TABLE OF CONTENTS

CERTIFICATE i
ACKNOWLEDGE ii
ABSTRACT iii
TABLE OF CONTENT vii
LIST OF FIGURES xi
LIST OF TABLES xix
LIST OF SYMBOLS xxi
CHAPTER I INTRODUCTION 1
1.1 DEVELOPMENT OF HVDC SYSTEM 2
1.2 BENEFITS OF HVDC SYSTEM 6
1.2.1 TECHNICAL BENEFITS 6
1.2.2 ECONOMIC AND ENVIRONMENT BENEFITS 7
1.3CLASSIFICATION OF HVDC CONFIGURATIONS 9
1.4 TYPES OF HVDC LINKS 15
1.5 APPLICATION OF HVDC SYSTEM 19
1.5.1 LONG DISTANCE BULK POWER TRANSMISSION 19
1.5.2 ASYNCHRONOUS INTERCONNECTION 20
1.5.3 INTEGRATING OF SMALL SCALE GENERATING PLANTS 20
1.5.4 OFFSHORE TRANSMISSION 20
1.5.5 SUPPORT OF WEAK AC SYSTEM 21
1.5.6 HVDC TAPPING 22
1.5.7 POWER DELIVERY TO INDUSTRIAL PLANT 23
1.5.8 POWER DELIVERY TO LARGE URBAN AREAS 23
1.5.9 POWER DELIVERY TO ISLAND SYSTEM 23
1.6 POWER QUALITY ASPECT AND STANDARDS 24
1.6.1 POWER QUALITY CONSIDERATIONS 24
1.6.2 POWER QUALITY STANDARDS 25
1.7 OBJECTIVES OF THESIS 25
1.8 OUTLINE OF CHAPTERS 27
CHAPTER II LITERATURE REVIEW 29
2.1 MULTIPULSE AC-DC CONVERTER-A STATE OF ART 30
2.1.1 NON-ISOLATED UNCONTROLLED AC-DC CONVERTER 30

vii
 2.1.2 NON-ISOLATED CONTROLLED AC-DC CONVERTER 31
2.1.3 ISOLATED UNCONTROLLED AC-DC CONVERTER 31
2.1.4 ISOLATED CONTROLLED AC-DC CONVERTER 32
2.2 PERFORMANCE PARAMETERS OF MULTIPULSE AC-DC 32
CONVERTER

2.3 CONTROL SCHEME –A STATE OF THE ART 34

2.4 OPTIMIZATION APPROACH- A STATE OF ART 39
2.5 IDENTIFIED RESEARCH AREAS 46
2.6 CONCLUSION 47
CHAPTER III DESIGN, MODELLING AND CONTROL OF VSC BASED HVDC 48
SYSTEM

3.1 DESIGN OF VSC BASED BTB HVDC POWER TRANSMISSION 49

3.1.1 SELECTION OF VSC SWITCH RATING 49
3.2.2 SELECTION OF INTERFACING INDUCTOR 50
3.2.3 SELECTION OF DC-LINK CAPACITOR 51
3.2 DESIGN OF VSC BASED HVDC SYSTEM WITH TRANSMISSION 51
LINE

3.2.1 SELECTION OF INTERFACING INDUCTOR 51

3.2.2 SELECTION OF DC-LINK CAPACITOR 52
3.3 MODELING OF VSC BASED HVDC SYSTEM 52
3.3.1 VOLTAGE CONTROL LOOP 53
3.3.2 CURRENT CONTROL LOOP 55
3.4 CONVENTIONAL CONTROLLER TUNING APPROACH 58
3.5 PERFORMANCE EVALUATION OF VSC BASED HVDC SYSTEM 60
3.5.1 PERFORMANCE EVALUATION OF VSC BASED BTB 61
HVDC SYSTEM
3.5.2 PERFORMANCE EVALUATION OF VSC BASED HVDC 66
SYSTEM WITH TRANSMISSION LINE

