Coordination method for DC fault current suppression and clearance in DC grids

The modular multilevel converter (MMC) based DC grid is considered as a future solution for bulk renewable energy integration and transmission. However, the high probability of DC faults and their rapid propagation speed are the main challenges of the development of DC grids. Existing research mainly focuses on the DC fault clearance methods, while the fault current suppression methods are still under researched. Additionally, the coordination method of fault current suppression and clearance needs to be optimized. In this paper, the technical characteristics of the current suppression methods are studied, based on which the coordinated methods of fault current suppression and clearance are proposed. At last, a cost comparison of these methods is presented. The research results show that the proposed strategies can reduce the cost of the protection equipment

Coordinated control of DC circuit breakers in multilink HVDC grid

High voltage DC grid is developing towards more terminals and larger transmission capacity, thus the requirements for DC circuit breakers (DCCB) will rise. The conventional methods only use the faulty line DCCB to withstand the fault stress, while this paper presents a coordination method of multiple DCCBs to protect the system. As many adjacent DCCBs are tripped to interrupt the fault current, the fault energy is shared, and the requirement for the faulty line DCCB is reduced. Moreover, the adjacent DCCBs are actively controlled to help system recovery. The primary protection, backup protection, and reclosing logic of multiple DCCB are studied. Simulation confirms that the proposed control reduces the energy dissipation requirement of faulty line DCCB by around 30–42 %, the required current rating for IGBTs is reduced, and the system recovery time reduced by 20–40 ms

DC grid discriminating protection

High-voltage direct current (HVDC) has been proven an affordable and technically capable solution to bring vast amounts of power over long distances, though overhead lines, underground or undersea cables. As a result, a large number of point-to-point HVDC links appeared in several locations over the last decades. The technological step currently going on is the connection of point-to-point links to form a multi-terminal dc (MTDC) grid, a configuration that would bring several advantages. The construction of MTDC grids faces a few technical challenges, where the most notorious one might be dc grid protection. This thesis presents protection strategies for MTDC grids equipped with different dc fault clearance and isolation devices. These include ac circuit breakers (ACCBs), converters with fault blocking (FB) capability, dc circuit breakers (DCCBs) and fast dc disconnectors (only for isolation purposes). Each of these strategies in presented in a chapter, where the steps of the protection strategy are described and overvoltage suppression methods are proposed. The protection strategies include dc fault detection and dc fault discrimination algorithms. In literature, extensive research is available regarding dc fault discrimination, potentially the "hottest" topic in dc protection. In this thesis, discrimination algorithms are proposed being those based on analysis of local currents and voltages. Thus, link communication channels are not required, which reduces the overall decision-making time. The performance of the developed protection strategies is tested in PSCAD/EMTDC environment. DC faults are applied on two MTDC grids, including a 4-terminal meshed grid and the CIGRE 11-terminal dc grid. The main outcomes of this thesis include the discriminative fault criteria and the tailored protection strategies for dc grids equipped with either ACCBs, FB converters or DCCBs as main fault current clearance devices

Protection of Future Electricity Systems

The electrical energy industry is undergoing dramatic changes: massive deployment of renewables, increasing share of DC networks at transmission and distribution levels, and at the same time, a continuing reduction in conventional synchronous generation, all contribute to a situation where a variety of technical and economic challenges emerge. As the society’s reliance on electrical power continues to increase as a result of international decarbonisation commitments, the need for secure and uninterrupted delivery of electrical energy to all customers has never been greater. Power system protection plays an important enabling role in future decarbonized energy systems. This book includes ten papers covering a wide range of topics related to protection system problems and solutions, such as adaptive protection, protection of HVDC and LVDC systems, unconventional or enhanced protection methods, protection of superconducting transmission cables, and high voltage lightning protection. This volume has been edited by Adam Dyśko, Senior Lecturer at the University of Strathclyde, UK, and Dimitrios Tzelepis, Research Fellow at the University of Strathclyde

Performance analysis of multi-level high voltage direct current converter

The conventional three-phase alternating current (AC) to direct current (DC) converter can be modified using two isolated-gate bipolar transistor (IGBT) as by-pass switches connected to tapping points on the secondary side of the transformer. This scheme yields a reduction in both harmonic contents and reactive volt-ampere absorption. This modified converter possibly eliminates the need for an on-load tap-changer on the converter transformer. The modified AC/DC converter is fully analyzed and implemented under balanced conditions using MATLAB-Simulink. The expressions of the output DC voltage are derived for different cases. The supply current harmonic contents, the reactive power absorption and the power factor have been compared for three schemes; the conventional bridge, the modified bridge using one by-pass IGBT valve and the modified bridge with two by-pass IGBT valves.

