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WIND POWER

Stephen Finney Oct 13, 2017 1 0

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Author(s): Lie Xu; Stephen Finney; Olivier Despouys

Multi-terminal HVDC transmission technology using voltage source converters has


been proposed for integrating large offshore wind farms into transmission grids. This
article introduces some of the main concepts and challenges associated with the
design and development of large offshore DC systems. Different converter topologies
and offshore DC grid configurations are discussed. Droop based DC voltage control
and power dispatch strategies are described and strategies for safe ride through
onshore AC grid fault are explored. System behaviour and protection requirement

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The UK Government has committed to ensuring 15% of the UK’s energy demand is
provided by renewable sources by 2020 [1], and has established a series of carbon
budgets that oblige a halving of greenhouse gas emissions by 2027 relative to 1990
levels [2]. These challenging targets require increased use of low-carbon energy
sources. The low-carbon energy resources found around Britain’s coast and in its
territorial waters – wind, wave and tidal – are vast and a significant investment in
harnessing such resources is already underway and expected to continue. Equally,
European Wind Energy Association estimates that 120 GW of offshore wind power
will be installed in the next two decades in Europe, amounting to 10% of the installed
generation capacity. However, the technologies involved need to be made more cost-
effective and more robust for operation in challenging offshore environments.
Furthermore, appropriate power networks need to be developed to bring the energy
ashore and to the main demand centres.

In cost-benefit terms, a number of recent studies have indicated that, for a 1 GW


offshore wind farm, high voltage DC (HVDC) becomes preferable to high voltage AC
technology for the main connection to the onshore grid when cable lengths exceed
80 km. All of the UK’s Round 3 sites identified for the next phase of offshore
generation development are at such distances from shore and are therefore highly
likely to depend on HVDC technology. HVDC system using voltage source converter
(VSC) is suitable for operation on weak AC systems such as those that may be
expected to be developed as offshore hubs for collection of wind generation outputs.
Although VSC technology currently has limited capacity and higher power loss than
line commutated converter (LCC), it also promises significant advantages, being
suitable for operation as part of a multi-terminal HVDC (MTDC) grid that, by avoiding
conversion between AC and DC at particular bussing points, would reduce the total
number of converters and can allow the efficient pooling and dispatch of energy over
a vast geographical area [3].

The interconnection of various offshore wind farms into a single ‘Super Grid’ has also

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various offshore wind farms, proposed for construction in the North Sea, has been
put forward, with the aim of linking neighbouring countries through the construction of
HVDC lines [5]. Fig 1 shows an example of offshore MTDC networks in the North
Sea in which large numbers of offshore wind farms and power networks are
connected through the DC grids.

Fig 1: Diagram of North Sea MTDC networks for connecting large offshore wind
farms and power networks

To ensure security of supply and safe, stable system operation on a large scale,
there are number of challenges that need to be addressed before such MTDC

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operation and protection during AC and DC faults.

VSC technology provides the means by which a transmission level AC voltage can
be synthesised from a HVDC supply. The fundamentals of VSC based HVDC
transmission operation may be explained in simple terms by considering each
terminal as shown in Fig 2 a. The equivalent circuit at fundamental frequency can be
represented by considering a voltage source generated by the converter connected
to the AC main via a three-phase reactor and power transformer as shown in Fig 2 b
Both the amplitude and the phase angle of the output fundamental voltage V c are
controlled with respect to the voltage V s.

Fig 2: Basic VSC based HVDC Transmission

According to the fundamental frequency phasor diagram shown in Fig 2 c, the active
and reactive power at the grid V s side can be expressed, respectively as

(1)

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where δ is the phase angle between the V c and V s and X s is the reactance of the
coupling inductor at fundamental frequency.

From (1), it can be seen that the active and reactive power are controlled
independently through V csin δ and V ccos δ, respectively. As shown in Fig 2 c and
(1), for active power flows

if V c phase-lags V s, active power P s (appears negative in (1)) flows from the


AC to the DC side;
if V c phase-leads V s, the active power P s (appears positive in (1)) flows from
the DC to the AC side.

