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Optimal control design for VSC-HVDC systems

Conference Paper · March 2013

DOI: 10.1109/ICEESA.2013.6578365

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 Optimal Control Design for VSC-HVDC Systems
Mohamed Ayari1 , Mohamed Moez Belhaouane1† , Naceur Benhadj Braiek1 and Xavier Guillaud2
Abstract—This paper deals with modeling and optimal control
design of VSC-HVDC transmission system in order to enhance
system stability. The steady of the state mathematical model for
GL (Generator-Load) VSC-HVDC system is developed and the
decoupled relationship between the controlling variables is pro-
posed. Furthermore, this work focuses on the design of optimal
PI (proportional-integral) controller which aims to maintain DC
link voltage and control the reactive power. The effectiveness
of the proposed optimal control scheme is proved through
digital simulation studies on a VSC-HVDC power system, using
MATLAB/Simulink software. The simulation results shows that
the proposed optimal PI controller is effective to enhance power
system stability.
Keywords: VSC-HVDC transmission system, optimal PI
controller, Linear quadratic optimal control, decoupling con-
trol.
I. I NTRODUCTION
In the past five decades, significant development of the high
voltage direct current (HVDC) has occurred. It has to be a
reliable and valuable transmission field for electrical energy
and has a number of technical advantages compared with
HVAC transmission such as the environmental, technical and
economical merits [14],[26],[32].
Most of these transmission systems have used the line
commutated converter (LCC) that is based on current source
converter (CSC) using thyristor technology. The limitations
of this technology resides in the control of the thyristor that
cannot be turned off directly with gate signal [7]. Recently,
with the developments of power electronics, voltage source
converter (VSC) has been gotten much more attention. The
concept of voltage source converter based on HVDC (VSC-
HVDC) was initiated by B. T. Ooi and X. Wang in 1990
[8]. It uses self-commutating switches, that are the gate-turn-
off thyristors (GTOs) and in most industrial case insulated
gate bipolar transistors (IGBTs) which can be turned on
or off at will. The evolution of power electronics opens
opportunities for the power industry. Which is commercially
known as HVDC LightT M by ABB group that is based
on PWM to produce freely his own wave sinusoı̈dal voltage
independently of the AC. Simmens also offers VSC-HVDC
variant, commercialized as HVDC P lusT M , it uses a new
multi-level approach. The first commercial VSC based HVDC
transmission was first commissioned in 1999 on the island of
1 Advanced System Laboratory (Laboratoire des Systèmes Avancés - LSA)
Polytechnic School of Tunisia - EPT, University of Carthage. BP 743, 2078 La
Marsa, Tunisia. (E-mails: moez.belhaouane@ept.rnu.tn (M.M. Belhaouane),
naceur.benhadj@ept.rnu.tn (N. Benhadj Braiek)).
2 Laboratory of Electrical Engineering and Power Electronic (L2EP), Ecole
Centrale de Lille, Cité Scientifique, BP 48 - 59851 Villeneuve d’Ascq Cedex
- France. (E-mail: xavier.guillaud@ec-lille.fr (X. Guillaud)).
† Corresponding author. Tel.: 0021698955835; fax: 0021671748843.
U.S. Government work not protected by U.S. copyright
Gotland with an underground cable of 50 km. The topolo-
gies of power converters VSC evolve to increase the power
transferred also they are classified into three types namely:
two levels converter, three levels converter (NPC) and modular
multilevel converter (MMC).
This evolution of power electronics is accompanied by a
progression of control techniques used to ensure the stability
of VSC-HVDC system. The design of controllers for VSC-
HVDC system is mainly based on its mathematical model.
However, the real physical system is easy to be influenced
by the external interference of the uncertainty, such as the
stochastic fluctuation of the load faults of AC system and DC
link. So, it’is important to design the VSC-HVDC controllers
to improve the transient stability and to reduce the influences
of uncertainties and external perturbations. In this way, many
linear and nonlinear control strategy of VSC-HVDC systems
have been developed [6] [7], such as PI control Scheme [3] [4].
Due to their simplicity, conventional PI controllers are widely
studied in the literature based on inner and outer control loops.
Thus, our contribution aims to achieve optimal performance
of the control design. In our present work, we consider the
modeling and control study of Generator-Load (GL) VSC-
HVDC system. Hence, we exploit a linear quadratic optimal
control method combined with a conventional PI controller to
govern the reactive power on the VSC’s AC side and the DC
voltage to their corresponding reference values. On the other
hand, the designed optimal PI controller is compared to the
classic one.
The paper is organized as follows. Firstly, an overview
of VSC-HVDC transmission system technology is described.
Secondly, the modeling of the GL VSC-HVDC is presented.
The Section IV, is devoted to the development of the main
contribution which concerns the synthesis of a optimal PI
