Management and Protection of High-Voltage Direct Current Systems Based on Modular Multilevel Converters

The electrical grid is undergoing large changes due to the massive integration of renewable energy systems and the electrification of transport and heating sectors. These new resources are typically non-dispatchable and dependent on external factors (e.g., weather, user patterns). These two aspects make the generation and demand less predictable, facilitating a larger power variability. As a consequence, rejecting disturbances and respecting power quality constraints gets more challenging, as small power imbalances can create large frequency deviations with faster transients. In order to deal with these challenges, the energy system needs an upgraded infrastructure and improved control system. In this regard, high-voltage direct current (HVdc) systems can increase the controllability of the power system, facilitating the integration of large renewable energy systems. This thesis contributes to the advancement of the state of the art in HVdc systems, addressing the modeling, control and protection of HVdc systems, adopting modular multilevel converter (MMC) technology, with focus in providing services to ac systems. HVdc system control and protection studies need for an accurate HVdc terminal modeling in largely different time frames. Thus, as a first step, this thesis presents a guideline for the necessary level of deepness of the power electronics modeling with respect to the power system problem under study. Starting from a proper modeling for power system studies, this thesis proposes an HVdc frequency regulation approach, which adapts the power consumption of voltage-dependent loads by means of controlled reactive power injections, that control the voltage in the grid. This solution enables a fast and accurate load power control, able to minimize the frequency swing in asynchronous or embedded HVdc applications. One key challenge of HVdc systems is a proper protection system and particularly dc circuit breaker (CB) design, which necessitates fault current analysis for a large number of grid scenarios and parameters. This thesis applies the knowledge developed in the modeling and control of HVdc systems, to develop a fast and accurate fault current estimation method for MMC-based HVdc system. This method, including the HVdc control, achieved to accurately estimate the fault current peak value and slope with very small computational effort compared to the conventional approach using EMT-simulations. This work is concluded introducing a new protection methodology, that involves the fault blocking capability of MMCs with mixed submodule (SM) structure, without the need for an additional CB. The main focus is the adaption of the MMC topology with reduced number of bipolar SM to achieve similar fault clearing performance as with dc CB and tolerable SM over-voltage

Operation and control of cascaded H-bridge converter for STATCOM application

In the last decade, particular attention has been paid to the use of Modular Multilevel Converters (MMC) for grid applications. In particular, for STATCOM applications the phase leg of the converter is constituted by a number of single-phase full-bridge converters connected in cascade (here named Cascaded H-Bridge, CHB, converter). This multilevel converter topology is today considered the industrial standard for STATCOM applications and has replaced other converter topologies, mainly due to its small footprint, high achievable voltage levels (allowing transformer-less operation), modularity and reduced losses. However, there are still areas of research that need to be investigated in order to improve the performance and the operational range of this converter topology for grid-applications. The aim of this thesis is to explore control and modulation schemes for the CHB-STATCOM, both under balanced and unbalanced conditions of the grid, highlighting the advantages but also the challenges and possible pitfalls that this kind of topology presents for this specific application. The first part of the thesis is dedicated to the two main modulation techniques for the CHBSTATCOM: the Phase-Shifted PulseWidthModulation (PS-PWM) and the Level-Shifted PWM (LS-PWM) with cells sorting. In particular, the focus is on the impact of the adopted modulation on the active power distribution on the individual cells of the converter. When using PS-PWM, it is shown that non-ideal cancellation of the switching harmonics leads to a non-uniform active power distribution among the cells and thereby to the need for an additional control loop for individual DC-link voltage balancing. Theoretical analysis proves that a proper selection of the frequency modulation ratio leads to a more even power distribution over time, which in turns alleviates the role of the individual balancing control. Both PS-PWM and cells sorting schemes fail in cell voltage balancing when the converter is not exchanging reactive power with the grid (converter in zero-current mode). To overcome this problem, two methods for individual DC-link voltage balancing at zero-current mode are proposed and verified. Then, the thesis focuses on the operation of the CHB-STATCOM under unbalanced conditions. It is shown analytically that regardless of the configuration utilized for the CHB-STATCOM (star or in delta configuration), a singularity exists when trying to guarantee balancing in the DC-link capacitor voltages. In particular, it is shown that the star configuration is sensitive to the level of unbalance in the current exchanged with the grid, with a singularity in the solution when positive- and negative-sequence currents have the same magnitude. Similar results are found for the delta configuration where, in a pure duality with the star configuration, the system is found to be sensitive to the level of unbalance in the applied voltage. The presence of these singularities represents an important limit of this topology for STATCOM applications