Power control, fault analysis and protection of series connected diode rectifier and VSC based MTDC topology for offshore application.

A multiterminal high-voltage dc (MTDC) system is a promising method for transmitting energy generated from an offshore windfarm (OWF). The creation of MTDC systems became easier by the introduction of voltage source converter (VSC) due to the flexibility and controllability it provides. This technology is newer than the line-commutated converter technology (LCC). Power systems can include any number of windfarms together with converters for both offshore and onshore power conversion. Therefore, this thesis suggests a three-terminal MTDC model of two offshore windfarms and one onshore inverter. The electric energy generated by the two windfarms is rectified into dc and transmitted to the shore using dc cable. Although a VSC or a diode rectifier (DR) can convert ac to dc, a series connection of a VSC and two DRs was proposed at the windfarm side to convert the generated power to achieve controllability of the uncontrollable diode rectifiers and reduces the high cost of badditional VSCs. The proposed topology converts the ac power by dividing the windfarm power so that one-third is the share of the VSC and two-thirds is the share of the DRs. The same topology is used to convert the power produced from the other windfarm. Then, the dc power is transmitted via an undersea dc cable to the onshore location, and is then inverted into ac before it is supplied to the neighbouring ac grid using a grid-side VSC. The proposed topology has many advantages, including a significant save in windfarm VSC (WFVSC) capital cost and a significant reduction in the loss of power of the converter without losing the overall controllability. However, although this topology is suitable for windfarm applications, it might not be suitable for high-voltage direct current (HVDC) that requires bidirectional power flow unless making changes to the topology such as disconnecting the diode rectifiers. Furthermore, fault analyses were investigated, including dc faults and ac faults. Ac faults are categorised as symmetrical or unsymmetrical faults. For comparison purposes, a Simulink model was designed, implemented, and simulated as a reference model. The reference model can operate as VSC-, DR-based MTDC, or a mix of both in a way that any component can be added to or removed from the model at any time during the simulation run. The contribution to the dc fault current from various parts such as dc capacitor and the adjacent feeder was investigated thoroughly, and detailed mathematical formulae were developed to compute fault current from these contributors. In addition, the results of the system response due to both fault types are illustrated and discussed. Both symmetrical and unsymmetrical ac faults were initiated on the onshore grid side, and the system response results are presented for those faults. A generalised control scheme (GCS) was proposed in this thesis, which add the ability the model to control the reactive power and is suitable for both balanced and unbalanced ac faults conditions. A protection against faults was investigated and implemented using dc circuit breakers. The protection system was built to ensure safe operation and to fulfil the grid code requirements. Many grid codes are available and presented in the literature, such as Spanish, British, and Danish; however, a grid code by E.ON was chosen. The protection scheme in VSC-based MTDC networks plays a vital role during dc faults. It is vital that this protection be sensitive, selective, fast, and reliable. Specifically, it must isolate the fault reliably from the system within a short time after the fault occurrence, while maintaining the remaining components of the system in a secure operational condition. For optimal performance, the protection scheme discussed in this thesis employs solid-state circuit breakers. A literature survey relevant to the tasks mentioned above was conducted.PhD in Energy and Powe

Protection and fault location schemes suited to large-scale multi-vendor high voltage direct current grids

