MMC-Technologies: Presenters: Juan Carlos Garcia and Farid Mosallat February 26 - 2015

Webinar:
MMC- Technologies
Presenters: Juan Carlos Garcia and Farid Mosallat

February 26 - 2015
© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

1
Table of contents
1. Modular multi-level converters

2. dq decoupled vector current control
3. Half and H-bridge converters
4. Detailed equivalent models of MMC valves
5. Simulation of a two-terminal system
6. Simulation of a dc-fault and re-start process (half- and H-bridge
MMCs)
7. Setup of a three-terminal system (on-line demonstration – if time
allows)
8. Questions

2
If you have questions during
the Webinar
• Please e-mail PSCAD Support at
support@pscad.com

3
Grid-connected VSC:
Operation principle
∠0 ∠ E
jXLI
Supplying P: I δ
V
I V
Absorbing P:
Neglecting R: δ jXLI
∠0 ∠ E
Supplying Q: I V jXLI
∗
⇒
E
sin
V
cos I
Absorbing Q: E jXLI
4
Phase Locked Loop (PLL)
fsrc f (PLL)
110
Extracting the phase angle of phase-A 100

90
voltage 80
[Hz]
70
60
50
Theta
7.0
6.0
5.0
4.0
[rad]
3.0
2.0
1.0
0.0
Vq
0.10
0.00
-0.10
-0.20
-0.30
[kV]
-0.40
-0.50
-0.60
Cos(Theta) Va
1.00
0.50
0.00
[kV]
-0.50
-1.00
t [s] 2.520 2.540 2.560 2.580 2.600 2.620 2.640 2.660 2.680 2.700

5
Control modes for
grid-connected operation
Vabc
PLL θ
Basic control modes: (P/VDC), (Q/VAC)
θ
Rate limiter
Vabc abc vdq
P* d/dt
PI dq
-
P P controller 1: P control θ
Iabc abc idq
2: Vdc
Rate limiter
control dq
Vdc* d/dt
PI
- Current
θ
Vdc * limiter
id* Decoupled vd*
id1 Vabc*
current dq Valve
VDC controller iq1* controls
controller abc
Rate limiter
iq* vq *
Q* d/dt Imax
PI id iq
- Q controller 1: Q control
Q
Rate limiter VAC droop controller
2: Vac control
Vac* d/dt
- PI
Q Vrms
Dac
VAC droop VAC controller
6
Decoupled current control
strategy
Current vector control with PLL locking to phase A voltage (cosine
function)
vd
x1
id* +- PI - +- ed
id L
iq L
iq* +- PI -+
+ eq
x2
vq
7
Modular multilevel converters
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
8
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
VDC
-1.00
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
9
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC
VDC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
10
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
VDC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
11
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
12
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
13
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
14
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
15
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
16
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
17
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
18
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
19
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
20
Types of MMC
Half-Bridge MMC 2009 Siemens diagram
Note: Filters not required

21
VSC Valves: MMC
Half-Bridge – Cascaded 2-level converter
ABB diagram
22
VSC Valves: MMC
Full- or H-bridge cells

23
Half-bridge MMC

24
Half-bridge MMC
Three operating states in the half-bridge cell
State description Gates

Insert +Vc (T2)
Bypass capacitor (T1)
Blocked None
Forbidden (T1,T2)

25
Half-bridge MMC

2
* Vac_refT
+
Vdc 0.5 D -
F
Vac_ref
* Vac_refB
+
Vdc 0.5 D +
F
Vac_ref
Note: Half-bridge CAN NOT generate 0

