Hierarchy of Controls 87
4.7.14.7.24.7.3
Bipole Controller (Figure 4-14)Pole Controller (Figure 4-15)Valve Group Controller (Figure 4-16)
4.8 Action By Controls After a Disturbance 92
4.9 References 93
5. FORCED COMMUTATED HVDCCONVERTERS 95
5.1 Introduction 95
5.2 Commutation Techniques for HVDC Converters 96
5.2.15.2.25.2.35.2.45.2.55.2.65.2.7
Definition of CommutationLine (or Natural) CommutationCircuit CommutationSeries Capacitor CircuitSelf-CommutationVoltage Source ConvertersRegions of Converter Operation
5.3 Examples of FC Converters for HVDC
Transmission 108
5.3.15.3.2
Circuit-Commutated ConvertersSelf-Commutated Converters
5.4 References 114
x Contents
6. CAPACITOR COMMUTATEDCONVERTERS FOR HVDC SYSTEMS 117
6.1 Capacitor Commutated Converters (CCC) 117
6.1.16.1.2
Reactive Power ManagementThyristor Valve Modules
6.2 Controlled Series Capacitor Converter (CSCC) 121
6.3 Comparison of CCC and CSCC 121
6.3.16.3.2
Steady State PerformanceTransient Performance
6.4 Garabi Interconnection between Argentina-Brazil 1296.4.16.4.26.4.36.4.46.4.5
Valve StressesAC SwitchyardAC FiltersThyristor Valves ModulesModular Design Benefits
6.5 Closing Remarks
6.6 Acknowledgement
6.7 References
137
137
137
7. STATIC COMPENSATORS: STATCOMBASED ON CHAIN-LINK CONVERTERS 139
7.1 Introduction 1397.1.1 Static VAR Compensator (SVC)
1437.2 The Chainlink Converter
7.2.17.2.2
Chain Link RatingsLosses
7.3
7.4
7.5
Advantages of the Chain Circuit STATCOM
Design for Production
Acknowledgement
147
148
149
HVDC and FACTS Controllers xi
7.6 References 149
8. HVDC SYSTEMS USING VOLTAGESOURCE CONVERTERS 151
8.1 Introduction 151
8.2 Basic Elements of HVDC using VSCs 152
8.2.18.2.2
Voltage Source ConvertersThe XLPE Cables
8.3 Voltage Source Converter 154
8.3.18.3.2
Operating Principles of a VSCDesign Considerations
8.4 Applications 1618.4.1 In Environmentally Sensitive Locations, i.e.
City CentresInfeeds of Small Scale RenewablePower From Wind FarmsIncreasing Capacity on Existing RoWImproved Reliability of City Centres
8.4.28.4.38.4.48.4.5
8.5 Tjaereborg Windpower Project in Denmark 166
8.5.18.5.28.5.38.5.48.5.58.5.68.5.78.5.88.5.9
Description of the ProjectMain DataOperational Regime of the VSCPower QualityControl SystemDC CableBuildingPerformed Tests on SiteAdvantages
8.6 Power Supply to Remote Locations (i.e. Islands) 170
8.6.1 The Gotland Island System
8.7 Asynchronous Inter-Connections 172
8.7.1 Directlink Project - New South Wales andQueenslandMain System Components8.7.2
xii Contents
8.7.3 Control System
8.8
8.9
Concluding Remarks
Acknowledgement
176
176
176References
ACTIVE FILTERS
9.1
9.2
9.3
Introduction
DC Filters
AC Filters
177
181
181
9.3.19.3.29.3.3
Test SystemControl PhilosophyTest Results
9.4
9.5
9.6
Concluding Remarks
Acknowledgement
References
190
191
191
TYPICAL DISTURBANCES IN HVDCSYSTEMS 193
Introduction
CIGRE Benchmark Model for HVDC
Control Studies
Details of Control Systems Used
193
10.2
10.3
194
197
10.3.110.3.2
Rectifier Control UnitInverter Control Unit
Results
Controller Optimization Tests
202
8.10
10.1
10.4
9.
10.4.1
177
10.
