Application Research on VSC-HVDC in Urban

Power Network
Jian Luo, Jianguo Yao, Di Wu, Chuanxin Wen, Shenchun Yang, Ji Liu
Research Centre of State Grid Electronic Power Research Institute, Nanjing, China

Abstract—This paper analyzes the problems that the modern state control under normal condition, transient stability control
after disturbance and start control is proposed. This method
urban power network faced with its fast development. The can improve the steady-state stability and transient stability,
technical prospect of applying High Voltage Direct Current restraint short-circuit current and improve power quality. In
this paper, the model of VSC-HVDC system based on
Transmission System based on Voltage Source Converters (VSC-
cooperative control is constructed, and the time-domain
HVDC) to solving foregoing problems is discussed. Based on simulation analysis of an example of accessing the VSC-
multi-objection coupling control strategy, a cooperative control HVDC model in urban power network is carried out.
method with steady-state control under normal condition, II. FEASIBILITY ANALYSIS OF APPLYING VSC-
transient stability control after disturbance and start control is HVDC TO URBAN POWER NETWORK
proposed. This method can improve the steady-state and A. Brief Introduction of VSC-HVDC Technology
transient stability, restraint short-circuit current and improve P1 P2
Q1 Q2
power quality. In this paper, the model of VSC-HVDC system Us1∠0 Uc1∠δ1 Uc2∠δ2 Us2∠0
X1 X2
based on cooperative control is constructed, and the time-domain
I1 I2
simulation analysis of an example of accessing the VSC-HVDC
model in urban power network is carried out. Simulation results
Fig.1. Schematic diagram of VSC-HVDC System.
show that VSC-HVDC technology can realize flexible and
separate control of reactive & active power, enhance system VSC-HVDC technology is a novel direct current
transmission technology based on Voltage Source Converter
stability of urban power network, and improve power quality. (VSC), controllable turn-off devices, and pulse width
modulation (PWM) technology. The fast turn-off
characteristic of high power IGBT makes the control effect of
Key Words—VSC-HVDC; Urban Power Network; Cooperative
VSC a big different. The high-speed on-off characteristic
Control; Stability
provides hardware conditions for introducing PWM
technology into control of VSC. Applying PWM technology
I. INTRODUCTION) makes instantaneously altering the phase and amplitude of ac
Along with the sustained development of our country output voltage be possible.
urban economy and improvement of the people living standard,
Instantaneous reactive power theory for three-phase
the urban load density and electricity consumption per capita
circuit was proposed by Hirofumi Akagi in 1983[3]. This
of our major cities grow rapidly. But take the environmental
theory breaks through the traditional power definition based
protection and restriction of land resource for consideration,
on mean value. Now this theory is applied in VSC-HVDC
the line corridor of urban power supply grow more and more
technology and provides theoretical basis for separate and fast
congesting, even the power supply bottleneck of lacking
control of reactive & active power.
necessary line corridor may occur [1]. When the existing AC
transmission line load is close to the limit, the loss will Fig.1 shows that the exchange power of active power and
increase, the power quality will degrade and the stability of reactive power from the standpoint of AC system side
power network will be under negative influence. Thus it is calculated in per-unit [4] can be described as:
necessary to reform existing transmission assets and promote
power density of existing transmission corridor. High Voltage 2
Direct Current Transmission technology based on Voltage U s∗1 λ
P1∗ = sin δ 1
Source Converters (VSC-HVDC) has a great potential in X∗ ˄1˅
cooperatively solving these existing problems [2]. ∗2
U
Therefore, based on problems that fast development of Q1∗ = (1 − λ cos δ 1)
s1
∗
X
modern urban grid faces, this paper analyzes the technology
prospect of utilizing VSC-HVDC to solve these urban grid ∗
development problems. Based on multi-objection coupling where˖ λ = U c1 DŽ
control strategy, a cooperative control method with steady- U s∗1

IEEE Power Engineering and Automation Conference (PEAM2010)