For reactive power flows considering δ is usually very small (cosδ≃1)(cosδ≃1)

if V c > V s, reactive power Q s in (1) appears positive referring to the converter


providing capacitive reactive power to the AC network;
if V c < V s, reactive power Q s in (1) appears negative referring to the converter
absorbing inductive reactive power from the AC network.

The typical P-Q diagram which is valid within the whole steady-state AC network
voltage is shown in Fig 3. It illustrates the real power, P s and reactive power, Q s ,
capability of a VSC converter terminal, as a function of AC system voltage. Normally
converters are sized based on the specific P-Q envelope, Q-V envelope and DC link
voltage.

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Fig 3: PQ diagram of VSC transmission

With the pulse width modulation (PWM) controlled VSC it is possible to create any
phase angle and voltage amplitude (within limits set by the dc-link voltage
magnitude) by changing the PWM modulation depth and the relative phase
displacement, respectively. This allows independent control of the active and reactive
power.

VSC circuits are based around high capacity power semi-conductor devices (most
commonly IGBT modules) which are controlled to switch between the ON
(Conducting) state and OFF (Blocking) state. This switch mode operation minimises

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OFF states, there is high momentary power dissipation during the transition between
these states. This generates switching losses which in turn limit the frequency at
which the devices may be operated.

Current technology can achieve IGBT voltage ratings up to the 6.5 kV range. This
contrasts with HVDC transmission where DC line voltages in the order of ±400 kV
are required. To achieve these voltage requirements converters must be made up of
multiple series connected devices. To-date there are two principal types of converter
circuit employed in HVDC.

Two-level converters

Fig 4 shows the circuit diagram for a two-level VSC of the type used in the early
deployment of VSC based HVDC transmission systems. High voltage IGBT devices
in the top and bottom of the converter leg allow the output to be switched between
the positive (+½V dc) and negative (−½V dc) DC poles. The output voltage is thus
made up of a series of rectangular pulses of controllable width as shown in Fig 4. By
controlling the output pulse width, the converter output can generate a fundamental
component with controllable frequency, phase and magnitude.

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In addition to the controlled fundamental, the converter output voltage also contains
significant switching frequency components. Power filters are therefore placed
between the converter output and the AC network to prevent the injection of
harmonic current into the AC network. The use of relatively high switching
frequencies means that filter requirements are substantially reduced relative to
thyristor based LCC HVDC systems.

To reach the operating voltages required for HVDC, high voltage switches within two-
level converters must be implemented as a series combination of many low voltage
devices, each of which must be operated such that voltage is shared evenly at all
times. Dynamic voltage sharing during switching is particularly challenging by the
speed of the IGBT devices where turn-off and turn-on times are in the order of a few
microseconds. The need for a series of connected devices imposes a number of
conflicting design compromises. Slowing the IGBT switching time can assist with
dynamic voltage sharing but will tend to increase switching loss which in turn limits
switching frequency. High switching frequency will allow PWM to achieve improved
power quality and reduced filter size but will result in increased losses.
Electromagnetic interference (EMI) is present in all power electronic systems and
presents additional problems for two-level, high voltage VSC, where many devices
must switch simultaneously. EMI may be controlled by slowing the switching times
which will have a negative impact on switching loss and conversion efficiency.

Multi-level converters

Multi-level converters employ circuits which allow the DC link voltage to be


subdivided into a series of switching, each of which is compatible with the rating of a
single power semi-conductor device. This eliminates the need for a series connection
of devices, device voltages are well controlled and switching speeds can be
optimised for reduced losses. Multi-level converters are not restricted to two-level
output but can use modulation schemes which can vary both the magnitude and
period of the output voltage pulse. Use of multi-level modulation can deliver
significant improvements in power quality, filter requirement and reduction in

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to date only the modular multi-level converter (MMC) has proved practical for HVDC.