3.6 CONCLUSION 71
CHAPTER IV DESIGN AND CONTROL OF VSC BASED HVDC SYSTEM FOR 72
POWER QUALITY IMPROVEMENT

4.1 DESIGN OF MULTIPULSE AC-DC CONVERTER FOR HVDC 74

SYSTEM

viii
 4.1.1 DESIGN OF 18-PULSE AC-DC CONVERTER 76
4.1.2 DESIGN OF 12-PULSE AC-DC CONVERTER 76
4.2 PERFORMANCE EVALUATION OF MULTIPULSE AC-DC 79
CONVERTERS

4.2.1 PERFORMANCE EVALUATION OF 18-PULSE VSC BASED 79

BTB HVDC SYSTEM

4.2.2 PERFORMANCE EVALUATION OF 18-PULSE VSC BASED 87

HVDC SYSTEM WITH TRANSMISSION LINE

4.3 CONCLUSION 106

CHAPTER V DESIGN AND CONTROL OF MULTIPULSE VSC BASED HVDC 107
SYSTEM WITH REDUCED SENSOR TOPOLOGY

5.1 CURRENT SENSOR REDUCTION APPROACH 107

5.2 PERFORMANCE EVALUATION OF MULTIPULSE VSC BASED 108
HVDC SYSTEM USING REDUCED SENSOR APPROACH

5.2.1 CALCULATION OF CONTROLLER GAINS USING ZIEGLER 109

NICHOLS APPROACH
5.2.2 PERFORMANCE EVALUATION OF 18-PULSE VSC BASED 112
HVDC SYSTEM WITH TRANSMISSION LINE USING REDUCED

SENSOR TOPOLOGY

5.2.3 PERFORMANCE EVALUATION OF 18-PULSE VSC BASED 117

BTB HVDC SYSTEM USING REDUCED SENSOR TOPOLOGY

5.2.4 PERFORMANCE EVALUATION OF 12-PULSE VSC BASED 119

HVDC SYSTEM WITH TRANSMISSION LINE USING REDUCED

SENSOR TOPOLOGY

5.3 CONCLUSION 122

CHAPTER VI DESIGN AND CONTROL OF MULTIPULSE VSC BASED HVDC 123
SYSTEM USING OPTIMIZATION TECHNIQUE

6.1 PROBLEM FORMULATION 125

6.2 GOLDEN SECTION SEARCH APPROACH 126
6.2.1 PROPOSED GOLDEN SECTION SEARCH APPROACH 128
6.3 PARTICLE SWARM OPTIMIZATION APPROACH 130
6.3.1 PROPOSED PARTICLE SWARM OPTIMIZATION APPROACH 132

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 6.4 PERFORMANCE EVALUATION OF UNDER DIFFERENT 133
APPROACHES

6.4.1 PERFORMANCE EVALUATION OF 18-PULSE VSC BASED 134

BTB BASED HVDC SYSTEM

6.4.2 PERFORMANCE EVALUATION OF 18-PULSE VSC BASED 138

HVDC SYSTEM WITH TRANSMISSION LINE

6.4.3 PERFORMANCE EVALUATION OF 12-PULSE VSC BASED 143

BTB BASED HVDC SYSTEM

6.4.4 PERFORMANCE EVALUATION OF 12-PULSE VSC BASED 148

HVDC SYSTEM WITH TRANSMISSION LINE

6.5 CONCLUSION 154

CHAPTER VII MAIN CONCLUSION AND FUTURE SCOPE OF WORK 156
7.1 MAIN CONCLUSIONS 157
7.2 SUGGESTION FOR FURTHER WORK 159
REFERENCES 161
LIST OF PUBLICATIONS 174

x
 LIST OF FIGURES
Figure No. Title
1.1 Three-Phase AC transmission voltage level development