26
Half-bridge MMC
Assuming modulating index = 1

2 2

⁄2 0
0 ⁄2 ⁄2
⁄2 0

27
Capacitor balancing: sorting
method – Half-bridge cell
iac < 0 iac > 0

Inserted cell Discharges capacitor Charges capacitor
Bypassed Prevents discharging of Prevents charging of

cell capacitor capacitor

28
Capacitor balancing: sorting
method – Half-bridge cell
Measurements
Vcapacitors,
Iac Balanced capacitor
Ordering of capacitors by voltages
voltage
Request for
IGBT firing insertion or bypass
of a cell capacitor Firing order
strategy
according to IGBT Firing
PWM, Level orders
table below
switching
Action
requested iac < 0 iac > 0
Insert cell Insert cell with highest voltage Insert cell with lowest voltage
Bypass cell Bypass cell with lowest voltage Bypass cell with highest voltage

29
Low Level Controls
Stages
Half-bridge cell Capacitor
balancing algorithm
Balanced
capacitor
IGBT firing voltages
Reference
strategy
voltage PWM, NLC,
waves etc.
Sinusoidal(*)
AC voltages
(*) or with harmonic content

as required

30
H-bridge MMC (full-bridge)

31
H-bridge
Four operating states

State description Gates T1 T2
Insert +Vc
Insert +Vc (T1,T4)
(T1,T4)
Insert -Vc
Insert -Vc (T3,T2)
(T3,T2) T3 T4
Bypass capacitor
Bypass capacitor (T1,T2) or
(T1,T2)
(T1,T2) or (T3,T4)
or(T3,T4)
(T3,T4)
Blocked
Blocked None
None
Forbidden
Forbidden (T1,T3) &
(T1,T3) & (T2,T4)
(T2,T4)

32
H-bridge

2
* Vac_refT
+
Vdc 0.5 D -
F
Vac_ref
* Vac_refB
+
Vdc 0.5 D +
F
Vac_ref
Note: H-bridge CAN generate 0

33
Half-bridge MMC
Assuming modulating index = 1.25
1.25
2

2 2

1.25 ⁄2 0.125 1.125
⁄2 0
0 ⁄2 ⁄2
⁄2 0
1.25 ⁄2 1.125 0.125
1.125
34
Modelling techniques:
MMC valves
Half- Half- Half-
bridge bridge bridge
• Simulation of MMC VSCs can
involve hundreds of nodes. This Half- Half- Half-
Can be in the
significantly reduces simulation bridge bridge bridge order of a few
hundred cells
speed. Half- Half- Half- per arm
Q1
Vdc
C
Q2 Half- Half- Half-
Half- Half- Half-

Half- Half- Half-


35
MMC valves
• Using Thevenin equivalent:
(detailed equivalent model)
Q1
C
Q2
U. N. Gnanarathna, A. M. Gole, and R. P.Jayasinghe, "Efficient Modeling of Modular Multilevel HVDC

Converters (MMC) on Electromagnetic Transient Simulation Programs," IEEE Transactions on Power Delivery,
vol.26, no.1, pp.316-324, Jan. 2011

36
MMC valves
• Using Thevenin equivalent:
(detailed equivalent model)
i1l
+
-
FP1
Vc1
Ic1
N1
+
-
FP13
Vc13
Ic13
100s of nodes into
+ FP2 + FP14
3 nodes
Vc2 Vc14
- Ic2 - Ic14
+ FP3 + FP15
Vc3 Vc15
- Ic3 - Ic15
+ FP4 + FP16
Vc4 Vc16
- Ic4 - Ic16
+ FP5 + FP17
Vc5 Vc17
Vc
- Ic5 - Ic17
+ FP6 + FP18
Vc6 Vc18
- Ic6 - Ic18
-
FP7
Vc7
Ic7
+
-
FP19
Vc19
Ic19
x10
+ FP8 + FP20
-
Vc8
Ic8 -
Vc20
Ic20
Ic
+ FP9 + FP21
Vc9 Vc21
- Ic9 - Ic21
+ FP10 + FP22
Vc10 Vc22
- Ic10 - Ic22
+ FP11 + FP23
Vc11 Vc23
- Ic11 - Ic23
+ FP12 + FP24
Vc12 Vc24
- Ic12 - Ic24
N1
n2l
• This type of model is identified in CIGRE WB B4-57 as model Type-4
• This model is good for system wide studies and for most DC fault simulations