___________________________________
978-1-4244-9690-7/11/$26.00 ©2011 IEEE
1



Q∗
λmin = 1 − X ∗
λ = 1.0
P1∗ + jQ1∗ = 1.0 p⋅u⋅
λmax = 1 + X ∗
δ min δ max
Fig.2. PQ diagram of Converter Station
∗ Although compared with other power supply modes, VSC-
Under the effect of AC voltage U s1 , the operation range
of active & reactive power exchanged between voltage source
converter and AC system can be described by PQ diagram, as
shown in Fig.6. Keeping δ 1 constant and altering λ will
result in a series of straight lines, such as δ max
Keeping λ constant and altering δ1 will result in a series of
concentric circles, such as λmax = 1 + X ∗ ǃ λ = 1 .0
λmin = 1 − X ∗ . The capacity of converter station can be
represented by circle of P1∗ + jQ1∗ = 1.0 p⋅u . Adjusting the
value of λ and δ 1 can make VSC continuously run in any
point within the circle. If there is no need for active power
transmission, the converter station can operate as STATCOM,
and provide capacitive and inductive reactive power for
connected AC system.
B. Prospect of Applying VSC-HVDC to Urban Power
Network
Using VSC-HVDC technology can not only settle the
existing problems of urban power network, but satisfy the
requirement of future urban power network and improve the
safety and stability of power system operation. It mainly is
presented in the following aspects:
l) Enhance Power Supply Capability of Urban Power
Network
Adopting novel crosslinked polyethylene (XLPE) cable,
VSC-HVDC system not only have the characteristics of little
space occupation and strong transfer capacity, but can be
installed within existing ac cables or line corridors. Thus
transmission corridor could be fully utilized, power supply
capacity of urban power network could be enhanced, and
urban load demand could be satisfied.
2) Enhance the Stability and Controllability of Urban
Power Network
VSC-HVDC can fast and flexibly control active power
transferred, meanwhile it can dynamically compensate
reactive power to AC bus and stabilize AC bus voltage. This
can provide necessary reactive power support. Also this
realize optimal regulation of power flow during normal
operation, rapid & emergent power support within AC system
and isolate fault for limiting extension of accident. Meanwhile
ˈVSC-HVDC system could enhance the controllability and
anti-jamming ability to improve operation stability, maintain
short-circuit capacity, and improve power quality.
3) Enhance Feasibility of Urban Power Network
P∗ Construction
VSC-HVDC has compact structure and little space
occupation. Modularized design shortens the cycle of design,
production, installation, and adjustment. Adopting novel
crosslinked polyethylene (XLPE) DC cable has a feature of
oil-free, little electromagnetic radiation and radio interference,
and is beneficial to realize coordination between municipal
facilities and environment.
HVDC system requires vast investment and its economic
performance is poor. But due to its little space occupation and
more coordinated with environment, VSC-HVDC is easier to
satisfy development of future power system. It can be
expected that due to reasonable cost and unique technology
and δ min . characteristic, it has a great prospect of applying VSC-HVDC
to power construction in the near future.
ǃ III. COORDINATED CONTROL METHOD APPLIED
TO VSC-HVDC
In this paper, the control of VSC-HVDC is divided into
three parts: steady-state control under normal condition,
transient stability control after disturbance and start control.
A. Steady-State Control Under Normal Condition
When system is under normal condition, based on
stationary state mathematical model of VSC-HVDC, a non-
linear controller which controls physical quantities of active
power type and reactive power type is established. Physical
quantities of active power type include active power, DC
voltage, frequency, and DC current. Physical quantities of
reactive power type include reactive power, AC voltage. In
different situation, active power type control strategy and
reactive power type control strategy should be selected
properly.
According to instantaneous power theory, the active power
Ps and reactive power Qs exchanged between converter and
AC system in abc three-phase static frame can be described:
Ps = u sa ia + usb ib + usc ic
˄2˅
Qs = ª¬( usa − usb ) ic + ( usb − usc ) ia + ( usc − usa ) ib º¼ 3
In d-q synchronously rotating reference frame, when
rotating voltage vector U s is located to d-axis, U sq = 0 and
the power can be described as:
3
ps = U sd id
2
3
qs = − U sd iq
2 ˄3˅