Fig 5 shows the circuit diagram and voltage waveform for the MMC converter. The
MMC consists of a number of series connected cells which can be based on either
half-bridge [6] or full-bridge circuits [7]. The capacitor of each cell supports a fraction
of the total DC voltage and acts as a virtual voltage source that may be switched in
and out of the series path according to the state of the cell switches. This allows the
use of a stepped modulation scheme, as illustrated in Fig 5. This type of modulation
requires cells to switch close to the fundamental frequency, resulting in very low
switching loss. Practical MMC employs many cells and can achieve an output voltage
that is a close approximation to a sine wave with low harmonic content. Additional
power filters, other than the arm inductance, are not generally required.

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Fig 5: MMC converter circuit and voltage waveforms

Unlike the DC link capacitor of a two-level converter the MMC cell capacitors
contribute to the phase energy transfer between converter and AC grid and therefore
experience energy oscillation at twice the AC network frequency. The cell
capacitance must therefore be sized to ensure that the resulting voltage ripple is held
to an acceptable level. The requirement to limit cell voltage ripple results in a total
converter capacitance value in excess of that required by the two-level converter.
However, the stepped modulation in Fig 5 shows that different cells are active at
different points of the modulation cycle. The result of this is that the loading of cells is
not equal. To avoid voltage unbalance between converter cells it is necessary to
impose another layer of control which monitors cell voltage and manages the cell

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The main difference between cells using half-bridge and full-bridge circuits as shown
in Fig 5 is in the behaviour during DC faults. As shown as the dashed red lines in Fig
5, during a DC fault and after the blocking of the IGBTs, AC fault current continues
feeding the DC fault points through the diodes of the half-bridge cells. However, for
full-bridge cells, the cell capacitor voltages act as an opposing voltage to block any
AC fault current from flowing to the DC fault points, in the expense of extra semi-
conductor devices and increase power losses during normal operation. Further
details on DC fault will be discussed in DC Fault Response.

Existing HVDC connections for offshore wind farms are point-to-point ones, as most
of the planned ones so far. However, new connection schemes are being considered
using MTDC technology. MTDC grids connecting various wind farms to several
onshore stations could provide additional benefits compared with direct point-to-point
connections. The following is an excerpt of a wider comparison [8].

In addition to offering a transmission path for offshore power to markets, MTDC


provides interconnection capacity if connected to different AC zones (or else superior
transmission capacity for the AC zone it connects to).

Connecting geographically dispersed wind farms together through a MTDC will have
a smoothing effect on the overall wind generation, which could not be achieved using
several point-to-point connections.

Depending on the meshing, MTDC generally provides several possible paths for
offshore wind power to shore, even in N − 1 situations.

In addition to ancillary services that can be provided to the onshore AC networks by


adequate controls in point-to-point schemes (voltage support, inertia emulation,
primary frequency support), MTDC system can offer additional AC congestion
reduction by preventively shifting power injections at its ends, or power oscillation

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MTDC systems are likely to be developed and built up gradually, either starting from
existing point-to-point DC connections linked together via a DC tie, or via different
project phases (as planned for the Atlantic Wind Connection project in [9]). A
consequence of this process is that the wide variety of layouts in which a MTDC
network may result, because of various possible topological extensions and the
different development policies. As an illustration for the latter, national codes may
differ with respect to the capacity requirements to connect offshore wind farms (fully
rated or not, for instance), thus resulting in possible wind spillage and finally, different
MTDC requirements and layouts.

Several kinds of MTDC configurations, either tree-like or meshed ones, have to be


considered even for a limited number of converters. This is depicted in Fig 6, which
illustrates a simple scenario. A simple MTDC shown in Fig 6 b is resulted from linking
two point-to-point connections shown in Fig 6 a with a DC tie. More complex layouts
could be designed at this stage, and Fig 6 b is the simplest tree-like backbone grid,
also referred to as the ‘H’ grid. Assuming the connection of a third wind farm to the
‘H’ grid, a number of different layouts may appear, as shown in Figs 6 c– f. The two
layouts shown in Figs 6 c and d are fully rated (that is, with a supplementary point-to-
point connection which prevents wind spillage) backbone topologies, either tree-like
or meshed. On contrary the ones shown in Figs 6 e and f take advantage of the
existing assets to connect the new wind farm without developing new transmission
capacity for the MTDC system, assuming wind spillage is allowed.