Operation of Parallel Connected Converters as a Multilevel Converter

The still increasing demand of electrical energy and the rising popularity of renewable energy sources in today's world are two important developments that necessitate the need for innovative solutions in the field of power electronics. Parallel operation of converters is one possible method in trying to bridge an increased current demand. The classical two-level converters, which are the standard in low voltage applications, are rarely adopted in medium and high voltage applications due to the voltage limits on power semiconductor devices. That is one reason for the growing popularity of multilevel converter topologies in medium and high-voltage applications. Although an increase in the number of voltage levels of a multilevel converter has its advantages, there are also challenges posed due to the increased number of switching devices. This has resulted in three-level converters being the most popular compared to converters of higher voltage levels. In this dissertation, the unified operation of parallel connected three-level converter units as a multilevel converter of higher voltage levels is proposed. The mathematical basis for operating parallel connected converter units as a single multilevel converter and the governing equations for such systems are derived. The analysis and the understanding of these equations are important for assessing practicality of the system and devising appropriate control structures. Parallel operation of converter units operating as multilevel converter have their own set of challenges, the two foremost being that of load-sharing and the possibility of circulating and cross currents. Developing solutions to address these challenges require a thorough understanding of how these manifest in the proposed system. Algorithms are then developed for tackling these issues. The control structures are designed and the developed algorithms are implemented. The operation of the system is verified experimentally.Die weiterhin steigende Nachfrage nach elektrischer Energie und die zunehmende Verwendung erneuerbarer Energiequellen in der heutigen Welt sind zwei wichtige Entwicklungen, die die Notwendigkeit innovativer Lösungen im Bereich der Leistungselektronik erfordern. Der Parallelbetrieb von Stromrichtern ist eine mögliche Methode, um einen erhöhten Strombedarf zu decken. Der klassische Zweipunkt-Spanungszwischenkreisstromrichter, der bei Niederspannungsanwendungen weit verbreitet ist, wird aufgrund der Spannungsgrenzen für Leistungshalbleiterbauelemente zunehmend weniger in Mittel- und Hochspannungsanwendungen eingesetzt. Die begrenzte Spannungsbelastbarkeit der Leistungshalbleiterbauelemente ist ein Grund für die wachsende Beliebtheit von Mehrpunkt-Stromrichtertopologien in Mittelund Hochspannungsanwendungen. Obwohl eine Erhöhung der Anzahl der Spannungsstufen eines Mehrpunkt-Stromrichters Vorteile hat, gibt es auch Herausforderungen und Nachteile aufgrund der erhöhten Anzahl von Leistungshalbleitern. Dies hat dazu geführt, dass der Dreipunkt-Stromrichter die verbreiteste Topologie im Vergleich zu anderen Stromrichtern mit einer höheren Anzahl von Spannungsstufen ist. In dieser Dissertation wird der Betrieb von parallel geschalteten Dreipunkt-Stromrichtereinheiten als ein Mehrpunkt-Stromrichter mit erhöhter Anzahl an Spannungsstufen vorgeschlagen. Die mathematische Basis für den Betrieb von parallel geschalteten Stromrichtereinheiten als ein Mehrpunkt-Stromrichter und die beschreibenden Gleichungen eines solchen Systems werden abgeleitet. Die Analyse und das Verständnis dieser Gleichungen sind wichtig für die Beurteilung der Praktikabilität des Systems und die Erarbeitung geeigneter Regelstrukturen. Der parallele Betrieb von Stromrichtereinheiten hat seine eigenen Herausforderungen, wobei die beiden wichtigsten die Lastverteilung und die Möglichkeit von Kreis- und Querströmen sind. Die Entwicklung von Lösungen zur Bewältigung dieser Herausforderungen erfordert ein gründliches Verständnis dafür, wie sich diese Phänomene in dem vorgeschlagenen System manifestieren. Algorithmen zur Lösung dieser Probleme werden anschlieend entwickelt. Die Regelstrukturen werden entworfen und die entworfenen Algorithmen implementiert. Die Funktionsweise des Systems wird experimentell überprüft

