Design and Implementation of Voltage Source Converters in HVDC Systems

131 Pages·2021·11.03 MB·English

by  Nagwa F. Ibrahim, Sobhy S. Dessouky

Power Systems
Nagwa F. Ibrahim
Sobhy S. Dessouky
Design and
Implementation
of Voltage Source
Converters in
HVDC Systems
Power Systems
Electrical power has been the technological foundation of industrial societies for
many years. Although thesystems designed to provide and applyelectrical energy
havereachedahighdegreeofmaturity,unforeseenproblemsareconstantlyencoun-
tered,necessitatingthedesignofmoreefficientandreliablesystemsbasedonnovel
technologies.ThebookseriesPowerSystemsisaimedatprovidingdetailed,accu-
rate and sound technical information about these new developments in electrical
powerengineering.Itincludestopicsonpowergeneration,storageandtransmission
as well as electrical machines. The monographs and advanced textbooks in this
series address researchers, lecturers, industrial engineers and senior students in
electricalengineering.
**PowerSystemsisindexedinScopus**
Moreinformationaboutthisseriesathttp://www.springer.com/series/4622
(cid:129)
Nagwa F. Ibrahim Sobhy S. Dessouky
Design and Implementation
of Voltage Source Converters
in HVDC Systems
NagwaF.Ibrahim SobhyS.Dessouky
FacultyofTechnologyandEducation FacultyofEngineering
SuezUniversity PortSaidUniversity
Suez,Egypt PortSaid,Egypt
ISSN1612-1287 ISSN1860-4676 (electronic)
PowerSystems
ISBN978-3-030-51660-4 ISBN978-3-030-51661-1 (eBook)
https://doi.org/10.1007/978-3-030-51661-1
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This book dedicated to:
My mother, sister, teachers, and friends for
their love, encouragement, and endless
support.
I give all thanks and gratitude to my dear
husband Mohammed Eid and to my little
daughter Rodyna, wishing for God to
protect them.
Nagwa F. Ibrahim
Preface
Withrecentdevelopmentsinsemiconductorsandcontrolequipment,HighVoltage
Direct Current that uses voltage source converters (VSC-HVDC) has attracted the
growing interest of researchers. The use of VSC technology and Pulse Width
Modulation (PWM) has a number of potential advantages: short circuit current
reduction, rapid and independent control of the active and reactive power, etc.
With such highly favorable advantages, VSC-HVDC is definitely going to be a
largepartoffuturetransmissionanddistributionsystems.HVDCtechnologybased
on VSC technology has been an area of growing interest recently because of its
suitabilityinformingatransmissionlinkfortransmittingbulkamountofpower.
ThisbookdealswiththecontrolofVSC-HVDC.Theobjectiveofthebookisto
understandthecontrolstructureoftheVSC-HVDCsystemandestablishthetuning
criteriaforthePIcontrollersoftheconvertercontrollers.
A model of a VSC-based HVDC using PWM Technology is developed. A
mathematicalmodelofthecontrolsystembasedontherelationshipsbetweenvoltage
and current is described for the VSC. A control system is developed combining an
inner current loop controller and outer dc voltage controller. The vector control
strategy is studied within this book andcorresponding dynamic performance under
stepchangesarealsoexamined,systemfault,andthedifferentmethodstocalculate
the current reference to control AC fault is investigated in MATLAB/Simulink
simulation package. The simulation results verify that the model can fulfill
bi-directional power transfers and fast response control and that the system has
good steady state performance. The controller parameters tuned according to the
developedtuningcriteriaisfoundtoprovideacceptablesystemperformances.
The presented system is implemented using high-speed digital signal processor
(DSP1104). The total harmonic distortion (THD) improved from 17.5% to 3.15%.
Experimentalresultsthatdepicttheeffectivenessoftheproposedcontrolmethodfor
aninverterarepresented.
Suez,Egypt NagwaF.Ibrahim
PortSaid,Egypt SobhyS.Dessouky
vii
Contents
1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 BackgroundandMotivation. . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 ProblemDefinition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 BookOutline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 High-VoltageDirectCurrentTransmission. . . . . . . . . . . . . . . . . . . . 5
2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 HVDCConverterArrangements. . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 ClassicHVDCTransmission. . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 VSC-BasedHVDCSystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4.1 ConfigurationofVSC-HVDC. . . . . . . . . . . . . . . . . . . . 9
2.4.2 OperationofVSC-HVDC. . . . . . . . . . . . . . . . . . . . . . . 11
2.4.3 DifferencefromClassicalHVDCandAdvantages. . . . . 12
2.5 ApplicationsofClassicHVDCSystems. . . . . . . . . . . . . . . . . . . 13
3 VSC-HVDCControlSystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 ControlStrategies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2.1 ThePrincipleofPowerAngleControl. . . . . . . . . . . . . . 16
3.2.2 VectorControlPrinciple. . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.3 dqTransformation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.4 VectorControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.2.5 InnerCurrentController. . . . . . . . . . . . . . . . . . . . . . . . 21
3.2.6 TheOuterController. . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2.7 DCVoltageControlUsingClassicControl
Algorithm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2.8 ActiveandReactivePowerControllers. . . . . . . . . . . . . 24
3.3 HysteresisCurrentControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 FilterDesign. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