Recent developments in voltage source converter (VSC) technology have led to an increased interest in high voltage direct current (HVDC) transmission to support the integration of massive amounts of renewable energy sources (RES) and especially, offshore wind energy. VSC-based HVDC grids are considered to be the natural evolution of existing point-to-point links and are expected to be one of the key enabling technologies towards expediting the integration and better utilisation of offshore energy, dealing with the variable nature of RES, and driving efficient energy balance over wide areas and across countries. Despite the technological advancements and the valuable knowledge gained from the operation of the already built multi-terminal systems, there are several outstanding issues that need to be resolved in order to facilitate the deployment of large-scale meshed HVDC grids. HVDC protection is of utmost importance to ensure the necessary reliability and security of HVDC grids, yet very challenging due to the fast nature of development of DC faults and the abrupt changes they cause in currents and voltages that may damage the system components. This situation is further exacerbated in highly meshed networks, where the effects of a DC fault on a single component (e.g. DC cable) can quickly propagate across the entire HVDC grid. To mitigate the effect of DC faults in large-scale meshed HVDC grids, fast and fully selective approaches using dedicated DC circuit breaker and protection relays are required. As the speed of DC fault isolation is one order of magnitude faster than typical AC protection (i.e. less than 10 ms), there is a need for the development of innovative approaches to system protection, including the design and implementation of more advanced protection algorithms. Moreover, in a multi-vendor environment (in which different or the same type of equipment is supplied by various manufacturers), the impact of the grid elements on the DC fault signature may differ considerably from case to case, thus increasing the complexity of designing reliable protection algorithms for HVDC grids. Consequently, there is a need for a more fundamental approach to the design and development of protection algorithms that will enable their general applicability. Furthermore, following successful fault clearance, the next step is to pinpoint promptly the exact location of the fault along the transmission medium in an effort to expedite inspection and repair time, reduce power outage time and elevate the total availability of the HVDC grid. Successful fault location becomes increasingly challenging in HVDC grids due to the short time windows between fault inception and fault clearance that limit the available fault data records that may be utilised for the execution of fault location methods. This thesis works towards the development of protection and fault location solutions, designed specifically for application in large-scale multi-vendor HVDC grids. First, a methodology is developed for the design of travelling wave based non-unit protection algorithms that can be easily configured for any grid topology and parameters. Second, using this methodology, a non-unit protection algorithm based on wavelet transform is developed that ensures fast, discriminative and enhanced protection performance. Besides offline simulations, the efficacy of the wavelet transform based algorithm is also demonstrated by means of real-time simulation, thereby removing key technical barriers that have impeded the use of wavelet transform in practical protection applications. Third, in an effort to reinforce the technical and economic feasibility of future HVDC grids, a thorough fault management strategy is presented for systems that employ efficient modular multilevel converters with partial fault tolerant capability. Finally, a fault location scheme is developed for accurately estimating the fault location in HVDC grids that are characterised by short post-fault data windows due to the utilisation of fast acting protection systems.Recent developments in voltage source converter (VSC) technology have led to an increased interest in high voltage direct current (HVDC) transmission to support the integration of massive amounts of renewable energy sources (RES) and especially, offshore wind energy. VSC-based HVDC grids are considered to be the natural evolution of existing point-to-point links and are expected to be one of the key enabling technologies towards expediting the integration and better utilisation of offshore energy, dealing with the variable nature of RES, and driving efficient energy balance over wide areas and across countries. Despite the technological advancements and the valuable knowledge gained from the operation of the already built multi-terminal systems, there are several outstanding issues that need to be resolved in order to facilitate the deployment of large-scale meshed HVDC grids. HVDC protection is of utmost importance to ensure the necessary reliability and security of HVDC grids, yet very challenging due to the fast nature of development of DC faults and the abrupt changes they cause in currents and voltages that may damage the system components. This situation is further exacerbated in highly meshed networks, where the effects of a DC fault on a single component (e.g. DC cable) can quickly propagate across the entire HVDC grid. To mitigate the effect of DC faults in large-scale meshed HVDC grids, fast and fully selective approaches using dedicated DC circuit breaker and protection relays are required. As the speed of DC fault isolation is one order of magnitude faster than typical AC protection (i.e. less than 10 ms), there is a need for the development of innovative approaches to system protection, including the design and implementation of more advanced protection algorithms. Moreover, in a multi-vendor environment (in which different or the same type of equipment is supplied by various manufacturers), the impact of the grid elements on the DC fault signature may differ considerably from case to case, thus increasing the complexity of designing reliable protection algorithms for HVDC grids. Consequently, there is a need for a more fundamental approach to the design and development of protection algorithms that will enable their general applicability. Furthermore, following successful fault clearance, the next step is to pinpoint promptly the exact location of the fault along the transmission medium in an effort to expedite inspection and repair time, reduce power outage time and elevate the total availability of the HVDC grid. Successful fault location becomes increasingly challenging in HVDC grids due to the short time windows between fault inception and fault clearance that limit the available fault data records that may be utilised for the execution of fault location methods. This thesis works towards the development of protection and fault location solutions, designed specifically for application in large-scale multi-vendor HVDC grids. First, a methodology is developed for the design of travelling wave based non-unit protection algorithms that can be easily configured for any grid topology and parameters. Second, using this methodology, a non-unit protection algorithm based on wavelet transform is developed that ensures fast, discriminative and enhanced protection performance. Besides offline simulations, the efficacy of the wavelet transform based algorithm is also demonstrated by means of real-time simulation, thereby removing key technical barriers that have impeded the use of wavelet transform in practical protection applications. Third, in an effort to reinforce the technical and economic feasibility of future HVDC grids, a thorough fault management strategy is presented for systems that employ efficient modular multilevel converters with partial fault tolerant capability. Finally, a fault location scheme is developed for accurately estimating the fault location in HVDC grids that are characterised by short post-fault data windows due to the utilisation of fast acting protection systems