1.2 Cost evaluations between AC/DC transmission

1.3 HVDC Development

1.4 HVDC configurations

1.5 Different DC-links

1.6 Application of HVDC transmission

2.1 Different control scheme

2.2 Current control scheme

2.3 Different optimization techniques

3.1 Schematic diagram of BTB VSC based HVDC system

3.2 Schematic diagram of VSC based HVDC system with transmission

line

3.3 Schematic diagram of current multiplier approach

3.4 DC-link voltage error calculation

3.5 Modulating control signal generation

3.6 Unit template calculation

3.7 Reference current generator

3.8 Calculation of three-phase current errors

3.9 Generation of modulating signal

3.10 Three-phase PWM waveform

3.11 Phase A pulse sequence

3.12 System response

xi
 LIST OF FIGURES (Continued)
Figure No. Title
3.13 Simulated waveforms of VSC based BTB HVDC system under load
perturbation condition

3.14 Current harmonic distortion under load perturbation and rated load
condition

3.15 Simulated waveforms of VSC based BTB HVDC system under voltage
sag condition

3.16 Current harmonic distortion under sag and restoration of sag condition

3.17 Simulated waveforms of VSC based BTB HVDC system under non-
linear load condition

3.18 Current harmonic distortion under non-linear and normal load

condition

3.19 Simulated waveforms of VSC based BTB HVDC system under tapped
load fault condition

3.20 Current harmonic distortion under tapped load fault and clearance of
fault condition

3.21 Simulated waveforms of VSC based HVDC system with transmission

line under load perturbation condition

3.22 Current harmonic distortion under load perturbation and normal load
condition

3.23 Simulated waveforms of VSC based HVDC system with transmission

line under voltage sag condition

3.24 Current harmonic distortion under sag and restoration of sag condition

3.25 Simulated waveforms of VSC based HVDC system with transmission

line under non-linear load condition

3.26 Current harmonic distortion under non-linear and normal load

condition

xii
 LIST OF FIGURES (Continued)
Figure No. Title
3.27 Simulated waveforms of VSC based HVDC system with transmission
line under tapped load condition

3.28 Current harmonic distortion under tapped load fault and clearance of
fault condition

4.1 Connection arrangement and Phasor diagram (a) Y/Z1 topology (b)
Y/Z2 topology

4.2 MATLAB connection arrangement for 18-pulse configuration

4.3 MATLAB connection with star-delta and star-zigzag configuration

4.4 Current harmonic spectra with star/delta and star/zigzag configuration

4.5 Response of input current and DC-link voltage of 18-pulse and 12-
pulse AC-DC converter

4.6 MATLAB model of 18-pulse VSC based BTB HVDC system

4.7 DC-link response and current harmonic distortion in 18-pulse VSC

based BTB-HVDC system under load perturbation condition using
voltage controller

4.8 The performance of DC-link response and current harmonic distortion

in 18-pulse VSC based BTB HVDC system under load perturbation
condition using voltage and current controller

4.9 Simulated performance of 18-pulse VSC based BTB HVDC system

under load perturbation condition

4.10 Voltage and current harmonic distortion after load perturbation

condition

4.11 Simulated performance of 18-pulse VSC based BTB HVDC system

under voltage sag condition

4.12 Voltage and current harmonic distortion after restoration of sag

condition

xiii
 LIST OF FIGURES (Continued)
Figure No. Title
4.13 Simulated performance of 18-pulse VSC based BTB HVDC system
under non-linear load condition