37
Start-up sequence
Converter 1: Grid-connected mode ⟶ Controls Vdc and Q (or Vac)

Converter 2: Grid-connected mode ⟶ Controls P and Q (or Vac) – in black start
mode
Converter 1 Converter 2
• Energize transformer & Pre- After Vdc is regulated:
charge • Deblock converter 2
• Bypass pre-insertion resistor • Regulate Vac
• Deblock converter 1 • Ramp-up power transfer
• Regulate Vdc
V
Vdc
dc
Grid Vac AC network

in black start
Converter 1 Converter 2 mode
38
Start-up sequence
Vac - onshore
VPCC-T1 Vac - Offshore VAC-T2
1.25
1.00
0.50
(p.u.)
0.00
(p.u.)
-0.50
-1.00
-1.25
Iac T - Onshore Iac - Offshore
1.00
0.40
0.75 IAC-T1 IAC-T2
0.50 0.20
0.25
0.00
(p.u.)
0.00
(p.u.)
-0.25 -0.20
-0.50
-0.75 -0.40
-1.00
Vdc at onshore terminal (P-P) Vdc at offshore terminal (P-P)
1.20 1.20
1.00 1.00
0.80 0.80
0.60
(p.u.)
0.60
(p.u.)
0.40
VDC-T1 0.40 VDC-T2
0.20 0.20
0.00 0.00
Idc (onshore -> offshore) Idc (offshore->onshore)

0.80 1.00
0.60
IDC-T1 IDC-T2
0.40 0.50
0.20
0.00
(p.u.)
0.00
(p.u.)
-0.20
-0.40 -0.50
-0.60
-0.80 -1.00
t [s] t [s] 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60
0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60

39
Half-bridge DC faults performance
• Sustained DC faults (unlike LCC)
Applies to conventional
2-Level VSC and
Half-bridge MMC
• Most systems (except one) use cables:

• No need for fast re-energization
• Cables experience low occurrence of faults
• Fault clearing by opening AC breaker

40
• Most systems use cables:

• No need for fast re-energization
• Cables experience low occurrence of faults
• Fault clearing by opening AC breaker

41
DC faults in VSC systems with Overhead Lines

(OHL)
• High fault event frequency with OHL
• Need fast re-energization (re-closing) (400-500 ms) to prevent
AC system movement
• DC breakers are required in order to achieve fast re-
energization of DC system
DC Breaker

42
DC-Breakers
Fast Low voltage
disconnect PE switch 1. Overcurrent or DC fault
under voltage front
detected
High voltage
PE switch

43
DC-Breakers
Fast Low voltage
under voltage front
detected
2. De-block HV PE switch
High voltage
PE switch

44
DC-Breakers
Fast Low voltage
under voltage front
detected
3. Open LV PE switch
High voltage
PE switch

45
DC-Breakers
Fast Low voltage
under voltage front
detected
4. Current transferred to
HV PE switch
High voltage
PE switch

46
DC-Breakers
Fast Low voltage
under voltage front
detected
HV PE switch
5. Open fast disconnect
High voltage
PE switch

47
DC-Breakers
Fast Low voltage
under voltage front
detected
HV PE switch
6. Open HV PE switch
High voltage
PE switch

48
DC-Breakers
Fast Low voltage
under voltage front
detected
HV PE switch
6. Open HV PE switch
7. DC current
extinguished & energy
dissipated in arresters
High voltage
PE switch

49
Fault clearance in H-bridge
VSC systems (by blocking)
0 2

0
• Therefore lac=0 after blocking since
VACLL pk  m 3 Vdc
m 3 Vdc  2 Vdc
v c  Vdc

50
Simulation of DC faults in a
two-terminal system
System description
G1
• T1: P control
12.7 [m]
• T2: Vdc control C1 C2
• T1 & T2 in Vac control .4572 [m]

15.5 [m]
Tower: DC12
34.1 [m] Conductors: chukar
Ground_Wires: 1/2_HighStrengthSteel
0 [m]
TL Freq. dependent model