HVDC and FACTS Controllers xiii
10.4.210.4.3
10.4.4
10.4.510.4.610.4.710.4.810.4.9
Mode Shift TestSingle-Phase 1-Cycle Fault at the Inverter(Single Commutation Failures)Single-Phase 5-Cycle Fault at the Inverter(Multiple Commutation Failures)3-Phase 5-Cycle Fault at the Inverter1 -Phase 5-Cycle Fault at the Rectifier3-Phase 5-Cycle Fault at the RectifierDC Line Fault at the Rectifier SideDC Line Fault at the Inverter Side
10.5
10.6
10.7
Closing Remarks
Acknowledgement
References
214
214
214
11. ADVANCED CONTROLLERS 215
11.1
11.2
Introduction
Application of an Advanced VDCL Unit
215
216
11.2.111.2.211.2.311.2.411.2.511.2.6
IntroductionFuzzy InferenceStructure of RBF NNMethodologyHVDC System Considered for the StudyResults and Discussions
11.3
11.4
11.5
Conclusions
Acknowledgement
References
229
229
229
12. MEASUREMENT/MONITORINGASPECTS 231
12.1
12.2
Introduction
Monitoring of Signals
231
231
xiv Contents
12.3
12.4
12.5
12.6
Protection Against Over-currents
Protection Against Over-voltages
Acknowledgement
References
233
235
236
236
13. CASE STUDIES OF AC-DC SYSTEMINTERACTIONS 237
13.1
13.2
Introduction
AC-DC system inter-actions
237
23713.2.113.2.2
System AspectsDC Controller Aspects
13.3 Multi-terminal HVDC systems 239
13.3.113.3.2
Remote 3 Phase Fault At Rectifier 1Commutation Failure At The Small Inverter 2
13.4 Harmonic inter-actions at Chandrapur HVDC
station 248
251
251
251
13.5
13.6
13.7
Conclusions
Acknowledgement
References
14. SIMULATORS FOR ANALYZES OFPOWER SYSTEM PHENOMENA 253
14.1
14.2
Introduction
The IREQ Hybrid Simulator
253
254
14.2.1 Modelling Techniques
14.3 Off-line Digital Simulation Packages 258
14.3.114.3.2
EMTPEMTDC/PSCAD
HVDC and FACTS Controllers xv
14.4 Real-time Digital Simulators 26514.4.114.4.214.4.314.4.414.4.514.4.6
MethodologyHardware ConsiderationsSoftware ConsiderationsGraphical User Interface (GUI)Validation of Real-time Digital SimulatorsHardware Implementations
14.5
14.6
14.7
Present and Future Trends
Acknowledgement
References
272
273
273
15. MODERN HVDC - STATE OF THE ART 275
15.1
15.2
15.3
Introduction
Past Decade Version
Present Decade Version
275
275
276
15.3.115.3.215.3.315.3.415.3.515.3.615.3.715.3.8
Thyristor ValvesSelf-commutated ValvesActive FiltersTunable AC FilterAC-DC MeasurementsDSP ControllersCompact Station DesignDeep Hole Ground Electrode
15.4
15.5
15.6
Concluding Remarks
Acknowledgement
References
289
290
290
INDEXABOUT THE AUTHOR
291297
Preface
The motivation to write this book came from the observation that the tech-nology of High Voltage DC (HVDC) Transmission and Flexible AC Trans-mission Systems (FACTS) has evolved much over the past 10 years, and norecent book addressed the developments in these areas in a compact, easilyavailable and readable manner. These new developments came about prima-rily due to the advances in power electronic switches and microprocessors.This new book hopes to address a small part of the void that existed in thetechnical book area.
Some words should be said about the title of the book: HVDC and FACTScontrollers. Modern thinking and terminology usage dictates that HVDCtransmission should now be considered as a part of FACTS controllers.However, a look at the evolution in the field shows that the technologystarted with HVDC transmission and FACTS controllers came along muchlater. Hence my choice of the title reflects this.
The pioneering books in the field of HVDC and FACTS by well-knownauthors such as E.W.Kimbark, J.Arrillaga, K.R.Padiyar, N.G.Hingorani andL.Gyugyi were a source of great inspiration to me and will unmistakablyhave been reflected in the work here ... in some shape or form. I have alsoreferred to many documents and papers from the archives of the IEEE, andthis preface would be incomplete without acknowledging these referencesources.
The book writing process often has its own agenda. Furthermore, it is a dif-ficult and time consuming affair. In this case the original, planned for timeduration had to slip by many months due to personal health problems andother time commitments. Consequently, the original outline for the contentand extent had to be altered somewhat from the final submission. However,I do thank the support and patience of Alex Greene and Melissa Sullivan atKluwer Academic Publishers for sticking with me during this difficultperiod. I thank also Dr. M.A.Pai who provided technical support and guid-ance during the feasibility and review process of the book.
The book is intended for senior under-graduate students, graduate studentsand practising utility engineers. Consequently, mathematical/theoretical
explanations have been kept to a minimum, and a focus on practical issueswas maintained throughout the book.
