Secure optimal operation and control of integrated AC/MTDC meshed grids

Offshore wind energy is seen as the most promising source of electricity generation for achieving the European renewable energy targets. A number of wind farms are planned and under installation to collect the huge potential of wind energy at farther distances in the North Sea. The number of HVDC links in the North Sea is expected to increase with the development of offshore installations in Round 3 of the UK offshore windfarm programme. The increasing number of HVDC links and high power transfer control requirements leads to the formation of Multi-Terminal HVDC (MTDC) grid systems, which have become possible due to the technical advancements of VSC based HVDC systems. Additionally, a meshed MTDC grid structure can also provide interconnections for power trade across the Europe, which can help in better utilisation of power from offshore installations and can also support the AC network in tackling wind power variation issues. However, the integration of the meshed MTDC grid with the existing AC grid has more challenges to overcome alongside the added advantages. One of the major challenge is to ensure the secure and optimal operation of the combined AC/MTDC grid considering stability requirements of the AC and DC grids in different operating conditions. The behaviour of the DC grid is governed by the fast acting controllers due to the high number of power electronic equipment unlike AC grid. In combined operation the response to a disturbance of two integrated grids can be different. The power balancing, co-ordination and dispatch requirements need to be identified, to implement appropriate controls and formulate a control structure for combined operation of two grids with different characteristics under normal and disturbance conditions. In this thesis, the basic principles of well-established three-layered AC grid control is employed to identify the power balancing, coordination and dispatch requirements of the DC grid. Appropriate control methods are proposed for primary, secondary and tertiary control layers in order to accomplish the identified requirements for the secure and optimal operation of combined AC/MTDC grids. Firstly, a comparison study is performed on different power balancing controls to find the most suitable control method for the primary control of the meshed DC grid. Secondly, the combined AC/DC grid power flow method is proposed to provide updated references of the VSC station in order to maintain coordinated power flow control under secondary control layers. Finally, security constraint optimization method for combined AC/DC grid is proposed for economic dispatch under the tertiary control layer of the three-layered hierarchal control. A number of case studies are performed to implement the proposed control methods on a combined AC/DC test case network. The performance of the proposed control methods is validated in a hierarchical control structure for secure and optimal operation integrated AC/MTDC grids

Hierarchical Control Implementation for Meshed AC/Multi-terminal DC Grids with Offshore Windfarms Integration

Although the integration of meshed multi-terminal direct current (MTDC) grids with the existing AC grid has some added economic advantages, significant challenges are encountered in such systems. One of the major challenges is ensuring secure and optimal operation of the combined AC/MTDC grid considering the stability requirements of AC and DC grids at different operating conditions. This paper presents the implementation of hierarchical control for the combined AC/MTDC grid. The hierarchical control is based on the well-established three-layered control of the AC power system, comprising primary, secondary, and tertiary controls. A set of appropriate control methods are proposed for the primary, secondary, and tertiary control layers to accomplish the identified requirements for secure and optimal operation of the combined AC/MTDC grid

Optimal Power-Sharing Control for MTDC Systems

Power systems have been developing over the past few decades, especially in terms of increasing efficiency and reliability, as well as in meeting the recent rapid growth in demand. Therefore, High Voltage Direct Current (HVDC) systems are considered to be one of the most promising and important contenders in shaping the future of modern power systems. A number of trends demonstrate the need to implement Multi-terminal Direct Current (MTDC) systems, including the integration into the conventional grid of renewable energy resources such as photovoltaic (PV) and offshore wind farms. The transmission of power from or to remote areas, such as the North Sea in Europe, is another initiative that is required in order to meet the high demand for power. The interconnection between countries with different levels of frequencies over a long distance is a fundamental application of HVDC grids as well as hybrid AC/DC transmission systems. The industry has also played an essential role in the accelerated progress in power electronics devices regarding cost and quality. Consequently, Voltage Source Converter based-High Voltage Direct Current (VSC-HVDC) systems has recently attracted considerable attention in the research community. This type of HVDC systems has a significant advantage over the classic Current Source Converter based-HVDC (CSC-HVDC) in terms of the independent control of both active and reactive power. Since VSC-HVDC is now being implemented in various applications, this requires a close examination of the behavior of both the economic and operational issues of both VSC-HVDC stations and MT-HVDC systems. This thesis proposes an optimal power-sharing control of MT-HVDC systems using a hierarchical control structure. In the proposed control scheme, the primary control is decentralized and operated by a DC voltage droop control. This method regulates the voltage source converters (VSCs) and guarantees a stable DC voltage throughout the system even in the presence of sudden changes in power flow. A centralized optimal power flow (OPF) is implemented in the secondary control to set the droop gains, and voltage settings in order to fulfil a multi-objective function. This aims at minimizing the losses in DC grid lines and converter stations by an optimization algorithm, namely Semidefinite Programming (SDP). Therefore, an optimal power-sharing result is achieved taking into consideration the losses of both transmission lines and converters, as well as failure intervals of the system. The proposed control scheme was tested on a modified CIGRE B4 DC grid test system based on the PSCAD/EMTDC and MATLAB in which the primary control was designed and simulated in the former, whereas the latter was used to run the SDP algorithm

