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Abstract —This paper puts forward an auxiliary fuzzy logic proportional integral (PI) controllers of VSC-HVDC in
controller for the Voltage Source Converter based HVDC conventional a-b-c coordinates are proposed. In [3], an
transmission system, VSC-HVDC, to improve the stability of the equivalent continuous-time state space model of VSC-HVDC in
AC/ DC system by damping the oscillation effectively after the synchronous dq reference frame is presented. The d- and
disturbance. The fast control capability of the VSC-HVDC and the q-axis of VSC model are decoupled using the feed forward
process of area mode oscillations are analyzed. No detailed model compensation method. In [12], an adaptive control strategy to
of the system is required for the design of the proposed control improve dynamic performances of VSC-HVDC systems is
scheme. The controller judges the operation states and the control presented. The adaptive controller considers parameters
effect and accordingly adjusts its active power order in an adaptive uncertainties, which was based on back stepping method.
way by using fuzzy rules, so as to damp out the area mode Second is stability control when power system is interfered by
oscillation. Simulation results on the IEEE 4-generator AC/DC some fault. Power system stability is very important, especially
power systems have shown that the controller can enhance the for a large-scale system. In year 2003, a record number of total
dynamic stability of interconnected power systems effectively and blackouts happened in North America as well as in large portion
is robust to the variation of system operating conditions and of Europe, which affected 50million people and caused huge
oscillation modes. economy losses. In [5,6] ,controller of VSC is considered to add
the damping ability of system
Keywords: VSC-HVDC; fuzzy logic control; tie-line oscillation Third is restore control or black start control when the power
system connecting the one terminal of VSC-HVDC is dead. In
[7,8] ,some restore operation by VSC-HVDC are researched
Further study is needed to explore the benefit the VSC-HVDC
I. INTRODUCTION
technology can bring to power system.
Compared with traditional HVDC, voltage source converter Fuzzy logic control strategy doesn’t depend on the detailed
based HVDC ,(VSC-HVDC) has a series of advantages and system model and is robust to different operating conditions. In
adds fast control capability to power transmission. this paper a fuzzy logic controller is developed to damp the
There are dozens of VSC-HVDC project in operation oscillation of AC line parallel with VSC-HVDC transmission
worldwide for different purpose, such as transporting power by line.
wind, connecting asynchronous power systems, deregulated The rest of the paper is organized as follows. In Section 2, the
electricity market manipulating, improving power quality, modeling and main feature of HVDC Light system is presented.
feeding remote passive network and etc. Nowadays, In section 3, the mode of area oscillation is discussed and proper
VSC-HVDC has been reported to have the ability to deal with input signal for fuzzy damping control is recommended. In
power level as much as 300 kV, 1000MW, which means that section 4, the ancillary damping fuzzy controller is designed.
VSC-HVDC can be used in not only distribution system but also Simulation system and case study results are presented and
transmission system. At the same time, with the development of illustrated in Section 5. At last, Conclusions are drawn in
VSC-HVDC operation practice, a lot of research interests have Section 6.
been put on the study of modeling, controller design and
influence to the grid connected of VSC-HVDC. II. VSC-HVDC MODELING AND ITS CHARACTERISTIC
There are three kinds of control strategy for VSC-HVDC. The 2Cd DC LINE 2Cd
between the two controlling variables and the two controlled VSC1 VSC2
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Figure 1 shows the topology of a Six pulse two level two approximation of the power flowing between the converter and
terminal VSC-HVDC Transmission system. VSC1 and VSC2 the AC network in steady state neglecting the losses.
have the same structure. Xf stands for a high order filter with Suppose three phases are balanced, based on Kirchhoff’s law
small capacity. Transformer T provides a interface for power the following equation indicating the relationships among
exchanging between the AC system and VSC-HVDC different variables of the system is obtained.
transmission line.
id ⎡usa ⎤ ⎡ia ⎤ ⎡ia ⎤ ⎡uca ⎤
Pc , Qc d
⎢u ⎥ = L ⎢i ⎥ + R ⎢i ⎥ + ⎢u ⎥
Ps , Qs
⎢ sb ⎥ (3)
dt ⎢ ⎥ ⎢ b ⎥ ⎢ cb ⎥
2Cd b
U s ∠δ s
Uc∠δ s − δ ⎢⎣usc ⎥⎦ ⎢⎣ic ⎥⎦ ⎢⎣ic ⎥⎦ ⎢⎣ucc ⎥⎦
R X
Ud The equation (3) in vector form is as follows :
I
AC system s
diabc
Xf u Sabc = L + Riabc + uCabc (4)
2Cd DC system dt
Fig.2. typical VSC diagram where
A B
Pmax=0.3
⎢⎣cos( wt + 2π / 3) − sin( wt + 2π / 3) 1⎥⎦
Us=1
Q where ω is the angular frequency of system.
After Park transformation, equation (9) in vector form is
D C
Pmax=0.3 obtained
didq0 R 1 dP−1
Pmax=0.6
= − idq0 + (uSdq0 − uCdq0 ) − P I dq0 (9)
dt L L dt
It is supposed that system operates symmetrically in the
Pmax=0.9
steady-state condition. So there is no zero sequence component
when 3 phase are balanced, So equation (10)is obtained
from(9)its relationship of balance of voltage [13] is:
Fig.3. operation range of VSC
⎡id ⎤ 1 ⎡ − R wL⎤⎡id ⎤ 1 ⎡usd ⎤ 1 ⎡ucd ⎤
The operation range in function of the capacity of VSC, s⎢ ⎥ = ⎢ ⎥⎢ ⎥ + ⎢ ⎥ − ⎢ ⎥ (10)
Smax the DC cable capacity, Pmax, and the rated DC voltage, ⎣iq ⎦ L ⎣− wL − R⎦⎣iq ⎦ L ⎣usq ⎦ L ⎣ucq ⎦
Udcmax is shown in the PQ-diagram in Fig.3, Where P and Q where s is a differential operator, in the synchronous frame,
expressed in per unit. The formulas (1) and (2) give an usd and usq are source voltages, the d and q axis components of
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the respective AC bus voltage in the synchronous frame. id and iq system is outage.
are line currents, ucd and ucq are converter input voltages. In this paper, the research interest is mainly put on the
Suppose that the fundamental component of AC bus voltage VSC-HVDC control function for enhance power system
us is in q-axis. Therefore, usd is equal to 0 while the magnitude of stability .
usq is equal to that of us, which will simplify the model (10) as.