This book would not have been possible without the efforts and contribu-tions of many individuals. These individuals can be split into two groups:my former and present students at Concordia University, Montreal andmany of my colleagues at IREQ (Hydro-Québec). These individuals aretrue troopers and I thank them for their support, camaraderie and skills overthe many years that I had the pleasure of working with them.
My affiliation with the electrical engineering department at Concordia Uni-versity dates back to 1984 when I started as an Adjunct Assistant Professor.The work of some of my former students figures prominently in this textbook and I would like to thank Vijay Khatri, Krish Narendra, Rachit Aroraand Anup Mazumder for their contributions.
I have spent most of my working life of 28 years plus, at the research insti-tute of Hydro-Québec (known internationally as IREQ), mostly in thePower Systems Simulation Group, but more recently in the ElectricalEquipment Group. I would like to thank my former colleagues P.C.S. Krish-nayya, Harbans Nakra, Lewis Vaughan, Ly Bui and David McCallumamongst others. It is not possible to name individually all the other col-leagues at IREQ with whom I have inter-acted with over the years, but I dothank them collectively. In addition, there are many other individuals atHydro-Québec, and elsewhere, who have contributed, in their own way, tothe subject matter at hand.
Other associates who have provided indirect moral support and inspirationover the years are Professors Loi Lei Lai at City University, London (UK)and H.S.Chandrasekhariah of IISc, Bangalore (now deceased).
I had considerable support from manufacturers and other corporate sponsorsin the preparation of this book. They assisted primarily with the supply ofboth technical literature and photographs. These individuals include: NiclasOttosson and Lewis Vaughan (ABB), Peter Lips (Siemens), Michael Baker(Alstom), Paul Wilson (Manitoba HVDC Research Centre), members ofRTDS Technologies Inc. and Bahram Khodabakhchian (TransÉnergie Tech-nologies). My grateful appreciation to all of them.
The book starts with a short Introduction to HVDC transmission. This isfollowed by chapter 2 with a discussion of the two types of converters -namely current and voltage source converters - which form the core con-verters for applications in HVDC and FACTs controllers. The currentsource converter has traditionally been associated with HVDC transmis-
xviii Preface
sion. However, the more recent development of the voltage source con-verter has extended the reach and opened new areas of applications. Chapter3 deals with synchronization techniques for the power converters with theac system frequency. This topic has not been given the necessary impor-tance in previous textbooks and is likely to gain in importance in the futureas (a) inter-connections to weak ac systems become more frequent, and (b)inter-actions between ac-dc-ac systems become more relevant. Chapter 4deals with HVDC control strategies for two-terminal HVDC systems; anextension to multi-terminal HVDC systems had to be cut due to time limita-tions. Chapter 5 deals with a fundamental look at forced commutated con-verters, and lays out some of the basic considerations. With the availabilityof new switching devices, some of these considerations will take on addedimportance in the future. The recent success of the capacitor commutatedconverter is highlighted in chapter 6. This new application of an old config-uration demonstrates the need for persistence and research effort needed todevelop ideas to fruition. Chapter 7 describes a new converter configurationand a FACTS application which promises an exciting future for this tech-nology. Some of the persistent research efforts have led to new applicationsand possibilities for using the voltage source converter in future HVDCapplications and these are highlighted in chapter 8. The new control para-digms developed in the past ten years have opened the door to exciting newapplications of active ac and dc filters. Chapter 9 presents one of theseapplications and shows the control paradigms required. Much research inthis area is on-going and the future holds new applications and reducedcosts for the converters. Chapter 10 presents the results of an EMTP basedstudy of typical disturbances on an HVDC system. This demonstrates theneed for optimization of controller gains and effort and detail required to dostudies to obtain the gain parameters of the controllers. The use of new con-trol algorithms using fuzzy logic, neural networks and intelligent controllersmay ease some of the burden placed on existing PI controllers; this is atopic of intense research and will figure prominently in the future. Chapter11 deals with a simple neuro-fuzzy adaptive controller which could be usedto enhance performance of a HVDC system. Chapter 12 is a short introduc-tion to measurement and monitoring aspects related to the controllers.Chapter 13 deals with some of the studies that the author has been associ-ated with and brings out the inter-action aspects of ac-dc systems and con-trollers. Considerable number of studies of this nature have to be carried outby the practising engineer to verify system behavior and stability. No math-ematical development into the topic is presented and will be left to anotherproject in the future. Some of the tools that are used by practising engineersin the afore-mentioned studies are presented in Chapter 14. In the final
HVDC and FACTS Controllers xix
chapter, a look at the modern HVDC system where the focus will be on costreduction using the latest techniques is presented.