Asynchronous Integration of Real-Time Simulators for HIL-based Validation of Smart Grids

As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to approach mainly component level testing. For this kind of applications, software and hardware-in-the-loop based simulations as well as lab experiments are all tools that allow testing with different degrees of accuracy at various stages in the development life-cycle. However, things are vastly different when analysing the tools and the methodology available for performing system-level validation. Until now there are no available well-defined approaches for testing complex use cases involving components from different domains. Smart grid applications would typically include a relatively large number of physical devices, software components, as well as communication technology, all working hand in hand. This paper explores the possibilities that are opened in terms of testing by the integration of a real-time simulator into co-simulation environments. Three practical implementations of such systems together with performance metrics are discussed. Two control-related examples are selected in order to show the capabilities of the proposed approach.Comment: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Societ

Optimal operation of hybrid high voltage direct current and alternating current networks based on OPF combined with droop voltage control

This study focuses on the operation and control of HVDC multi-terminal systems that transmit the power being generated in offshore wind farms to the terrestrial AC grids. The aim of the paper is to propose and validate an algorithm to ensure optimal operation of HVDC-HVAC systems. This algorithm is implemented in a central controller that, knowing the electrical characteristics of the DC and AC systems, the power generation from the wind farms and the power demand, executes periodically an AC/DC Optimal Power Flow (OPF) and sends the appropriate voltage references to the grid side converter's control. The voltage control of the DC grid is distributed and based on droop law, implemented in grid side converters. The droop offset is modified periodically so as to adapt to the actual operating conditions and ensure optimal operation according to a specified objective function. Dynamic simulations show the system optimal operation in terms of loss minimization under wind speed changes, loss of communications and demand variation. These results are validated experimentally after implementing the control scheme in an HVDC scaled experimental platform. Dynamic simulations are also performed to show that the system can still be operated based on the proposed strategy even during contingencies implying the disconnection of a power system element (converter and DC cable).Postprint (author's final draft

An improved droop-based control strategy for MT-HVDC systems

© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This paper presents an improved droop-based control strategy for the active and reactive power-sharing on the large-scale Multi-Terminal High Voltage Direct Current (MT-HVDC) systems. As droop parameters enforce the stability of the DC grid, and allow the MT-HVDC systems to participate in the AC voltage and frequency regulation of the different AC systems interconnected by the DC grids, a communication-free control method to optimally select the droop parameters, consisting of AC voltage-droop, DC voltage-droop, and frequency-droop parameters, is investigated to balance the power in MT-HVDC systems and minimize AC voltage, DC voltage, and frequency deviations. A five-terminal Voltage-Sourced Converter (VSC)-HVDC system is modeled and analyzed in EMTDC/PSCAD and MATLAB software. Different scenarios are investigated to check the performance of the proposed droop-based control strategy. The simulation results show that the proposed droop-based control strategy is capable of sharing the active and reactive power, as well as regulating the AC voltage, DC voltage, and frequency of AC/DC grids in case of sudden changes, without the need for communication infrastructure. The simulation results confirm the robustness and effectiveness of the proposed droop-based control strategy

Multi-terminal DC grids: challenges and prospects

A few multi-terminal direct current (MTDC) systems are in operation around the world today. However, MTDC grids overlaying their AC counterpart might a reality in a near future. The main drivers for constructing such direct current grids are the large-scale integration of remote renewable energy resources into the existing alternative current (AC) grids, and the promotion and development of international energy markets through the so-called supergrids. This paper presents the most critical challenges and prospects for such emerging MTDC grids, along with a foreseeable technology development roadmap, with a particular focus on crucial control and operational issues that are associated with MTDC systems and grids

