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Substituting (5) into (6), we get 5. Designing of VSC-HVDC Control System
[A = Ud cos(8- a)
J2 this paper, the constant DC voltage control is adopted in
(9) oneInside; the constant DC current control is adopted in other
B =1 Ud sin( - a) side because the linked AC system is a active network. Usually,
-2
the transmission active power is determined by the DC voltage
According to (9), the maximums of A and B are proportional or DC current, namely, and
to Ud. That is, PC and Q, are affected by Ud. Pcref can be obtained by the DC
voltage and DC current at one side; the reactive power is
4.2. Designing of Independent Pc, Qs Control controlled by Qsrej directly or the AC voltage.
System 5.1. Constant DC Voltage Control
The VSC transmission power control system adopting DC voltage depends on the storage energy of the capacitor at
inverse system method for multivariable nonlinear control is the DC side. It is necessary to adjust the energy absorbed by
designed. The inverse system is the system in which the inputs VSC to keep the storage energy of the capacitor constant for
are the anticipative outputs of the original system and the the invariableness of DC voltage. Assume It is a sampling
outputs are the corresponding inputs of the original system. It cycle, and from Fig. 2 we can get the energy 1 W absorbed by
can be obtained through deriving the inverse of the original the capacitor.
system. The inverse system is connected in series in front of the 1 1
original system, and by feedback of the state, the fake linear AW CUd2 (t(t+ At) -CU 2 t)
t
(14)
4
system is obtained.
According to (7), there are two solutions of Equation (7). =-CA[U2 (t)]
Considering the rationality and economy, the smaller solution then,
is adopted. From (7)-(9), we get t,A
= AW = 4APdA
A[U (t)] (15)
A U2Ycosa Qs (10)
d
C C
UsY where, JPd, is the average power absorbed by the capacitor
k2 -4k1(P -D) during the duration of It.
B -k2 (11) According to (15), the change of the square of the DC
2k1 voltage is proportional to JPd,. In a transient course, Pd varies
arct-) + a A>O with the DC voltage. Thus, it is necessary to compensate Pd.
During the duration of It, the resistance of the DC side is
almost invariable. Then,
S=arctg-)+a±+T
A
A<O B>O (12)
Ud (t+ At) Ud (t) (16)
arctg(BA )+ a-T A<O B<O id (t + At) Id (t)
We know Pd= UdId, therefore,
M 27A (13)
Ud cos(-a) Pd (t + UAt)U (t±At)
= d
(17)
where, kl Ysina, k2=-UsYcos2a.
=(1 4LfdcAt )Pd (t)
±
22 (17)
P1(3)
dref APdc + cref ~~~~~~~~~~~~~~~~~~~control
system
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proportional to the DC current. Pcref is obtained by the product 7.1. Simulation under a Small Disturbance
of the DC voltage and DC current. The control system for
constant DC current is designed as shown in Fig. 5. Assume that there is a small disturbance in the receiving AC
system at the time hi1 .6s, the duration of the disturbance is 0. Is.
independent 35 The simulation results are described in Fig. 7. By comparison,
UdLd Qsref '. PC &QS the simulation results of the conventional HVDC system under
Idref P1ref control M the same disturbance are also shown in Fig. 7.
system
oAC bus voltage HVDC Inv MIDC AC bus voltage Inv HVDC
Fig.5 Control system for constant DC current 1 - -
curve 1
1.00
5.3. Constant Reactive Power Control with 0.90 curve 2
Feedback of AC Bus Voltage pu
0.80
curve 3
0.90-
-
'X + & Qs
PCcontrol curve 4
U, s QS ce m pu
0.80-
system
0.70-
Fig.6 Control system for constant reactive power
0.60-
1.50 1.80 2.10 2.40 2.70
6. HVDC Subsystem curve 1 the AC bus voltage at the inverter of the MIDC
curve 2 the AC bus voltage at the inverter of the HVDC
CIGRE HVDC Benchmark Model [11] is adopted in the curve 3 the DC voltage at the inverter of the MIDC
HVDC subsystem. The conventional control of the model used curve 4 the DC voltage at the inverter of the HVDC
in this paper is as follows: the rectifier has a constant DC Fig.7 Simulation results under the small disturbance
current control and a minimum firing angle control, and the
inverter is subjected to constant extinction angle control and As can be seen from the simulation results, the fluctuations
constant DC current control. Additionally, the control modes of the AC bus voltage at the inverter and the DC voltage in the
include voltage-dependent current order limits (VDCOL) in the HVDC subsystem is smaller than those of the conventional
rectifier and inverter respectively. HVDC system; The recovery time is shorter than that of the
conventional HVDC system. The designed control systems
7. Simulation have high response speed and desirable stability. It is concluded
that a VSC-HVDC system can compensate the reactive power
To verify the validity and availability of the designed of the MIDC system fast and improve the voltage stability.
controllers, the simulation research about the designed
controllers is done by PSCAD/EMTDC. 7.2. Simulation under a Short Circuit Fault
A simplified physical model of a dual infeed HVDC and
VSC-HVDC system is present as shown in Fig. 1, where i=1, Assume that there is a three-phase short circuit fault at the
j=2. The HVDC subsystem has the same parameters (together AC bus of the HVDC subsystem at the time 1.6s, and the
with their control parameters) as the CIGRE HVDC duration of the fault is 0.2s. The simulation results are
Benchmark Model; The parameters of the VSC-HVDC described in Fig. 8. By comparison, the simulation results of
subsystem are as follows: the rated line-line voltage of the AC the conventional HVDC system under the same fault are also
side is 62.5kV, equivalent loss resistance R is 0.6Q, equivalent shown in Fig. 8.