Design, Control and Protection of Modular Multilevel Converter (MMC)-Based Multi-Terminal HVDC System

Even though today’s transmission grids are predominantly based on the high voltage alternating current (HVAC) scheme, interests on high voltage direct current (HVDC) are growing rapidly during the past decade, due to the increased penetration of remote renewable energy. Voltage source converter (VSC) type is preferred over the traditional line-commutated converter (LCC) for this application, due to the advantages like smaller station footprint and no need for strong interfacing ac grid. As the state-of-the-art VSC topology, modular multilevel converter (MMC) is mostly considered. Most renewable energy sources, such as wind and solar, is usually sparsely located. Multi-terminal HVDC (MTDC) provides better use of transmission infrastructure, higher transmission flexibility and reliability, than building multiple point-to-point HVDCs. This dissertation studies the MMC-based MTDC system, including design, control and protection. Passive components design methodology in MMC is developed, with practical consideration. The developed arm inductance selection criterion considers the implementation of circulating current suppression control. And the unbalanced voltage among submodule capacitor is taken into account for submodule capacitance design. Circulating current suppression control is found to impact the MMC operating range. The maximum modulation index reduction is calculated utilizing a decoupled MMC model. A four-terminal HVDC testbed is developed, with similar control and communication architectures of the practical projects implemented. Several most typical operation scenarios and controls are demonstrated or proposed. In order to allow HVDC disconnects to online trip a line, dc line current control is proposed through station control. Utilizing the dc line current control, an automatic dc line current limiting control is proposed. Both controls have been verified in the developed testbed. A systematic dc fault protection strategy of MTDC utilizing hybrid dc circuit breaker is developed, including a new fast and selective fault detection method taking advantage of the hybrid dc circuit breaker special operation mechanism. Detailed criteria and control methods to assist system recovery are presented. A novel fault tolerant MMC topology is proposed with a hybrid submodule by adding an ultra-fast mechanical switch. The converter power loss can be almost the same as the half-bridge MMC, and 1/3 reduction compared to the similar clamp-double topology

Advanced power converters for railway traction systems

This thesis presents a new traction drive suitable for fuel-cell powered light rail vehicles based on a multilevel cascade converter with full-bridge cells. The converter provides dc-ac power conversion in a single stage, while compensating for the variation of fuel cell terminal voltage with load power. The proposed converter can replace the conventional combination of dc-dc converter, as it benefits from having a multilevel ac voltage waveform and much smaller power inductors, compared to conventional solutions. The converter numerical and analytical models are derived showing that the converter can be modelled as a cascaded boost converter and 3-phase inverter. The design methodology for the energy storage capacitors and power inductors is presented, showing that inductance is reduced at a quadratic rate with the addition of more sub-modules, while total converter capacitance remains constant. A simulation of a full-scale traction drive in a fuel cell tram demonstrates that the proposed converter is a viable solution for light rail applications. The concept of a boost modular cascaded converter is fully validated through a bespoke laboratory prototype driving a small induction machine. The experimental inverter achieves operation from standstill, with full motor torque, to field weakening with constant power, boosting a 50V dc supply to 200V peak line-to-line voltage