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Fig 6: Simple MTDC layouts, starting from a simple ‘H’ grid, to possible
extensions for connecting a new wind farm to the existing grid

a Two point-to-point connections

b A simple ‘H’ grid

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d Fully-rated extension of the ‘H’ grid: meshed backbone

e ‘H’ grid extension to connect a new wind farm with possible wind spillage:
tree-like

f ‘H’ grid extension to connect a new wind farm with possible wind spillage:
meshed

As for point-to-point connections where one converter controls the DC voltage while
active power is managed on the other end, there should be at least one converter
station to set the DC voltage reference for a MTDC network. As described in [10], this
task can only be allocated to onshore converters, as the offshore ones must control
the island frequency and voltage of the offshore wind farms. For security reasons, it
is commonly recognised that several converters should be responsible for controlling
the DC voltage.

Control during normal operation

A simple and robust way to control the power share of the converters responsible for
the DC voltage (and the amount of active power they transmit to the AC networks) is
the use of voltage droop control [11], in which active power injections are adjusted by
changing DC voltage set points according to linear characteristics between points B
and C as shown in Fig 7.

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Fig 7: DC voltage droop control including active power and voltage limits

The voltage droop characteristic between points B and C in Fig 7 can be interpreted
as follows: intermittent offshore power injections (from offshore wind farms) lead to
DC voltage variations. Considering one single onshore converter in charge of the DC
voltage control, a voltage falling from V dc0to V dc, (that is: a decrease in offshore
active power injected into the DC network) should be compensated by injecting less
active power to the onshore AC network (and vice versa in case of an increase of DC
voltage). Hence, multiple parallel onshore converters with the same droop
characteristic can respond to the fall in DC voltage by decreasing their active power
outputs simultaneously. Such decrease will counteract the reduction in DC voltage
and the converters will settle the active power outputs and DC voltage at a steady-
state point on the droop characteristic. The droop characteristic therefore allows
multiple stations to share power using local measurements only, in an autonomous
manner without communication.

In addition, the droop characteristics may be complemented to take into account the
DC voltage limits and the power limits of the converter (see portions A-B and C-D in
Fig. 7). Finally, constant power (or voltage) reference may be desired for some
converters, while ensuring their support in case of large DC voltage variations; this

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Fig 8: DC voltage droop control combined with fixed voltage (left) or power
(right)

In a MTDC system connecting offshore wind farms, onshore converters are usually
the only ones to actively control power flows, via the DC voltage and power droops
mentioned above. As they represent a limited number of control variables in the
overall system, the ratio between onshore and offshore converters and the meshing
of the grid have an influence on the capability to control power flows either for all the
branches of the grid, or for some only. This capability, or the lack of it, is hereafter
referred to as ‘full’ or ‘partial’ power flow control.

As demonstrated in [12], backbone topologies (including the ‘H’ grid) depicted in Fig.
6 are fully controllable with respect to power flow. Topologies where power flow can
only be partially controlled require more stringent needs with respect to a MTDC
master control, in order to prevent the grid from any overcurrent or overvoltage.
Alternatively, new equipments [13] connected to some branches are proposed to
provide additional flexibility on the overall power flow. Those devices can be
controlled to modulate the branches resistance, thus shifting power towards the
preferred path. As illustrated in [12], a coordinated control of onshore converters
(using the droop control) with those devices can lead to significant savings in
offshore wind spillage.