51
two-terminal system
DC Faults applied
• At close and remote terminals

• Middle of the line
• Low impedance faults (0.1 ohm)
DC Faults detection
• Valve overcurrent (2.7 kA level)
• DC voltage drop (40% of diode rectifier voltage

52
two-terminal system
Converter 1 Converter 2
Edc1
Edc1 Edc2
Edc2
0.8k 0.8k
0.5k 0.5k
0.3k 0.3k
0.0
0.0 0.0
0.0
-0.3k -0.3k
• The total time to restore 90% power
(kV)
(kV)
-0.5k -0.5k
-0.8k -0.8k
-1.0k
-1.3k
-1.0k
-1.3k was 450ms
IdcIdc
1->2 12 Idc Idc
2->1 21
10.0 10.0
8.0
6.0
4.0
7.5
5.0
2.5
• Including 200 ms de-ionization
2.0
0.0 0.0
time
(kA)
(kA)
-2.0 -2.5
-4.0 -5.0
-6.0
-8.0 -7.5 Main : Graphs
-10.0 -10.0
Vac T1
Phase voltages T1 Vac T2
Phase voltages T2 1.2k
P1 (-) P2
300 300 0.9004k
200 200 1.0k
0.8044k
100 100 0.8k -0.0959k
0 0 0.6k
(kV)
(kV)
Min -0.0108k
-100 -100
(MW)
0.4k Max 0.9006k
-200 -200
0.2k
-300 -300
Iac T1
Iac T1 Iac T2
Iac T2 0.0
10.0 10.0
8.0 8.0 -0.2k
6.0 6.0
4.0 4.0 -0.4k
2.0 2.0 x 2.00
0.0 0.0 1.80 1.90 2.00 2.10 2.20 2.30 2.40 2.50 2.60
(kA)
(kA)
-2.0 -2.0 2.45

-4.0 -4.0 0.45
-6.0 -6.0
-8.0 -8.0
-10.0 -10.0
x 1.960 1.980 2.000 2.020 2.040 2.060 2.080 2.100 x 1.960 1.980 2.000 2.020 2.040 2.060 2.080 2.100

53
Three-terminal system:
Demonstration setup
• Starting with the two-terminal system from CIGRE B4-57

• If time allows

54
Questions
• Please e-mail PSCAD Support at
support@pscad.com

55

MMC-Technologies: Presenters: Juan Carlos Garcia and Farid Mosallat February 26 - 2015

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Webinar:

Presenters: Juan Carlos Garcia and Farid Mosallat

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

1. Modular multi-level converters

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

• Please e-mail PSCAD Support at

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Extracting the phase angle of phase-A 100

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

sec 0.0000 0.0050 0.0100 0.0150 0.0200

Half-Bridge MMC 2009 Siemens diagram

Note: Filters not required

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Half-Bridge – Cascaded 2-level converter

Full- or H-bridge cells

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Three operating states in the half-bridge cell

State description Gates

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Note: Half-bridge CAN NOT generate 0

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Assuming modulating index = 1

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

iac < 0 iac > 0

Bypassed Prevents discharging of Prevents charging of

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

(*) or with harmonic content

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Four operating states

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Note: H-bridge CAN generate 0

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Assuming modulating index = 1.25

1.25 ⁄2 1.125 0.125

Half- Half- Half-

Half- Half- Half-

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

U. N. Gnanarathna, A. M. Gole, and R. P.Jayasinghe, "Efficient Modeling of Modular Multilevel HVDC

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

• This type of model is identified in CIGRE WB B4-57 as model Type-4

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Converter 1: Grid-connected mode ⟶ Controls Vdc and Q (or Vac)

Grid Vac AC network

Idc (onshore -> offshore) Idc (offshore->onshore)

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

• Sustained DC faults (unlike LCC)

• Most systems (except one) use cables:

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

• Most systems use cables:

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

DC faults in VSC systems with Overhead Lines

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

© Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.