4.14 Voltage and current harmonic distortion after disconnection of non-

linear load

4.15 Simulated performance of 18-pulse VSC based BTB-HVDC system

under tapped load fault

4.16 Voltage and current harmonic distortion under non-linear load

condition

4.17 MATLAB model of 18-pulse VSC- HVDC system with 75km DC-
cable

4.18 Simulated performance under load perturbation of 18-pulse VSC based

HVDC system

4.19 Current harmonic distortion under load reduction and rated load
condition

4.20 Simulated performance of 18-pulse VSC based HVDC system with

transmission line under voltage sag condition

4.21 Current harmonic distortion under sag and normal condition

4.22 Simulated performance of 18-pulse VSC based HVDC system with

transmission line under non-linear load condition

4.23 Current harmonic distortion under non-linear load and disconnection

of non-linear load

4.24 Simulated performance of 18-pulse VSC based HVDC system with

transmission line under tapped load fault condition

4.25 Current harmonic distortion under fault condition and clearance of

fault

4.26 MATLAB model of 12-pulse VSC based BTB HVDC system

4.27 Simulated performance of 12-pulse VSC based BTB HVDC system

under load perturbation condition

xiv
 LIST OF FIGURES (Continued)
Figure No. Title
4.28 Current harmonic distortion under load shedding and rated load
condition

4.29 Simulated performance of 12-pulse VSC based BTB HVDC system

under voltage sag condition

4.30 Current harmonic distortion under sag and restoration of sag condition

4.31 Simulated performance of 12-pulse VSC based BTB HVDC system

under non-linear load condition

4.32 Current harmonic distortion under non-linear load and disconnection

of load condition

4.33 Simulated performance of 12-pulse VSC based BTB HVDC system

under tapped load fault condition

4.34 Current harmonic distortion under tapped load fault and clearance of
fault condition

4.35 MATLAB model of 12-pulse VSC based HVDC system with 75km
DC-cable

4.36 Simulated performance of 12 pulse VSC based HVDC system with

transmission line under load perturbation condition

4.37 Voltage and current harmonic distortion under load shedding and rated
load condition

4.38 Simulated performance of 12 pulse VSC based HVDC system with

transmission line under voltage sag condition

4.39 Voltage and current harmonic distortion under sag and normal
condition

4.40 Simulated performance of 12 pulse VSC based HVDC system with

transmission line under non-linear load condition

4.41 Voltage and current harmonic distortion under non-linear load and
disconnection of non-linear load

xv
 LIST OF FIGURES (Continued)
Figure No. Title
4.42 Simulated performance of 12 pulse VSC based HVDC system with
transmission line under tapped load fault condition

4.43 Voltage and current harmonic distortion under fault clearance of fault
condition

5.1 Schematic diagram of current multiplier approach with reduced sensor

topology

5.2 Current sensor reduction approach

5.3 Simulated performance of 18-pulse VSC based BTB HVDC system

using reduced sensor topology under tapped load fault condition

5.4 Current harmonic distortion under tapped load fault and clearance of
fault condition

5.5 Simulated performance of 18-pulse VSC-BTB-HVDC using reduced

sensor topology under SLG fault at phase A

5.6 Simulated performance of 18-pulse VSC-BTB-HVDC using reduced

sensor topology under SLG fault at phase C

5.7 Current harmonic distortion after clearance of fault at phase A and

phase C

5.8 Simulated performance of 18-pulse VSC based HVDC system with

transmission line using reduced sensor topology under tapped load
fault condition

5.9 Current harmonic distortion under fault condition and clearance of

fault condition

5.10 Simulated performance of 18-pulse VSC based HVDC using reduced

sensor topology under SLG fault at phase A

5.11 Simulated performance of 18-pulse VSC based HVDC using reduced

sensor topology under SLG fault at phase C

5.12 Current harmonic distortion after clearance of fault at phase A and

phase C

xvi
 LIST OF FIGURES (Continued)
Figure No. Title
5.13 Simulated performance of 12-pulse VSC-BTB-HVDC using reduced
sensor topology under SLG fault at phase A

5.14 Simulated performance of 12-pulse VSC-BTB-HVDC using reduced

sensor topology under SLG fault at phase C

5.15 Current harmonic distortion after clearance of fault at phase A and

phase C

5.16 Simulated performance of 12-pulse VSC based HVDC system with

transmission line using reduced sensor topology under tapped load
fault condition