controllers which aim to enhance the system stability with
good performance over a wide range of operating conditions.
In Section V, the validity of the proposed control approach
is verified via simulation study using MATLAB/Simulink.
Finally, conclusions are drawn in Section VI.
II. OVERVIEW OF HVDC TRANSMISSION SYSTEMS
The increase in the consumption of the electric power during
last decades is compensated overall by the development of the
systems of conventional production. This source is unsuitable
due mainly to their resources limited of the primary energy
which have the negative impacts induced to the environment.
To overcome this problem, a developments and research
studies are given in the power electronics field. Thus, the
transmission technology of high voltage direct current has
appeared. The HVDC is available in two technologies, the
classical LCC-HVDC and the recommended VSC-HVDC. The
difference between them resides on the power flow how is
altered by changing the DC current direction. Thus, active
and reactive powers are independently controlled as in AC
transmission. Furthermore, no communication between sta-
tions when normal operation is required [1],[12].
Clearly, the most common arguments put forward by the Fig. 1. Basic structure of GL VSC-HVDC
supporters of the HVDC technology in addition to its envi-
ronmental and economical merits [2]:
in the AC side is expressed by:
• To transmit large blocks of energy, particularly in under-
sea transmission applications. For long AC cable systems, dis1
L1 + R1 is1 = ug1 − um1 (1)
the cable capacitance will limit the maximum possible dt
transmission distance unlike for the DC systems.
• To reduce active power losses. For the same power
capacity, an HVDC has lower transmission losses than
an AC system, even with converter losses.
• To connect asynchronous systems especially with differ-
ent nominal frequencies.
• To control all DC and neighboring AC parameters with
sufficient accuracy and speed of response. Additionally,
constant power transfer can be exerted and the power
flow in the AC network can be redistributed. Damping of
power swings is possible as well in favor of the acceptable
speed of response. Fig. 2. d-q phasor diagram
• To lower short circuit currents. HVDC systems do not
contribute to short circuit currents to the AC system. The voltage drop in each ’phase’ is described by the
The configuration of a network HVDC is explained accord- equation (1). According to the phasor diagram illustrated in
ing to the modes of the converter and locations of conversion Fig. (2) and for a duty cycle r1 , the following equations to
stations. The three main configurations are [2]: the three-phase balanced system is defined in the d-q rotating
• Point to point HVDC transmission: this type of transmis- reference frame by:
sion uses overhead lines or submarine cables to connect  jθ jγ
 ~ug1 = Ug1 e 1 e 1 = Ug1d + jUg1q
the converter stations. The ground is used as a return path
~um1 = Um1 ejθ1 ejψ1 = Um1d + jUm1q (2)
for the current. ~
is1 = Is1 ejθ1 ejϕ1 = Is1d + jIs1q
• Back to back HVDC stations: in which the two converters
are located in the same station and are used to connect Furthermore, given the duty cycle r1 , we can write:
two asynchronous AC systems. us1 jψω1 us1 us1
~um1 = r1 e = m1d + jm1q (3)
• Multi-terminal HVDC system: in which more than two 2 2 2
converter stations are included. Then,
um1d um1q
m1d = 2 and m1q = 2 (4)
III. M ODELING OF VSC-HVDC SYSTEMS us1 us1
In this section, the model of the converter substation of where m1d and m1q are the dimensionless d-q components
the VSC-HVDC transmission based on d-q axis is introduced. that show the relation between the d-q voltage components on
According to Fig. (1), the electrical studied system represents the AC side of the VSC-HVDC transmission system and the
a converter substation of the HVDC transmission system DC bus voltage us1 .
coupled with AC network via equivalent impedances R1 +jL1 . The power exchange in d-q reference frame is given by,
Capacitor C1 is used across the DC side of the VSC to boost 3
Pm = (um1d is1d + um1q is1q ) (5)
the DC voltage during feeding a load which both R and L 2
respectively refer to the load equivalent resistance and its According to equation (5) and applying the power equality
equivalent inductance. on both sides of the rectifier, we obtain:
scheme of the similar systems studied is depicted. It consists 3
of the AC grids with a converter via equivalent impedances PmAC = PmDC =⇒ us1 im1 = (um1d is1d + um1q is1q )
2
R1 + jL1 . DC capacitor C1 is used across DC side during (6)
feeding a load of an equivalent resistance R and an equivalent According the equations (1), (4) and (6), the global
inductance L. According to Fig. (1), and applying the Kirch- continuous-time equivalent mathematical model of VSC-
hoff’s theorem, the differential equation describing the system HVDC system, that indicates the relations chips among the
system’s different variables is thus exhibitor by the following where v and e respectively designate the output of the con-
fourth-order state space equation: troller and the error between the reference and the controlled
state variable.
dis1d R1 1 1