Modeling of Direct Current Grid Equipment for the Simulation and Analysis of Electromagnetic Transients

RÉSUMÉ Les transmissions à base de courant continu sont capables de répondre mieux que les transmissions traditionnelles à base de courant alternatif aux enjeux de nos jours tels que l’intégration des énergies renouvelables, les difficultés avec l’installation des nouvelles lignes aériennes pour les raisons socio-environnementaux, la gestion des flux de puissance sur le réseau électrique. Ceci est grâce aux systèmes de contrôle performants et rapides, à un niveau de fiabilité accrue des composants utilisés, à l’efficacité énergétique des technologies de pointe, telles que les convertisseurs modulaires multiniveaux (Modular Multilevel Converter ou MMC en anglais). Ces avantages ont contribué à une croissance rapide du nombre de transmissions à courant continu à travers le monde dans les dernières années, avec les plans d’établir des réseaux multi-terminaux d’un niveau supérieur aux réseaux électriques traditionnels dans le but de les renforcer. Les outils de simulation numériques sont nécessaires pour faciliter et accélérer la mise en œuvre de ce type de projets d’envergure. Ils permettent d’analyser et d’étudier les systèmes électriques de plus en plus complexes et par conséquent d’éviter les problèmes opérationnels, d’augmenter la fiabilité et l’efficacité des réseaux électriques. La complexité accrue des réseaux électriques modernes qui contiennent les composants à base de l’électronique de puissance tels que les liaisons à courant continu exige une recherche sur les outils de simulation et les modèles avancés. Ainsi, cette thèse se focalise sur le développement d’un cadre pour les simulations précises et rapides des liaisons à courant continu. À la suite d’une revue de la littérature il est démontré que la modélisation des MMCs a un impact particulièrement important sur la précision et l’accélération des simulations et par conséquent une grande partie de cette thèse est dédiée aux différentes méthodes pour réduire le temps de simulation et améliorer la précision des résultats dans les études avec les MMCs. Le cœur du sujet commence par la présentation de la modélisation des MMC hybrides et leurs systèmes de contrôle. Les modèles sont classés en quatre catégories selon le niveau de précision : le modèle détaillé permet de représenter les non-linéarités au niveau des composants semiconducteurs.----------ABSTRACT Compared to the traditional alternating current technology-based electrical grids, High-Voltage Direct Current (HVDC) transmission systems can more effectively respond to the challenges of the modern power grid related to the integration of renewable energy sources, difficulty to install new overhead lines due to socio-environmental reasons, and power flow management. This is mainly due to high performance of control systems, fast response times, reliable components and energy efficiency of the state-of-the-art HVDC technologies of today, such as the Modular Multilevel Converter (MMC). These advantages have contributed to the rapid growth in the number of HVDC projects in recent years with plans of having overlay HVDC grids that can reinforce the existing electrical grids. To facilitate and accelerate the implementation of large-scale HVDC projects, it is required to use numerical simulation tools. Such tools allow to perform advanced analysis of involved electrical systems for preventing operating problems, increasing robustness and efficiency in power grids. The increased level of complexity of modern power grids with power electronics-based components, such as HVDC, requires research on advanced simulation tools and models. Therefore, this thesis aims to develop a framework allowing for accurate modeling and fast simulations of HVDC projects. After analysis of existing literature, the areas with high potential impact on accuracy and acceleration of electromagnetic transient simulations are found, and it is the modeling of MMCs that is considered in this thesis. Thus, a significant part of this thesis is dedicated to research on efficient modeling techniques that allow to reduce simulation time and improve accuracy for MMC-based HVDC systems. The modeling aspects and control systems of hybrid MMCs are presented first. The MMC models used in electromagnetic transient simulations are grouped into four categories. The detailed model represents the nonlinear current-voltage characteristics of semiconductor switches. The detailed equivalent model represents the switches as two-value resistances: a small value for the closed state and a large value for the open state. The arm equivalent model assumes all capacitors in each arm have identical voltages, so a single equivalent capacitor is used to represent the whole arm, thus greatly reducing the computational burden of the model