5.17 Voltage and current harmonic distortion after clearance of tapped load
fault condition

5.18 Simulated performance of 12-pulse VSC based HVDC transmission

system using reduced sensor topology under SLG fault at phase A

5.19 Voltage and current harmonic distortion after clearance of SLG fault
condition

6.1 Classification of Optimization Techniques

6.2 Problem formulation

6.3 Type I and Type II contraction

6.4 Proposed golden section search approach

6.5 Proposed particle swarm optimization approach with highlighted

modifications

6.6 Variation of voltage and current controller gain of 18-pulse VSC based
BTB HVDC system using proposed GSS approach

6.7 Power quality results of 18-pulse VSC based BTB HVDC system using
proposed GSS approach

6.8 Convergence of voltage controller gain of 18-pulse VSC based BTB

HVDC system using proposed PSO approach

xvii
 LIST OF FIGURES (Continued)
Figure No. Title
6.9 Convergence of voltage controller gain of 18-pulse VSC based BTB
HVDC system using proposed PSO approach

6.10 Controller gain and parametric variation of 18-pulse VSC based BTB
HVDC system using proposed PSO approach

6.11 Variation of voltage and current controller gain of 18-pulse VSC based
HVDC system with transmission line using proposed GSS approach

6.12 Power quality results of 18-pulse VSC based HVDC system with
transmission line using proposed GSS approach

6.13 Convergence of voltage controller gain of 18-pulse VSC based HVDC

system with transmission line using proposed PSO approach

6.14 Convergence of current controller gain of 18-pulse VSC based HVDC

system with transmission line using proposed PSO approach

6.15 Controller gain variation of 18-pulse VSC based HVDC system with
transmission line using proposed PSO approach

6.16 Variation of voltage and current controller gain of 12-pulse VSC based
BTB HVDC system using proposed GSS approach

6.17 Power quality results of 12-pulse VSC based BTB HVDC system using
proposed GSS approach

6.18 Controller gain and parametric variation of 12-pulse VSC based BTB
HVDC system using proposed PSO approach

6.19 Convergence of voltage controller gain of 12-pulse VSC based BTB

HVDC system using proposed PSO approach

6.20 Convergence of current controller gain of 12-pulse VSC based BTB

HVDC system using proposed PSO approach

6.21 Variation of voltage and current controller gain of 12-pulse VSC based
HVDC system with transmission line using proposed GSS approach

6.22 Power quality results of 12-pulse VSC based HVDC system with
transmission line using proposed GSS approach

xviii
 LIST OF FIGURES (Continued)
Figure No. Title
6.23 Controller gain and parametric variation of 12-pulse VSC based
HVDC system with transmission line using proposed PSO approach

6.24 Convergence of voltage controller gain of 12-pulse VSC based HVDC

system with transmission line using proposed PSO approach

6.25 Convergence of current controller gain of 12-pulse VSC based HVDC

system with transmission line using proposed PSO approach

xix
 LIST OF TABLES
Table No. Title

3.1 Tuning rules for Ziegler-Nichols approach

3.2 Specification of VSC based BTB HVDC system

3.3 Controller gains obtained by Ziegler-Nichols approach for VSC based BTB
HVDC system

3.4 Specification of VSC based HVDC system with transmission line

3.5 Controller gains obtained by Ziegler-Nichols approach for VSC based

HVDC system with transmission line

4.1 Number of windings required for phase shift 0ᴼ≤δ≤30ᴼ

4.2 Controller gains obtained by Ziegler-Nichols approach for VSC based BTB HVDC
system
4.3 Controller gains obtained by Ziegler-Nichols of 18-pulse VSC based HVDC with
transmission line
4.4 Controller gain obtained by Zeigler Nichols approach of 12-pulse VSC
based BTB HVDC system