 dt = − L is1d + ω1 is1q − 2L m1d us1 + L ug1d


 1 1 1
From (11), the dynamics of the error can be written in the




state space by:


 dis1q R1 1 1
 dt = −ω1 is1d − L1 is1q − 2L1 m1q us1 + L1 ug1q


  
e
ẋe = Ae xe + Be vi where xe = i (12)

 dus1 3 3 1 zi
= m1d is1d + m1q is1q − il1


dt 4C1 4C1 C1

The synthesis of the optimal parameters are obtained by the




minimization of an quadratic criterion J, given by:


 dil1 = 1 u − R i



s1 l1
1 +∞ T
Z
dt L L
(7) J= (xe Qxe + viT Rvi ) dt (13)
2 0
Which can be expressed as:
The development of the optimal quadratic control theory to

 ẋ = [A]x + g(x)u + [R]z the system (12) with the criterion (13) leads to the following
(8) control law:
y = h(x, u, z)x vi = −Ki xe (14)


 T with
 x1...4 = [is1d , is1q , us1 , il1 ] ; uT1...2 = [m1d , m1q ]
where Ki = R−1 BeT Si (15)
T T
y1...2 = [Pm1 , Qm1 ] and z1...2 = [ug1d , ug1q ]

where S is a symmetric non-negative defined matrix , that is
(9) solution of the Riccati equation:
The active and reactive powers supplied to both AC sides of
Si Ae + ATe Si − Si Be R−1 BeT Si + Q = 0 (16)
the three-phase converter denoted by Pg1 , Qg1 , Pm1 and Qm1
respectively are given by: By using the command lqr from the software M AT LAB ,

3 we obtain:
 Pg1 = (ug1d is1d + ug1q is1q )
Ki = [ki1 ki2 ]



 2 (17)




 3 B. Synthesis of optimal PI controller
 Qg1 = 2 (ug1q is1d − ug1d is1q )



(10) In this section, we present a method of VSC-HVDC control

 3 via cascaded PI controllers. Based on the model, two control

 Pm1 = (um1d is1d + um1q is1q ) loops are obtained that have two proportional-integral designed
2



P I1 and P I2 . The inner loop regulates the currents and the



 Qm1 = 3 (um1q is1d − um1d is1q )

outer loop controls the voltage in the DC side.


2
Texte•enInner
rouge
current control loop
IV. O PTIMAL CONTROL SCHEME FOR VSC-HVDC
SYSTEMS From (7), the variation of the AC currents can be expressed
by the following relations:
A. Control problem formulation
dis1d R1 1

After modeling the steady state system, and additional con- 
 = − is1d + u1d
trol loop will be necessary for maintaining unity power factors  dt
 L1 L1
(18)
for AC side of the VSC-HVDC and governing the DC voltage  di R 1
 s1q = − 1 is1q +

for DC side. For this purpose, the control system is based  u1q
dt L1 L1
on a inner current control loop controlling the AC current
and outer controllers which supply the current references for where
the DC voltage control loop. Thus, optimal PI controllers are  1
proposed to control the reactive power on the VSC’s AC side  u1d = ω1 L1 is1q − 2 m1d us1 + ug1d


and to govern the DC voltage to their corresponding reference (19)
values. 
 1
 u1q = −ω1 L1 is1d − m1q um1 + ug1q
The optimal PI controller is given by the following transfert 2
function:
v ki2 By substituting is1d and is1q respectively, by (Is1d,ref − e1d )
P Ii (s) = = ki1 + (11) and (Is1q,ref − e1q ) in (18), the variations of the error e1d
e s
and e1q and their integral actions like z1d and z1q of the PI By substituting us1 by (Us1,ref − e1c ) into (23), the variations
controllers (noted PI1 ) are given by: of the error e1c and integral action z1c of the proposed

de1d R1 1 controller are given by:

 = − e1d + v1d


 dt L 1 L 1

de1c 1
 dt = − C1 ic1

 