Control during onshore AC grid fault

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multiple onshore converter terminals. Consequently, the active power exchange


between the relevant onshore converters and the grids may be significantly reduced
because of the reduced AC voltages. In any case, to ensure safe operation of the
MTDC system the generated and transmitted active power must be balanced during
such a fault. If the total generated wind power exceeds the maximum power that can
be transmitted by the onshore converters because of the reduced AC voltages, DC
overvoltage and subsequent shutdown of the whole system could occur if due care
were not taken. Under such conditions, it is important that either the wind power is
reduced or active power is dumped in separate equipment such that the DC voltage
of the MTDC system can be maintained. In addition, offshore AC systems need to be
maintained with limited frequency and voltage variations so that when onshore fault
is cleared, the system can recover quickly.

For the purpose of active power balancing during potential DC over voltage caused
by onshore AC faults, a number of strategies may be employed [3]

Fast wind farm output power reduction. This can be achieved by using either
fast telecommunication between the offshore converters and the wind turbines
[14] or offshore wind farm network AC voltage and/or frequency modulation [15].
In the later case, the offshore AC system voltage and/or frequency is rapidly
changed using the offshore HVDC converter when DC overvoltage is detected.
Active power from the wind turbines which are specially designed to response to
fast AC voltage and frequency variation is then automatically reduced. For such
schemes, their reliability can be the main problem.
DC dumping resistors on the onshore converters. DC dumping resistors are
place on the DC side of each (or selected) onshore converter and they are
switched in during DC overvoltage. Thus the wind farms and offshore converters
can operate as normal during the fault period with no disruption [16]. However,
this method incurs extra hardware cost.

Fig 9 shows an example of using DC dumping resistors on two of the onshore


converter DC terminals for dumping excessive power when the onshore converters

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Fig 9: Example of using DC dumping resistors on onshore converter terminals


for a 4-terminal MTDC system

DC faults on VSC based HVDC systems can generate large over-current and rapid
collapse of DC voltages because of the discharge of the capacitors on the DC link.
This also results in a large increase in AC side current fed to the site of the DC fault
because of the presence of freewheeling diodes within each converter branch. Figs
10 a and b show the one-terminal equivalent circuits after the blocking of the
converters (IGBTs are switched off) during a DC line-to-line fault for two-level based
and MMC (half-bridge) based HVDC systems, respectively.

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a Two-level converter

b MMC converter using half-bridge cells

Figs 11 a and b show simulation results during a DC line-to-line fault for two-level
based and MMC based point-to-point HVDC systems, respectively. Both schemes
are rated at 1000 MW at ±400 kV. The DC cable length is 80 km and the fault occurs
40 km from both terminals. In the simulation, the faults occur at 0.08 s and prior to
the faults both converters are operated at zero power. As can be seen from Fig 11 a
when the fault occurs, the DC capacitor on the converter terminal discharge quickly
and consequently the DC voltage drops to zero within 3 ms in this case. This results
in the increase of AC and DC fault current. The high capacitor discharging current i c
is transferred to the converter diodes when the DC voltage becomes zero resulting in
a large ‘jump’ of the DC fault current i dc at 0.083 s as seen in Fig 11 a. For MMC
based system shown in Fig 11 b, the DC voltage collapses to zero in <1 ms because
of the small DC capacitance (the MMC cell capacitors are bypassed after the
blocking of the converters). Its maximum DC fault current is significantly lower
compared with the two-level converter because of presence of the arm inductors and
the absence of large DC capacitor discharging current. The presence of the arm
inductors also results in considerable oscillations in the DC voltage as can be seen
from Fig 11 b. For either configuration, the converter diodes need to be protected
from such large fault current though the situation in two-level converter is much
severe. In addition, the collapse of the DC voltage results in the complete loss of
power transmission and adequate system recovery process needs to be designed to
ensure a speedy ramp up of power transmission. The use of reverse blocking MMC
based on full-bridge cells as shown in Fig 5 will eliminate any AC fault current though
it does not prevent the collapse of the DC voltage.