Control and operation of multi-terminal VSC-DC networks

For the past century, ac networks have been established as the standard technology for electrical power transmission system s. However, the de technology has not disappeared completely from this picture. The capability of de systems to transmit higher power over longer distances, the possibility of interconnecting asynchronous networks, and their high efficiency has maintained the interest of both industry and academia. Historically, systems based on dc-generators and mercury valves were used for de power transmission applications, but, by the 90's, all installations were thyrsi tor-based line commutated converters (LCC). In 1999, the first system based on voltage source converters (VSC) was installed in Gotland, Sweden, marking the beginning of a new era for de transmission. Over the past 15 years, the power rating of VSC-based de transmission systems has increased from 50 to 700 MVV, the operating voltage from 120 to 500 kV, meanwhile , the covered distances have become as long as 950 km (ABB's HVDC-light installation in Namibia in 2010). The work presented in this thesis is oriented towards the control and operation of multi-terminal VSC de (MTDC) networks. The proposed approach is a hierarchical control architecture, inspired by the well-established automatic generation control strategy applied to ac networks. In the proposed architecture, the primary control of the MTDC system is decentralized and implemented using a generalized droop strategy More than analyzing the behavior of the primary control, this thesis provides a methodology for designing the various parameters that influence this behavior. The importance of correctly dimensioning the VSC's output capacitor is underlined as this element, when set in the context of a MTDC network, becomes the inertial element of the grid and it has a direct impact on the voltage overs hoots that appear during transients. Further on, an improved droop control strategy that attenuates the voltage oscillations during transients is proposed. Also part of the proposed hierarchical control, the secondary control is centralized and it regulates the operating point of the network so that optimal power flow (OPF) is achieved . Compared to other works, this thesis elaborates, both analytically and through simulations, on the coordination between the primary and secondary control layers.Durante el siglo pasado, las redes de corriente alterna se han consolidado como la tecnología estándar para los sistemas de transmisión de energía eléctrica. Sin embargo, los sistemas de transmisión en continua se han seguido utilizando en algunas aplicaciones. La capacidad de estos para transmitir mayores potencias a distancias más largas, la posibilidad de interconectar redes asincrónicas, y su alta eficiencia han propiciado que se mantuviera el interés académico, de investigación e industrial en esta tecnología . Aunque históricamente se utilizaron sistemas basados en generadores de continua y válvulas de mercurio para las redes de transmisión, en la década de los 90 todas las instalaciones ya contaban con convertidores conmutados basados en tiristores (LCC). En 1999, se instaló el primer sistema basado en convertidores en fuente de tensión (VSC) en Gotland, Suecia, marcando el comienzo de una nueva era para la transmisión en corriente continua. En los últimos 15 años, la potencia de los sistemas de transmisión en continua basados en VSC ha aumentado desde los 50 hasta los 700 MN, la tensión de servicio de 120 a 500 kV y las distancias recorridas han llegado a ser, en algunos casos, de hasta 950 kilómetros (HVDC-light de ABB en Namibia en 201 O). El trabajo presentado en esta tesis se centra en el control y operación de redes de corriente continua VSC multi-terminal (MTDC). El enfoque propuesto se basa en una arquitectura de control jerárquico, inspirada en la estrategia de control de generación automática aplicada a redes de corriente alterna. En la arquitectura propuesta, el control primario del sistema MTDC está descentralizado e implementado mediante una estrategia de 'droop' generalizada. Más allá del análisis del comportamiento del control primario, esta tesis presenta una metodología para el diseño de los diferentes parámetros que influyen en el mismo. Se destaca la importancia de dimensionar correctamente condensador de salida del VSC, ya que este elemento, cuando se encuentra en el contexto de una red MTDC, se convierte en el elemento inercial de la red y tiene un impacto directo en el comportamiento transitorio de las tensiones. Asimismo, se propone una estrategia de control de 'droop' mejorada que atenúa las oscilaciones de tensión durante los transitorios. En el marco del control jerárquico propuesto, el control secundario está centralizado y regula el punto de funcionamiento de la red de manera que se consigue un flujo de potencia óptimo (OPF). En comparación con otros trabajos, esta tesis lleva a cabo, tanto de forma analítica como a través de simulaciones, un estudio detallado sobre la coordinación entre las capas de control primario y secundario en redes MTDC

An improved voltage compensation approach in a droop-controlled DC power system for the more electric aircraft

This paper proposes an improved voltage regulation method in multi-source based DC electrical power system in the more electric aircraft. The proposed approach, which can be used in terrestrial DC microgrids as well, effectively improves the load sharing accuracy under high droop gain circumstance with consideration of cable impedance. Since no extra communication line and controllers are required, it is easily implemented and also increases the system modularity and reliability. By using the proposed approach the DC transmission losses can be reduced and system stability is not deteriorated for normal and fault scenarios. In this paper optimal droop gain settings are investigated and the selection of individual droop gains as well as the proportional power sharing ratio has been described. Experimental results validate the effectiveness of the proposed method