ix
x Contents
4 VSC-HVDCUnderACandDCFaultConditions. . . . . . . . . . . . . . . 31
4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 FaultsontheDCSystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.1 Line-to-GroundFault. . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.2 Pole-to-PoleFault. . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.3 DCFaultAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.3.1 Pole-to-GroundFault. . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.3.2 Pole-to-PoleFault. . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.4 FaultsontheACSystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4.1 TransientGridFaults:theVoltageSags(Dips). . . . . . . . 39
4.5 ControlofGridConvertersUnderGridFaults. . . . . . . . . . . . . . 43
4.5.1 SequenceExtraction. . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.5.2 DecouplingbyCompensation. . . . . . . . . . . . . . . . . . . . 45
4.5.3 DecouplingindqFrame. . . . . . . . . . . . . . . . . . . . . . . . 46
4.5.4 Synchronization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.5.5 InnerControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.5.6 ControlintheDQReferenceFrame. . . . . . . . . . . . . . . 47
4.5.7 OuterControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.5.8 CurrentReferenceDistribution. . . . . . . . . . . . . . . . . . . 48
4.6 PNSC(PositiveNegativeSequenceControl). . . . . . . . . . . . . . . 49
4.7 AARC(AverageActive-ReactiveControl). . . . . . . . . . . . . . . . . 50
4.8 BPSC(BalancedPositiveSequenceControl). . . . . . . . . . . . . . . 50
4.9 IARC(InstantaneousActive-ReactiveControl). . . . . . . . . . . . . . 51
5 VSC-HVDCSimulationResults. . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.2 SimulationEnvironment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.2.1 ControlPerformance-ControllerTracking
Capability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2.2 Steady-StateSimulation. . . . . . . . . . . . . . . . . . . . . . . . 55
5.3 HarmonicAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.4 HysteresisBandCurrentControllerSimulation. . . . . . . . . . . . . . 59
5.5 SystemResponseUnderUnbalanceFaultCondition. . . . . . . . . . 61
5.5.1 DCLineFault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.5.2 Pole-to-PoleFault. . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.5.3 PositivePole-to-GroundFault. . . . . . . . . . . . . . . . . . . . 62
5.5.4 NegativePole-to-GroundFault. . . . . . . . . . . . . . . . . . . 64
5.6 SystemResponseUnderRecoveryofDCFault. . . . . .. . . . . . .. 67
5.6.1 GroundingbyHigh-ImpedanceBranch. . . . . . . . . . . . . 68
5.7 BackupProtectionofConverterbyDesignACBreakers
toTripGrid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.8 TransientGridFaults:TheVoltageSags(Dips). . . . . . . . . . . . . 70
5.8.1 SagTypeA:ThreePhaseswithGroundFault. . . . . . . . 70
5.8.2 SagTypeB:Single-Phase-to-GroundFault. . . . . . . . . . 71
5.8.3 SagTypeC:Phase-to-PhaseFault. . . . . . . . . . . . . . . . . 71
Contents xi
5.8.4 SagTypeD:Two-Phase-to-GroundFault. . . . . . . . . . . 72
5.9 TransientGridFaults:Short-CircuitFault. . . . . . . . . . . . . . . . . . 72
5.9.1 SystemResponseUnderSingle-PhaseFault
atGrid1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.9.2 SystemResponseUnderSingle-PhaseFault
atGrid2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.9.3 SystemResponseUnderThree-PhaseFault
atGrid1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.9.4 SystemResponseUnderThree-PhaseFault
atGrid2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.10 ControlStrategiesofTransientGridFaults:Short-Circuit
Single-Line-to-GroundFault(SL-G). . . . . . . . . . . . . . . . . . . . . 75
5.10.1 BPSC(BalancedPositiveSequenceControl). . . . . . . . . 75
5.10.2 IARC(InstantaneousActive-ReactiveControl). . . . . . . 77
5.10.3 PNSC(PositiveNegativeSequenceControl). . . . . . . . . 77
5.10.4 AARC(AverageActive-ReactiveControl). . . . . . . . . . . 78
5.11 ControlStrategiesofTransientGridFaults:Voltage
SagPhase-to-PhaseFault(L-L). . . . . . . . . . . . . . . . . . . . . . . . . 79
5.11.1 BPSC(BalancedPositiveSequenceControl). . . . . . . . . 79
5.11.2 PNSC(PositiveNegativeSequenceControl). . . . . . . . . 79
5.11.3 AARC(AverageActive-ReactiveControl). . . . . . . . . . . 79
5.11.4 IARC(InstantaneousActive-ReactiveControl). . . . . . . 81
6 ExperimentalInvestigationforHVDCSystem. . . . . . . . . . . . . . . . . 83
6.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
6.2 DescriptionoftheExperimentalSetup. . . . . . . . . . . . . . . . . . . . 83
6.2.1 MainPowerCircuit. . . . . . . . . . . . . . . . . . . . . . . . . . . 84
6.2.2 IGBTThree-PhaseVoltageSourceInverter
(VSI)Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.2.3 SnubberCircuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.2.4 InverterDrivingCircuit. . . . . . . . . . . . . . . . . . . . . . . . 87
6.2.5 CurrentMeasurement. . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.2.6 VoltageMeasurement. . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.2.7 AuxiliaryPowerSupplyCircuits. . . . . . . . . . . . . . . . . . 90
6.2.8 DSP1104ControllerBoard. . . . . . . . . . . . . . . . . . . . . . 92
6.3 ExperimentalResultsandDiscussion. . . . . . . . . . . . . . . . . . . . . 92
7 ConclusionsandFutureWork. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.1 Conclusions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.2 SuggestionsforFutureWork. . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113