Optimal Control Design for Multiterminal HVDC

This thesis proposes an optimal-control based design for distributed frequency control in multi-terminal high voltage direct current (MTDC) systems. The current power grid has become overstressed by rapid growth in the demand for electric power and penetration of renewable energy. To address these challenges, MTDC technology has been developed, which has the potential to increase the flexibility and reliability of power transmission in the grid. Several control strategies have been proposed to regulate the MTDC system and its interaction with connected AC systems. However, all the existing control strategies are based on proportional and integral (PI) control with predetermined controller structures. The objective of the thesis is to first determine if existing control structures are optimal, and if improved controller structures can be developed.The thesis proposes a general framework to determine the optimal structure for the control system in MTDC transmission through optimal feedback control. The proposed method is validated and demonstrated using an example of frequency control in a MTDC system connecting five AC areas

Implementation of DC/DC converters in hybrid LCC-VSC HVDC grids

This Master Thesis presents the modelling, control and simulation of a hybrid multi-terminal High Voltage Direct Current (HVDC) grid. This network is composed by two point-to-point lines linked by a DC/DC converter. One point-to-point line is based on Line-Commutated Converters (LCC) and the other one is based on Voltage Source Converters (VSC), modeled as Modular Multilevel Converters (MMC). These two technologies are the most used ones in HVDC. The DC/DC converters chosen to analyze the multi-terminal grid are the Front-to-Front MMC and the DC-MMC. In order to achieve the final multi-terminal HVDC grid, the basics of both HVDC technologies are studied. It also includes the modelling, control and simulation of two point-to-point lines. One for LCC technology and the other one for VSC technology. The principles of DC/DC converters are also studied, including the modelling and control of a Front-to-Front MMC converter and a DC-MMC converter. Finally, simulations of the multi-terminal grid are performed with Matlab Simulink in di↵erent scenarios, including four cases for each DC/DC converter. In these di↵erent cases the DC/DC converter is placed regulating the DC voltage or controlling the power flow in the di↵erent point-to-point links

DC fault identification in multiterminal HVDC systems based on reactor voltage gradient

With the increasing number of renewable generations, the prospects of long-distance bulk power transmission impels the expansion of point-to-point High Voltage Direct Current (HVDC) grid to an emerging Multi-terminal high-voltage Direct Current (MTDC) grid. The DC grid protection with faster selectivity enhances the operational continuity of the MTDC grid. Based on the reactor voltage gradient (RVG), this paper proposes a fast and reliable fault identification technique with precise discrimination of internal and external DC faults. Considering the voltage developed across the modular multilevel converter (MMC) reactor and DC terminal reactor, the RVG is formulated to characterise an internal and external DC fault. With a window of four RVG samples, the fault is detected and discriminated by the proposed main protection scheme amidst a period of five sampling intervals. Depending on the reactor current increment, a backup protection scheme is also proposed to enhance the protection reliability. The performance of the proposed scheme is validated in a four-terminal MTDC grid. The results under meaningful fault events show that the proposed scheme is capable to identify the DC fault within millisecond. Moreover, the evaluation of the protection sensitivity and robustness reveals that the proposed scheme is highly selective for a wide range of fault resistances and locations, higher sampling frequencies, and irrelevant transient events. Furthermore, the comparison results exhibit that the proposed RVG method improves the discrimination performance of the protection scheme and thereby, proves to be a better choice for future DC fault identification

Dc voltage droop control design for mmc-based multiterminal hvdc grids

© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution toThis article addresses the design of the DC voltage droop control in modular multilevel converter (MMC)-based multiterminal HVDC grids. First, two energy-based control approaches, namely classic and cross control, are explored for the implementation of the voltage-power droop controller. The cross control, as the better solution for droop implementation, is further improved, making it more robust against disturbances. Then, a methodology is derived to select the droop gain combinations considering the AC grid, DC grid and MMC dynamics and their limitations. The methodology is based on a linear analysis to identify the valid droop gains which comply with the limits imposed on: the transient power sharing among MMCs, the DC grid voltage, the MMC AC and DC currents, the total MMC stored energy, and the stability margin of the complete multiterminal HVDC grid. Finally, time-domain simulations are conducted using the nonlinear model to validate the dynamic performance of the selected droop combinations obtained from the suggested methodology.Peer ReviewedObjectius de Desenvolupament Sostenible::7 - Energia Assequible i No ContaminantPostprint (published version