III. AREA MODE OSCILLATION SIGNAL CHOOSING
⎡id ⎤ 1 ⎡ − R wL⎤⎡id ⎤ 1 ⎡ 0 ⎤ 1 ⎡ucd ⎤
s⎢ ⎥ = ⎢ ⎥⎢i ⎥ + L ⎢u ⎥ − L ⎢u ⎥ (11)
i
⎣ ⎦
q L ⎣− wL − R⎦⎣ q ⎦ ⎣ sq ⎦ ⎣ cq ⎦ VSC1 VSC 2
Equation (1) and (2) show that the VSC can act as a DC LINE
A1 A2
synchronous machine with almost no inertia and therefore, it can
AREA A AREA B
control active and reactive power almost instantaneously [9], PAD PBD
ΔPAC
AC LINE ΔΔPAD
and almost independently [10]. Also, since it has virtually no B1
PA PB
B2
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be added in an analytical control law and do not need an accurate
mathematical model. The membership functions in Fig 8 were tuned searching the
The Knowledge-based fuzzy control uses the experience and minimum error in steady state and the minimum oscillation in
the knowledge of an expert about the system behavior. A kind of steady transitory by trial and error method, by using the toolbox
Knowledge-based fuzzy control is the rule-based fuzzy control, FIS of Matlab. The rule base that represents the knowledge
where the human knowledge is approximated by means of obtained from the behavior of the system is summarized in table
linguistic fuzzy rules in the form if-then, which describes the I, which was proposed after getting a knowledge about the
control action that would be made for a human operator. Due to dynamic and steady state behavior of the system.
the nonlinear behavior showed by the converter, to the failed Table I
attempt of design a linear control, and supported in the
Rule base of ADFC
advantage of the fuzzy control exposed before, a nonlinear fuzzy
control might be desirable to effectively damping area △PAC,
oscillation, by dynamically adjust the active power reference of △△PAC NB NS Z PS PB
the normal steady state controller. The control proposed for the NB NB NS NS NS Z
ancillary fuzzy logic controllers is a Mamdani controller, NS NS NS NS NS Z
because of it is usually used as feedback controller .The rule Z NS Z Z Z PS
base represents a static mapping between the antecedent and the PS Z PS PS PS PS
consequent variables.
PB Z PS PS PS PB
V. CASE STUDIES
Qsref 2 Basic VSC-HVDC M2
Controller To validate the established ancillary damping fuzzy control
for Terminal 2
Pdcref 2 ++ δ2 strategy, simulation studies of the test system shown in Fig. 9
have been done with digital simulation software package
ΔPAC
Ancillary damping ΔPdcref 2 PSCAD/EMTDC. The test simulation system is a 4 machine
ΔΔPAC Fuzzy system whose parameter is obtained from [19]. At the steady
logic controller state, about 700MW power is generated from each of the
Fig.7 Structure of the controller with the ancillary damping control for generators. L7 and L9 stand for two loads on buses 7 and which
Terminal 2 are 967 MW and 1700MW respectively, and G3 a immense
source. A two terminal VSC-HVDC transmission line with
Fuzzy sets must be defined for each input and output variable,
rated power 400MW is append to connect bus 7 and bus 9 as tie
as shown in Fig.5. Five fuzzy subsets are needed for the
line. Basic control mode is that VSC1 controls DC active power
antecedent error ,For both △PAC and △△PAC, the subsets are:
voltage transmitted and its AC voltage, and VSC2 controls DC
negative big (NB), negative small (NS), zero error(Z), positive
voltage and its AC voltage .The ancillary damping fuzzy control
small (PS), and positive big (PB). Fig.6. The fuzzy subsets used
function is added to the controller of VSC1. The active power of
in the consequent were just like the antecedent
the lines between bus7 and bus8 is measured as input signal for
the ancillary damping fuzzy control to dynamically modulate
the DC power reference of VSC1 to damping the oscillation
cause by disturbance.
In the simulation test, a three-phase to earth fault at one line
between bus 8 and bus 9 is applied at 1s from the beginning and
last 80ms, then the fault is cut off. The processes of simulation
with and without ancillary fuzzy control are shown below.
G1 1 5 6 7 9 10 11 3 G3
VSC1 VSC2
8
2 4 G4
G2
L7 L9
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Fig11 shows the curves of the G1 power angle taking the VI. CONCLUSION
angle of G3 as reference . VSC-HVDC is an advanced and hopeful transmission
Fig12 shows the curves of the G4 power angle taking the technology and fuzzy control is an effective method used to
angle of G3 as reference . control nonlinear system without the need to resort to
The simulation result verifies that the ancillary damping fuzzy complicated mathematical models. In this paper, an ancillary
controller developed in this paper can effectively damp the damping fuzzy control is proposed to change the active power
oscillation caused by disturbance and enhance the stability of reference dynamically. System stability is improved with the
the system. proposed ancillary damping fuzzy control are verified in
EMTDC/PSCAD simulation test.
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