 


 dz1d
 dt = e1d


 (25)
(20)

 dz 1c
= e1c



 de1q R1 1 dt

 = − e1q + v1q
dt L1 L1

Based on the state space model (25), the minimization of






 dz1q = e1q



dt
where the outputs of the PI controllers are expressed by:
v1d = R1 Is1dref − u1d
(21)
v1q = R1 Is1qref − u1q
So, the control signals are given by:
2 Fig. 4. Outer control loop for DC voltage
m1d = (−u1d + ω1 L1 is1q + ug1d )
us1
(22) a quadratic criterion J leads to achieve the stability of the
2 studied GL VSC-HVDC system. So, from the equation (24),
m1q = (−u1q − ω1 L1 is1d + ug1q )
us1 we get:
Based on the proposed optimal control approach and the de-
4
Is1d,ref = (−ic1 − 0.75m1q is1q + il1 ) (26)
3m1d

Note that we can divide by m1d since this control variable is

never equal to zero. Moreover, the reactive power is controlled
through the current is1q such as:
3
2 um1q is1d − Qm1ref
Is1qref = 3 (27)
2 um1d

Similarly to the inner control loops, to overcome the nonlinear-

ity problem between the d−q currents and control variables, a
Fig. 3. Overall system’s block diagram together with inner current controllers
simple manipulation is used as illustrated in Fig.4. The outer
loop PI controller’ gains are also determined by the optimal
coupling control method, the current control loops are deciped control approach which guarantee a slow dynamic of the
in Fig.3. The nonlinearities between the DC voltage and the outer voltage loop with a desired settling time approximately
control variables are contoured by a simple manipulations (the 100 ms, and to guarantee controlling the reactive power and
encircled portions) as shown in Fig.3. The gains of the inner governing the voltage on the converter’s DC side.
current control loops are designed from the proposed optimal
control approach which guarantee a fast dynamic of the inner V. S IMULATIONS STUDIES
loop with a desired settling time approximately 5 ms.
• Outer control loop To validate the established steady-state model and the
proposed control strategies, simulation studies of the VSC-
From (7), the variation of the DC voltage can be written as: HVDC system have been done with MATLAB/SIMULIK for
the operating conditions.
dus1 1
= ic1 (23)
dt C1
A. System parameters
where, the output of the extern optimal PI2 controller is
expressed by: The parameters of VSC-HVDC transmission system and the
3 3 obtained PI controllers are Listed respectively in Tables I and
ic1 = m1d is1d + m1q is1q − i1l (24) II.
4 4
 TABLE I
PARAMETERS OF THE SIMULATION SYSTEM

Quantities Values
Frequency for AC network f1 (Hz) 50
AC line resister: R1 (Ω) 0.01
AC line reactor: L1 (mH) 40
Shunt capacitors C1 (µF) 20
Load resistance R (Ω) 450
Load inductance L (mH) 11.5
Input voltage ug1d (kV) 250
Input voltage ug1q (V) 0
Rated DC Voltage us1 (kV) 300

TABLE II
G AIN OF OPTIMAL PI CONTROLLER

Proportional gain Values Integral gain Values Fig. 5. Currents is1d and is1q behavior
k11 −31.6128 k12 −2.4495 10−4
k21 7.2548 10−4 k22 7.2548 10−12

B. Simulation results
The system states and outputs behavior considering a vari-
ation in the load current il1 are illustrated in Figs.5-7. In
order to prove the performance of the proposed optimal control
approach for synthesis of PI parameters, both traditional and
optimal PI controllers are used in simulation studies. The ob-
tained gains of the optimal PI controllers are given in TableII.
As mentioned above, two control cascaded loops with either
fast and slow dynamics (settling times of inner and outer loops
are respectively about 4.95 mseconds and 107 mseconds).
The reference value of DC voltage is Us1 = 300 KV . As
shown in Figs.5-7, the states system responses are stable even
when in presence of a variation in load current. Obviously, Fig. 6. DC Current and voltage behaviors
Us1 and Q1 are governed to their corresponding reference
values of 300 KV and 0 M V ar. The d−q current component’s
behavior are depicted in Fig.5. The time responses of current
variables is1d and is1q reach new stable steady state values in
consequence of load current variation. Unlike, the il1 behavior,
the active power P1 is significantly impacted by load current
variation. So, compared to classic PI controller, the simulation
results show that the PI optimal controllers can efficiency
decrease the fluctuations of DC voltage and increase the
stability of the VSC-HVDC system.

VI. C ONCLUSION
For VSC-HVDC transmission systems, it is important to
design control strategies to satisfy stability requirements under
the external perturbations and all possible normal and abnor-
mal situations. After developing the system’s mathematical
model, an optimal control method is designed and formulated Fig. 7. Active and reactive power behaviors
to govern the DC link voltage and to control the reactive power
in AC side of the VSC-HVDC system.
The conventional PI control scheme is used where a fast The gains of PI controllers are calculated using the optimal
inner loop current controllers and slow outer loop voltage con- LQ method. In order to verify the validity of the proposed
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