Protection of Direct-Current Systems

The overwhelming advancement in power electronics converters throughout the past few decades is leading to an increasing interest in the integration of Direct-Current (DC) systems to the existing AC ones on the generation, Low Voltage DC (LVDC), Medium Voltage DC (MVDC), and High Voltage DC (HVDC) levels. The utilization of DC systems offer many benefits over their AC counterparts such as the significant reduction in power losses and costs as well as the minimization of reactive current component. Nevertheless, DC systems still face many challenges among which protection is the most salient. This dissertation investigates and addresses the protection challenges posed by DC faults’ behaviour in five DC systems. On the generation level, it explores the nature of various faults and partial shading conditions in utility-scale Photovoltaic (PV) arrays. The unique PV modules’ voltage behaviour during faults and partial shading conditions is scrutinized to identify distinctive characteristics. These voltage features are utilized to propose a new time-domain voltage-based protection scheme. The proposed scheme’s underlying concepts are analytically proved for generic PV modules, validated using detailed time-domain model of PV panels, and verified experimentally using polycrystalline-silicon panels. On the LVDC level, the dissertation examines the behaviour of low- and high-resistance faults. The analysis are founded upon a detailed time-domain simulation of a meshed LVDC microgrid. The failure of conventional protection methods in the presence of even small amounts of fault resistance are demonstrated. An effective method is proposed to detect such faults by using the resonance frequency generated from passive oscillators installed on the line terminals. The protection of MVDC microgrids is a major challenge as very high fault current magnitudes are attained within a couple of milliseconds. This dissertation reveals unique fault-launched Travelling wave (TW) waveform and polarity properties. These properties are exploited to propose an adequate time-domain TW-based protection scheme that detects, classifies, and locates DC faults in a timely manner. The impediments to reliable protection of hybrid AC/DC microgrids are twofold: (i) the very low AC fault current magnitudes in the AC-side due to the current control capability of inverter-based Distributed Generation (DG)s, and (ii) the very high DC fault current magnitudes attained within few milliseconds in the DC-side due to the uncontrollable discharge of the converters’ DC link capacitors. A unified discriminant function TW-based protection scheme is proposed for hybrid AC/DC microgrids to detect, classify, and locate both AC and DC faults. DC faults in HVDC grids can cause severe damage to the converter stations and large loss of infeed within few milliseconds. Ensuring selectivity and sensitivity of the protection system within a short time window is a major challenge. This dissertation analyze the frequency spectra of the TWs initiated by faults on HVDC grids. Using the spectral content and polarity of the current TWs, a novel frequency-domain TW-based scheme is proposed to detect and locate faults within the required timeframe

DC Line Protection for Multi-Terminal High Voltage DC (HVDC) Transmission Systems