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Fig 11: Simulation results of a two-terminal HVDC system during a DC line-to-


line fault on the middle of the DC cables

a Two-level converter based

b MMC based using half-bridge cells

The impact of faults on meshed MTDC networks will be severe, as the DC voltage
across the entire system is likely to collapse within a few milliseconds because of the
low DC network impedance. Consequently, a complete loss of power transmission
capability, affecting both onshore AC networks and offshore wind farms, may be
experienced during, and potentially after, faults. It might be expected that DC circuit
breaker (DCCB) will be required to operate to ensure that single fault event neither
causes disconnection of demand nor an excessive ‘loss of infeed’. To gain the
benefits of DCCB in terms of allowing operation of un-faulted DC grid branches to
ride-though faults on other branches, extremely fast fault detection and isolation (e.g.
<5 ms) is required to minimise the currents interrupted by the DCCBs. However, the
DC voltage across the entire system is likely to be severely affected and coordinated
re-energisation of the entirely DC network would still be required prior to restoring
power transmission.

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flow and control for VSC based HVDC system is introduced and different converter
topologies are discussed. Offshore DC grid configurations are described, and power
dispatch and DC voltage control using DC voltage droop character are analysed.
System control and operation during faults on onshore AC network and DC network
are explored for satisfactory fault ride through operation and protection requirement.
Significant challenges need to be overcome before large scale MHVDC system can
be developed.

1. https://www.gov.uk/government/policies/increasing-the-use-of-low-carbon-
technologies.
2. https://www.gov.uk/government/policies/reducing-the-uk-s-greenhouse-gas-
emissions-by-80-by-2050/supporting-pages/carbon-budgets.
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system for integrating large offshore wind farms’, IET Renew. Power Gen., 2011,
5, (3), pp. 223–233 (doi: 10.1049/iet-rpg.2010.0118).
4. ‘European offshore Supergrid proposal’ Vision and Executive Summary, Airtricity
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5. [Online] available at: http://www.scotland.gov.uk/Topics/Business-Industry
/Energy/Infrastructure/north-sea-grid.
6. Lesnicar A. Marquardt R.: ‘An innovative modular multilevel converter topology
suitable for a wide power range’. Proc. Power Technical Conf., Bologna, Italy,
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7. Mondal G. Critchley R. Hassan F. Crookes W.: ‘Design and simulation of a
modular multi-level converter for MVDC application’. Proc. IEEE Int. Symp.
(ISIE), Poland, June 2011, pp. 200–205.
8. TWENTIES deliverable D5.4: ‘DC grids: motivation, feasibility and outstanding
issues’, available at http://www.twenties-project.eu.
9. http://www.atlanticwindconnection.com.
10. TWENTIES deliverable D5.3b: ‘Advanced results of control and protection of DC
networks: behaviour, optimisation and grid extension’, available at

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terminal HVDC system’. Proc. of the IET ACDC Conf., London, UK, October
2010.
12. Despouys O.: ‘Offshore DC grids: impact of topology on power flow control’.
Proc. of the IET ACDC Conf., Birmingham, UK, December 2012.
13. Veilleux E. Ooi B.-T.: ‘Multi-terminal HVDC grid with power flow controllability’.
CIGRE Session 44, Paris, France, August 2012.
14. Xu L. Andersen B. R.: ‘Grid connection of large offshore wind farms using
HVDC’, Wind Energy, 2006, 9, (4), pp. 371–382 (doi: 10.1002/we.185) .
15. Xu L. Yao L. Z. Sasse C.: ‘Grid integration of large DFIG based wind farms
using VSC transmission’, IEEE Trans. Power Syst., 2007, 22, (3), pp. 976–984
(doi: 10.1109/TPWRS.2007.901306).
16. Harnefors L. Jiang-Häfner Y. Hyttinen M. Jonsson T.: ‘Ride-through methods for
wind farms connected to the grid via a VSC-HVDC transmission’. Proc. Nordic
Wind Power Conf., Denmark, November 2007.

Chair in power electronics, University of Edinburgh

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