 Equation˄3˅show that the instantaneous active power is limiting loop, is an effective control strategy to prevent swing
directly related to id , while the instantaneous reactive power of VSC-HVDC system, improve power quality, and avoid
enlarging fault range. Each loop has different rolls, and these
is determined by iq . So, the control objective of DC voltage loops shall be coordinated with control strategy under normal
and active power determines d-axis current reference condition so that VSC-HVDC system can reliably and
efficiently operate.
value idref , and the control objective of AC voltage and
1) Dynastic adjusting loop
reactive power determines q-axis current reference value iqref .
Dynamic Regulating Part
Fig.3 shows that, the Pm in active power controller is a
Pm
Changing Rate Part Limiting Range Part disturbance reference value added when considering system
Pset Limiting
Current Part
swings. It is added with stability instruction value Pset for
Pref
id max preventing system swing, improving the static stability of AC
ps 1 K system, and providing emergent power support to keep AC
K Pp + Pi I dref
1 + Ts s s system stable after disturbance. The dynastic voltage
id min
regulating quantity U m in AC voltage controller is set for the
(a)Active Power Controller
purpose of promoting the response ability of coping with
ΔU dm
dynastic change of system voltage, and inhibiting voltage sag,
U dset voltage flick and other power quality problems. The dynastic
U dref
id max reactive power regulating variable Qm in reactive power
1 K ui I dref controller is set for the purpose of inhibiting system voltage
ud K up +
1 + Ts s s
id min flick, improving power quality, and fast regulating reactive
(b)DC-Voltage Controller power to keep the transient stability of AC system.
Um
2) Amplitude and Current Limiting Loop
U set
U sref
To ensure each electric quantity be controlled within
iq max allowable range when regulating active power, reactive power,
Us 1 K I qref
DC voltage, and AC voltage, each controller shall set
KUp + Ui
1 + Ts s s amplitude limiting loop to ensure the reference value of each
iq min controller’s control quantity within allowable range, as shown
(c)AC-Voltage Controller
Qm
in Fig.3. Meanwhile, the overload capacity of Voltage Source
Converter Station is relatively small, when power system
Qset occurs fault or be subjected to disturbance, a great overcurrent
Qref
will generate which may result in damage of IGBTs and other
iq max equipments. So, the current limiting loop can be set in the
qs 1 K Qi I qref controller in order to control the value of current that flows
1 + Ts s K Qp +
s through converter valve, as shown in Fig.3. The output of
iq min
(d)Inactive Power Controller current reference idref and iqref is added with a current limiting
Fig.3. Schematic diagram of Different Objective Control Strategy loop to promote the anti-disturbance ability and restraint short
circuit current.
Fig.3 shows several control strategies, where Pset and
U dset in (a) and (b) determine the stability operation points of IV. SIMULATION ANALYSIS
system active power and DC voltage. U set and Qset in (c) A. Setting of System Parameters
and (d) determine the stability operation points of AC voltage The VSC-HVDC system model based on foregoing
of passive bus and system reactive power. Each stability cooperative control strategy is built in the PSCAD/EMTDC
operation point Pset ǃ U set and Qset has rate-limiter in order environment [4]. Taking IEEE-9 bus model as a reference, a
to ensure the input and output power of VSC-HVDC system double-zone power system model including four generators is
change smoothly, and to prevent swing of connected AC built to simulate an urban power network[5][6]. The VSC-
system caused by step-change of reference value. Different HVDC control model is based on multi-objection coupling
multi-objective control strategy can realize by several controller, and the simulation calculation of several situations
combination, such as (a)&(c) ˈ (a)&(d) ˈ (b)&(c) ˈ and of accessing this VSC-HVDC model in urban power network
is carried out [7][8][9]. The system simulation model is given in
(b)&(d).
Fig. 4. A VSC-HVDC line is added between bus 1 and bus 3.
B. Stability Control after Disturbance Bus 3, 4, 6, 7 and AC lines between them constitute the
Utilizing dynastic adjusting loop, amplitude & current simulated environment of urban power network, and load at


bus 3 side simulate distribution network load. Where, the main
circuit of converters in VSC-HVDC system adopt 2-level and
three-phase-bridge structure, the switching frequency
f=1350Hz, the line-to-line voltage of AC system Us=220kV,
rated power is 100 MW and the DC voltage is 110 kV.
The initial control strategy of VSC-HVDC system is that:
Converter station 1 adopts DC voltage fixed and reactive
power fixed control mode, and station 2 adopts active power
fixed and reactive power fixed control mode. It is assumed
that the definition direction of power flow in this model is
from station 2 to load.