The projected global energy shortage and concerns about greenhouse emissions have led to the significant developments in offshore wind farm projects around the globe. It is also envisaged that in the near future, a number of existing onshore converter stations and offshore stations will be interconnected to form a Multi-terminal (MT) HVDC systems, whereas protection issues remains a major challenge. This is largely due to the low inductance in DC network compared to AC interconnection which usually results in a sudden collapse in the DC voltage and rapid rise in the fault current thus reaching damaging levels in few milliseconds. Therefore faults in MT-HVDC system must be detected and cleared quickly before it reaches a damaging level; typically 4 – 6ms (including circuit breaker opening time) following the inception of the fault. For this reason, transient based protection techniques are ideal candidates if the protection scheme must be reliable and dependable. Transient based protection algorithms utilises the higher frequency components of the fault generated signal to detect a fault, therefore making it possible to detect the fault while the fault current is still rising and well before the steady state. The traditional protection algorithms developed for conventional high voltage AC (HVAC) systems such as distance protection are steady state based and as such not suitable for the protection of MT-HVDC systems. Another major issue is selectivity as only the faulty section must be isolated in the event of a fault. This constitutes a major challenge considering the anticipated lengths of the cables. Traditional protection techniques developed for two-terminal HVDC systems are also not suitable for MT-HVDC since it will de-energise the entire network and other sub-grids connected to the main network. DC line protection devices which will operate at a sufficient speed and which will isolate only the faulty section in the event of a fault are therefore required to avoid a total system failure during short circuit. It is anticipated that it will be achieved by the use of HVDC breakers, whereas the implementation and realisation of such circuit breakers still remain a major issue considering speed, complexity, losses and cost. However, two major vendors have proposed prototypes and hopefully these will be commercially available in the near future. The key issue still remains the development of a fast DC line fault detection algorithm; and it is on these premise that this research was undertaken. The work reported in this thesis is a novel time domain protection technique for application to HVDC grids. The protection principle developed utilises the “power” and “energy” accompanying the associated travelling wave following the occurrence of a fault to distinguish between internal and external fault. Generally, either the “power” or “energy” can provide full discrimination between internal and external faults. For an internal fault, the associated forward and backward travelling wave power; or the forward and backward wave energy must exceed a pre-determined setting otherwise the fault is regarded as external. This characteristic differences is largely due to the DC inductor located at the boundaries which provides attenuation for the high frequency transient resulting from an external fault, hence making the power and energy for an internal fault to be significantly larger than that for external fault. The ratio between the forward and backward travelling wave power; or between the forward and backward travelling wave energy provides directional discrimination. For a forward directional fault (FDF) with respect to a local relay, this ratio must be less than unity. However, the ratio is greater than unity for reverse directional faults (RDF). The resulting wave shape of the “travelling wave power” (TWP) components also led to the formulation of a novel protection algorithm utilising the wave shape concavity. For an internal fault, the second derivative of the resulting polynomial formed by the TWP must be negative, thereby indicating a “concave-upwards” parabola. However, for an external fault, the second derivative of the resulting polynomial formed by the TWP components must be positive indicating a “concave-downwards” parabola. The developed and proposed protection techniques and principles were validated against a full scale Modular Multi-level Converter (MMC) – based HVDC grid, and thereafter the protection algorithm was implemented in MATLAB. Wider cases of fault scenarios were considered including long distance remote internal fault and a 500Ω high resistance remote internal fault. In all cases, both the pole-pole (P-P) and pole-ground (P-G) faults were investigated. The simulation results presented shows the suitability of the protection technique as the discrimination between internal and external faults was made within 1ms following the application of the fault. Following this, the protection algorithm was implemented on both a low-cost experimental platform utilising an Arduino UNO ATmega328 Microcontroller and on a Compact RIO FPGA-based experimental platform utilising LAB-View. The experimental results obtained were consistent with those obtained by simulations. An advantage of the proposed technique is that it is non-unit based and as such no communication delays are incurred. Furthermore, as it is time domain - based, it does not require complex mathematical computation and burden / DSP techniques; hence can easily be implemented since it will require less hardware resources which ultimately will result in minimal cost