Multiterminal HVDC transmissions systems for offshore wind

Offshore wind is emerging as one of the future energy vectors. Offshore wind power plants locations provide more strong and constant wind speed that allows to extract more power compared to onshore locations. In addition, as wind turbine components transportation is less restricted to terrestrial infrastructure, bigger and more powerful wind turbines can be installed offshore. In Europe, 1,567 MW of offshore wind power was installed in 2013. It represents the 14\% of the total wind power installed in Europe. Offshore wind power plants near the shore can be connected to the main grid by means of conventional AC technology. However, if these wind farms are installed further than 80-100 km, the use of AC equipment is economically infeasible due to reactive power issues. In these applications, HVDC system based on static converters can be used. The projects build and commissioned nowadays are based on point-to-point connections, where, each wind farm or wind farm clusters are connected to the terrestrial grid individually. Consequently, these lines might be understood as an extension of the AC system. If different offshore wind farms are interconnected between them and connected at the same time to different AC systems, for example, different countries, the DC grid is created. This scenario creates one of the most important challenges in the electrical power system since its creation, more than 100 years ago. The most relevant challenges to be addressed are the stability and operation of the DC grid and the integration and interaction with the AC grid. This thesis addresses various aspects related to the future Multiterminal-HVDC systems for transmission of offshore wind power. First, the voltage control and the system operations are discussed and verified by means of emulations using an HVDC scaled experimental platform built for this purpose. Voltage stability might be endangered during contingencies due to the different inertia time constant of the AC and the DC system. DC systems only have the inertia of the capacitors compared to synchronous machines rotating masses of the AC systems. Therefore, in faulty conditions the power transmitted through the DC system must be reduced quickly and efficiently. For this reason, in this thesis a coordinated power reduction algorithm taking advantage of Dynamic Braking Resistors (DBR) connected to onshore converter stations and the ability of the power plants to reduce the generated power is presented. From the AC and DC grids integration point of view, the connection point between the offshore grid and the AC grid might be located remotely leading to a connection with a reduced Short Circuit Ratio (SCR). In the literature, several issues regarding the connection of transistor-based power converters to weak AC grid have been reported. In this thesis am advanced control for Voltage Source Converters connected to weak grids is presented and tested by means of simulations. From the AC and DC grids interactions, the voltage stability is not enough to operate a DC grid. Transport System Operators (TSO) operates the power flow through the cables and the power exchanged between by the power converters. In this thesis, a novel hierarchical power flow control method is presented. The aim of the proposed power flow control is to obtain the desired power flows changing the voltage control set-points while the system stability is ensured. Finally, a control procedure for offshore wind farms based on Squirrel Cage Induction Generators connected to a single power converter is introduced.L'energia eòlica marina emergeix com un dels vectors energètics del futur. Les localitzacions eòliques marines proporcionen vens més forts i constants que les terrestres, cosa que permet extreure més potència. A més a més, els aerogeneradors marins poden ser més grans i més potents ja que es redueixen les limitacions de gàlib existent en les infraestructures terrestres. A tall d'exemple, l'any 2013 a Europa es van instal.lar 1.567 MW de potència eòlica marina, cosa que representa un 14\% de la potència eòlica instal.lada a Europa. Els parcs eòlics marins poden ser connectats a la xarxa elèctrica terrestre utilitzant emparamenta convencional de corrent alterna, però quan la distancia amb la costa excedeix els 80-100 km l'ús d'aquesta tecnologia es torna econòmicament inviable degut a l'energia reactiva generada en els conductors. Per solucionar aquest problema, s'emparen els sistemes en corrent continua basats en convertidors estàtics. Els projectes construïts o projectats a dia d'avui es basen en esquemes de connexió punt-a-punt, on, cada parc eòlic o agrupació de parcs eòlics es troba connectat a la xara terrestre individualment. En conseqüència, l'operació d'aquestes línies es pot considerar com una extensió de la xarxa d'alterna. Però, si s'interconnecten diferents parc eòlics amb diferents xarxes terrestres d'alterna (per exemple, diferents països) en corrent continua, s'obtenen xarxes en corrent continua. Aquest nou escenari crea un dels majors reptes des de la creació dels sistema elèctric de potencia, ara fa més de 100 anys. Entre aquests reptes hi ha l'estabilitat i l'operació dels sistemes en corrent contínua i la seva integració i coexistència amb les xarxes en corrent alterna. En la present tesis s'han estudiat diferents aspectes dels futurs sistemes multi terminal en alta tensió en corrent contínua (HVDC, en anglès) per la transmissió de potencia generada mitjançant parcs eòlics marins. Primerament, es descriu el control de tensió i els modes d'operació dels sistemes multi terminal i es verifiquen en una plataforma experimental construïda per aquest propòsit. L'estabilitat de tensió dels sistemes en corrent continua, es pot veure afectada durant una falta a la xarxa d'alterna degut a la reduïda inèrcia dels sistemes multi terminal, només formada pels condensadors dels convertidors i els cables. Així la potència que no pot injectar a la xarxa ha de ser reduïda de forma ràpida i eficient. Per això, en aquesta tesis es presenta un sistema coordinat de reducció de potència que utilitza la resistència de frenat dels convertidors de connexió a la xarxa i els mètodes de reducció de potència dels parcs eòlics. Des del punt de vista de la integració de les xarxes en continua i en alterna, el punt d'interconnexió pot estar localitzat llunys dels grans centres de generació, la qual cosa implica tenir una potència de curtcircuit molt reduïda. En la bibliografia científica s'han descrit diverses problemàtiques a l'hora de connectar un convertidor de commutació forçada a les xarxes dèbils. Per tal de pal.liar aquests inconvenients, en aquesta tesis es presenta un algorisme avançat de connexió de convertidors a xarxes dèbils basat en control vectorial. Des del punt de vista de les interaccions i interoperabilitat dels sistemes en corrent alterna i continua, no n'hi ha suficient en garantir l'estabilitat, ja que el propòsit finals dels operadors de xarxa és fer fluir una potencia a traves de la xarxa per tal de satisfer la demanda. Per aquest propòsit en aquesta tesis es presenta un control jeràrquic de control del flux de potència que fixa el flux de potència a traves d'una xarxa multi terminal canviant les consignes del control primari, tot assegurant l'estabilitat del sistema. Per tancar la tesis, es presenta un nou controlador per parcs eòlics basats en aerogeneradors de gàbia d'esquirol controlats per un sol convertidor