4.5 Controller gains obtained by Ziegler-Nichols approach for VSC based

HVDC system with transmission line

5.1 Controller gains obtained by Ziegler-Nichols approach in 18-pulse VSC

based BTB HVDC system with reduced sensor topology

5.2 Controller gains obtained by Ziegler-Nichols approach in 18-pulse VSC

based HVDC system with transmission line using reduced sensor topology

5.3 Controller gains obtained by Ziegler-Nichols approach in 12-pulse VSC

based BTB HVDC system with reduced sensor topology

5.4 Controller gains obtained by Ziegler-Nichols approach in 12-pulse VSC

based HVDC system with transmission line using reduced sensor topology

6.1 Results obtained of 18-pulse VSC-BTB-HVDC system using proposed GSS

approach

xx
 LIST OF TABLES (Continued)

Table No. Title

6.2 Comparative results in various generations of 18-pulse VSC based BTB

HVDC system using proposed PSO approach

6.3 Comparative Results in various generations of 18-pulse VSC based HVDC

system using proposed PSO approach

6.4 Results obtained of 12-pulse VSC-BTB-HVDC system using proposed GSS

approach

6.5 Comparative Results obtained in various generations of 12-pulse VSC based

BTB HVDC system using PSO approach

6.6 Optimum parameters of 12-pulse VSC based BTB HVDC system obtained
using PSO approach

6.7 PQ results obtained of 12-pulse VSC based HVDC system using proposed
GSS approach

6.8 Comparative results in various generations of 12-pulse VSC based HVDC

system using proposed PSO approach

xxi
 LIST OF SYMBOLS
Symbol Physical Quantities
VA Supply voltage in phase A

VB Supply voltage in phase B

VC Supply voltage in phase C

IA Supply current in phase A

IB Supply current in phase B

IC Supply current in phase C

Vrms RMS supply voltage

Irms RMS supply current

Vdc DC-link voltage

V*dc Reference DC-link voltage

N Neutral

Ve Voltage error

L Intermediate Inductor

P Active Power

Q Reactive Power

IAL Load Current

PCC Points-of-common coupling

Cdc DC-link capacitor

PI Proportional-Integral

δ Phase shift

Iref Reference current

I*A Reference current in phase A

xxii
 LIST OF SYMBOLS (Continued)
Symbol Physical quantities
I*B Reference current in phase B

I*C Reference current in phase C

Icon Control signal

Iline Line current

I1 Fundamental current

Ie Current error

m(t) Modulating signal

CSC Current source converter

CCC Capacitor commutated converter

HVDC High voltage direct current

BTB Back-to-back

VSC Voltage source converter

ΔIa Current error in phase A

ΔIb Current error in phase B

ΔIc Current error in phase C

fs Switching frequency

THD Total harmonic distortion

THDi Total current harmonic distortion

THDv Total voltage harmonic distortion

PF Power factor

CF Crest factor

DPF Displacement power factor

xxiii
 LIST OF SYMBOLS (Continued)
Symbol Physical quantities

Vrp DC-link voltage ripple

F(x) Objective function

GSS Golden section search

PSO Particle Swarm optimization

GA Genetic Algorithm

PQ Power quality

PLL Phase lock loop

Vp Transformer Primary voltage

Vs Transformer secondary voltage

kp Proportional controller

ki Integral controller

D Duty cycle

VL Line voltage

VAO Phase A voltage

VBO Phase B voltage

VCO Phase C voltage

N1 Primary turn of zig-zag transformer

N2 , N3 Secondary turn of zig-zag transformer

PWM Pulse width modulation

w Acceleration constant

c1 Cognition factor

c2 Social factor

xxiv
 LIST OF SYMBOLS (Continued)

Symbol Physical quantities

w1, w2, w3 Weighting factor

pbest Particle best

gbest Swarm best

vmax Maximum velocity

r1, r2 Random number

S1, S2, S3 Phase A, B, C modulating control signal

kpv Proportional gain of voltage controller

kiv Integral gain of voltage controller

kpc Proportional gain of current controller

kic Integral gain of current controller

r1, r2, r3 Transformer resistance

x1, x2, x3 Transformer reactance

Supper Upper switch

Slower Lower switch

x1, x2 Intermediate points

kU Upper limit

kL Lower limit

ʎ Golden ratio

xxv