inductance L of the converter transformer is 1 5mH, the As can be seen from the simulation results, the commutation
capacitance C of the capacitor at the DC side is 250&F, failures happened during the fault in both the systems.
equivalent line resistance Rd is 5Q, the reference value Udiref of However, the continued commutation failure took place in the
the DC voltage is 120kV, the rated transformation ratio of the HVDC system while it didn't in the MIDC system after the
transformer T12 is 115KV/230KV. fault. It is deduced that VSC-HVDC systems can avoid the
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The authors appreciate the financial support provided by
1.50 OAC bus voltage_HVDC Inv_MIDC O.AC bus voltage Inv_HVDC "National Science Foundation of China (No. 50577018)".
curve 1
1 00 .Q
References
pu 050
0.00
[1] Lips H P. Aspects of multiple infeed of HVDC inverter
station into a common AC system. IEEE Transactions on
-0.50 J Power Apparatus Systems, 1973, 92(2): 135-141.
1.0 180 210 240 270 [2] Bui L X, Sood V K, Laurin S. Dynamic interactions
tls
between HVDC systems connected to AC buses in close
150o° DC voltage HVDC Inv_MIDC o.DC voltage_IInv HVDC proximity. IEEE Transactions on Power Delivery, 1991,
6(1): 223-230.
1.00
[3] Szechtman M, Pilotto L A S, Ping WW, et al. The behavior
of several HVDC links terminating in the same load area.
pu 0.50- Paris: CIGRE, 1992. Group 14: 14-201.
[4] Reeve J, Lane-Smith S P. Multi-infeed HVDC transient
0.00- response and recovery strategies. IEEE Transactions on
Power Delivery, 1993, 8(4): 1995-2001.
-0.50-
c.re 1.80 2.10
[5] Electric Power Research Institute. DC Multi-Infeed study.
tls Palo Alto, USA: EPRI Project Final Report RP2675-04,
curve 1- -the AC bus voltage at the inverter of the MIDC -05, TR-104586, 1994.
curve 2- -the AC bus voltage at the inverter (Of the HVDC [6] Xiao Wang, Boon-Tech Ooi, "High Voltage Direct Current
curve 3- -the DC voltage at the inverter of th MIDCV Transmission System Based on Voltage Source
-the DC voltage at the inverter of thie HVDC
Converters", In: PESC'90 Record, vol. 1, 325-332.
curve 4-
Fig.8 Simulation results under the thr*ee-phase fault [7] Boon-Tech Ooi, Xiao Wang, "Boost Type PWM HVDC
subsequent continued commutation failure and have a positive Transmission System", IEEE Trans on Power Delivery
effect on the stability of the systems. 1991, vol.4, no.4, 1557-1563,1991.
[8] Guibin Zhang, Zheng Xu, Guangzhu Wang. "Steady-state
8. Conclusion model and its nonlinear control of VSC-HVDC syestem,"
Proceedings of the CSEE, vol. 22, No.1, Jan.2002.
In this paper, a physical model of a mult i-infeed HVDC and [9] Zhao Chengyong, Li Jinfeng, Li Guangkai, "VSC-HVDC
VSC-HVDC system is developed, and its rmathematical model control strategy based on respective adjustment of active
is analyzed. The rectangular coordinate foorm of VSC's power and reactive power", in: Automation of Electric power
transmission equations is deduced thirough coordinate systems, vol.29,no.9, 20-24, May, 2005.
conversion. Based on the inverse syistem method for [10] Li Chunwen, Feng Yuankun. Inverse System Method for
multivariable nonlinear control and the characteristic of Multivariable Control System. Beijing: Tsinghua
respective adjustment of VSC's active and reactive power, University Press, 1991
nonlinear controllers of the multi-in:feed HVDC and [11] Szechtman M, et al. First Benchmark Model for HVDC
VSC-HVDC system are designed. Simulati on results show that Control Studies. Electra, 1991, Vol .135. 54-67
the designed nonlinear controllers can imptrove effectively the
voltage stability of the multi-infeed HVD!C and VSC-HVDC Biographies
system, reduce the probability of commuttation failure in the
inverter of HVDC systems and increase the operation reliability
Chengyong Zhao was born in Zhejiang Province, China. He received the B.S.,
of HVDC systems.
M.S. and Ph.D. degrees in power system and its automation from North China
Considering that the capacity of VSC-HM IDC systems is still
small at present, the function of them is linTnited to improve the Electric Power University (NCEPU) in 1988, 1993 and 2001 respectively. His
operating characteristic of the MIDC systeims. Along with the fields of interest include power quality, HVDC and flexible AC transmission
development of power electronic technolog y and the increasing system (FACTS). in
capacity of the VSC-HVDC systems, it will be evident for Ying Sun was born Henan province, China. He received B.S. degree in
VSC-HVDC systems to improve the stat)ility of the MIDC power system and its automation from North China Electric Power University
(NCEPU) in 2004 and he is going on studying in NCEPU for his M.S. degree.
systems.
His research field is HVDC and FACTS.
Acknowledgements
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