Fig.5. Three-phase short circuit fault at the system side of station 1

C. Voltage Stability Simulation Analysis of Network Without

Power Source

Fig.4. Simulation Model of Urban Power Network

B. Simulation Analysis of Inhibiting Short Circuit Current

Cut off the AC line between bus 1 and bus 3, then start up
VSC-HVDC system, and the transmission power is
transmitted through VSC-HVDC line. The VSC-HVDC
system comes into stable stat after operating 3s. At this
moment, the value of DC voltage of converter station 1 is
maintained at 110kV, AC system outputs 0.6pu active power
to station 1, and station 1 provides 0.5pu reactive power to AC
system. Set three-phase short circuit fault occurring at bus 1 at
5s and the fault lasts 0.1s. The system response diagram of
Fig.6. System response when load changes at bus 3
station 1 is given in Fig. 5.
It is supposed that the AC transmission line connected to
As shown in Fig.6, the value of DC voltage will drop when
bus 3 is cut off due to system faults, and the VSC-HVDC
three-phase short circuit fault occurs at the side of AC system,
system provide power support for loads at bus 3 side. The
then the transient stability control strategy for inhibiting
control mode of VSC-HVDC system is changed into passive
system disturbance begins to work. Under the action of multi-
power network operation mode to provide power and stabilize
objection coupling controller, the output active power &
the bus voltage. It is assumed that in this part the definition
reactive power exchanged between AC system and converter
direction of power flow at station 2 is from station 2 to loads.
station 1 decline quickly without generating swing during the
Set the control mode of station 1 to keep unchanged, and start
system faults. When the fault is cut off, the instantaneous
control system of station 2 at 2.8s. The load whose rate power
active power & reactive power recover to the normal level
is 0.3pu active power and 1.6pu reactive power is connected to
with a light swing. Where, the swing amplitude is limited
bus 3 at 4s, and is cut off at 5s. The system response diagram
within a certain range. Meanwhile, the value of short circuit
of load being changed is given in Fig.6.
current at AC system side is also restricted within limited
range. In traditional transmission, load mutation usually results in
change of power demand, and then causes bus voltage sag or
bus voltage swelling. As shown in Fig.6, under the action of
cooperative controller of VSC-HVDC technology, the power
from converter station 2 to bus 3 will automatically be adjusted


and reach balance, and bus voltage can be adjusted to the
normal value by the controller when voltage sag and voltage
swelling occur.
V. CONCLUSION
A simulation model of the VSC-HVDC accessed to urban
power network is built in the PSCAD/EMTDC environment.
The multi-objective coupling control system based on
cooperative control strategy is constructed and applied to VSC-
HVDC system. Several special operation conditions of
accessing VSC-HVDC in urban power network are simulated.
Simulation results show that VSC-HVDC system can provide
flexible power support with no static error, restraint short
circuit current level when power system faults, and provide
separate active & reactive power support, and stabilize the bus
voltage. Therefore, there is a great prospect of applying the
VSC-HVDC technology to urban power network.
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Jian Luo was born in Jiangsu, china, in 1977. She is working
at Research Centre of State Grid Electronic Power Research
Institute. Her research interests are digital protection, power
electronics technology and its application in power system.
Jianguo Yao was born in Fujian, china, in 1962. He now is
director of Research Centre of State Grid Electronic Power
Research Institute. His research interests are automation of
electric power system.
Di Wu was born in Shandong, china, in 1985. He now is
working at Research Centre of State Grid Electronic Power
Research Institute. His research interests are power electronics
technology and its application in power system.