Impact of LCC–HVDC multiterminal on generator rotor angle stability

Multiterminal High Voltage Direct Current (HVDC) transmission utilizing Line Commutated Converter (LCC-HVDC) technology is on the increase in interconnecting a remote generating station to any urban centre via long distance DC lines. This Multiterminal-HVDC (MTDC) system offers a reduced right of way benefits, reduction in transmission losses, as well as robust power controllability with enhanced stability margin. However, utilizing the MTDC system in an AC network bring about a new area of associated fault analysis as well as the effect on the entire AC system during a transient fault condition. This paper analyses the fault current contribution of an MTDC system during transient fault to the rotor angle of a synchronous generator. The results show a high rotor angle swing during a transient fault and the effectiveness of fast power system stabilizer connected to the generator automatic voltage regulator in damping the system oscillations. The MTDC link improved the system performance by providing an alternative path of power transfer and quick system recovery during transient fault thus increasing the rate at which the system oscillations were damped out. This shows great improvement compared to when power was being transmitted via AC lines

An overview of HVDC technology

There is a growing use of High Voltage Direct Current (HVDC) globally due to the many advantages of Direct Current (DC) transmission systems over Alternating Current (AC) transmission, including enabling transmission over long distances, higher transmission capacity and efficiency. Moreover, HVDC systems can be a great enabler in the transition to a low carbon electrical power system which is an important objective in today’s society. The objectives of the paper are to give a comprehensive overview of HVDC technology, its development, and present status, and to discuss its salient features, limitations and applications.</jats:p

Dynamic Studies of Multiterminal DC-AC Systems

In transient stability programs that use a static dc network representation, the procedure to determine the control mode of operation and the solution of the multiterminal dc system is complex and time consuming. A systematic approach that is based on a linear programming formulation is presented in this thesis. The constraints incorporated in the LB formulation automatically ensure that the solution obtained is feasible. It is shown that the method is not only computationally efficient but also versatile in its ability to handle many of the common control characteristics, such as those of the constant angle (extinction and ignition), constant voltage, constant power and current controls, voltage dependent current order limiter (VDCOL), end-stops, and also simulate the dynamics of power modulation and restart. As some applications require a three-phase detailed representation of the ac/dc system, a technique for detailed simulation of the dc converter and controls is also presented. The developed dynamic simulation program is used to investigate the problem of on-line network flow control using converter controls of a multiterminal dc system. In view of fast response of the dc powers to converter controls, a control method is proposed that extends the application of ac network flow control to dynamic situations. Possible applications of the method are to regulate power flows in a select group of ac lines, to smoothly steer the ac/dc system from its present state to some desired state and to enhance the dynamic performance of the ac system by controlling the transient changes in key or ’’backbone” ac lines

Recent trends in power systems modeling and analysis

In recent years, the explosion of renewable energy sources, the increase in the demand for electrical energy, and several improvements in related technologies have fostered research in many relevant areas of interest