Finally, I would like to emphasize the solid faith, effort and contributions ofmy wife Vinay in the preparation of this book. She was a constant source ofsupport and provided many valuable contributions in typing and re-typingthe manuscript, drawing the figures, proof reading and doing the necessarycorrections. Her patience in tolerating the many hours that I was away tack-ling this work while neglecting my other duties is most admirable.
xx Preface
Vijay K. SoodBrossard, Québec.
January, [email protected]
Acronyms
ACFA/D ConverterAFALPRETATP
AC FilterAnalog to Digital ConverterActive FiltersAlpha Retard (at rectifier)Alternative Transients Program (a freeware version of EMTP)
BB Back to Back (Converter)
CCCCCCCCCOCECEACFCLCCSCCSCCConTune
Circuit CommutationCurrent ControlCapacitor Commutated ConverterCurrent Controlled OscillatorCurrent ExtinctionConstant Extinction AngleCommutation FailureChain Link ConverterCurrent Source ConverterControlled Series Capacitor ConverterContinuously Tuned (Filter)
DCFDCGDCPTDSPDQO
DC FilterDevelopment Co-Ordination Group (of EMTP)DC Potential TransformerDigital Signal ProcessorDirect Quadrature Zero
EHVESCREMTP
Extra High VoltageEffective Short Circuit RatioElectro-Magnetics Transients Program
EMTPWorks RV New version of EMTP Restructured VersionEMTDCEPCEMI
Electro-Magnetics Transients for DCEqui-Distant Pulse ControlElectro-Magnetic Interference
FCFACTSFR
Forced CommutationFlexible Alternating Current Transmission SystemsForce-Retard
xxii Acronyms
GFUGTOGUI
Grid Firing UnitGate Turn-Off (Thyristor)Graphical User Interface
HBHVDCHVDC LightHYPERSIM
Hysteresis BandHigh Voltage Direct CurrentTrade mark of a version of HVDC converter for low powersTrade mark of a version of digital simulator
IGBTIPCIPPIOLIMIMIN
Insulated Gate-Bipolar TransistorIndividual Phase ControlInter-Mountain Power ProjectCurrent Order LimitedCurrent Order Minimum
LCCLCLPOFLTTLU
Line Commutated ConverterLine CommutationLow Pressure Oil FilledLight-Triggered ThyristorLower Upper
MAPMTDCMVAMCTMOSFETMPMISOMODELS
Maximum Available PowerMulti-terminal Direct CurrentMega Volt AmpsMOS Controlled TransistorMOS Field Effect TransistorMid PointMultiple-Input Single-OutputNew EMTP subroutine for controls
OCPOOMOCT
Over Current ProtectionObject Oriented MethodOptical Current Transducer
PLLPWMPFCPPCPSPPCOPDPPTPSCAD
Phase Locked LoopPulse Width ModulationPulse Frequency ControlPulse Phase ControlPeriodical SamplingPulse Phase Control OscillatorPole Differential ProtectionPotential TransformerPower System Computer Aided Design
HVDC and FACTS Controllers xxiii
RoWRBFRBFNNRLCRVSILSISVCSCRSTATCOMSLG
Right of WayRadial Basis FunctionRBF Neural NetworkResistor, Inductor and CapacitorRestructured VersionSurge Impedance LoadingStatic Induction ThyristorStatic Var CompensatorsShort Circuit RatioStatic CompensatorSingle Line to Ground (Fault)
THDTNATC
Total Harmonic Voltage DistortionTransient Network AnalyzerTriangular Carrier
UHV Ultra High Voltage
VCVHVYVARVCOVDCLVDCOLVSCVGP
Voltage ControlValve HallValve YardVolt Amps reactiveVoltage Controlled OscillatorsVoltage Dependent Current LimitVoltage Dependent Current Order limitVoltage Source ConverterValve Group Protection
XLPE Cross Linked Poly-Ethylene
NFHVDC Power Link Universal System from SiemensNeuro-Fuzzy
xxiv Acronyms
Corporate entities
CEPELCESICPRIABBSiemensCIGRÉIEEEBPAIREQRTDS
Name of research organization (of Brazil)Name of research organization (of Italy)Central Power Research Institute (of India)Manufacturer of electrical equipmentManufacturer of electrical equipmentConseil International des Grands Réseaux ÉlectriquesInstitute of Electrical and Electronics EngineersBonneville Power AdministrationInstitute of research of Hydro-Québec, Varennes, Québec.Real Time Digital Simulator Technologies Inc.
