Research on Dynamic Model and Decoupling

Control Strategy of VSC-HVDC System

Jieqiu Bao, Zhenguo Gao, Li Yu, Chuiyi Meng
Shenyang Institute of Engineering
E-mail: [email protected]

Abstract — In order to utilize the decoupling control strategy fundamental wave phasor of VSC-HVDC system is Us1 and
on VSC-HVDC, the dynamic mathematical models are set up at Us2. Output voltage fundamental wave phasor of VSC1 and
dq0 rotating coordinate system.On the basis of mathematical VSC2 is Uc1 and Uc2. Supposing VSC1 is working as
models,decoupling controller of VSC is designed by adopting
rectifier,VSC2 is working as inverter[4]. Dynamic differential
deviation decoupling strategy and the active power and reactive
power can be controlled independently. Matlab/Simulink equation of VSC1 and VSC2 AC side at three-phase static
software is used simulating and analysing this designed system. frame is:
The simulation results verify the correctness of the mathematical ⎧ dia1
model and the reliability of the desgined controller.
⎪ L dt + Ria1 = U sa1 − U ca1
⎪
I. INTRODUCTION ⎪ L dib1 + Ri = U − U
VSC-HVDC system is a new generation of HVDC ⎪ dt b1 sb1 cb1

technology based on pulse width modulation and voltage ⎪

source converter(VSC), the modern high-power power ⎪ L dic1 + Ric1 = U sc1 − U cc1
electronic technology applied in the power system. Comparing ⎪ dt
with traditional HVDC based on phase control converter(PCC), ⎨ (1)
control method of VSC-HVDC system is flexible,and has no
⎪ L dia 2 + Ri = U − U
failure of commutation,small harmonic content, without
⎪ dt a2 ca 2 sa 2

⎪ di
capacity requirements about terminal power system,the
⎪ L b 2 + Rib 2 = U cb 2 − U sb 2
reactive power of system could be controlled. The economic ⎪ dt
capacity of VSC-HVDC system extends from several ⎪ dic 2
megawatts to hundreds of megawatts[1].There are seven VSC- ⎪L + Ric 2 = U cc 2 − U sc 2
HVDC system put into operation abroad. Circuit transmission ⎩ dt
capacity has reached the highest 330 MW. Take example VSC1, shown as phasor form:
diabc1
II. VSC-HVDC SYSTEM MODEL L = U sabc1 − U cabc1 − Riabc (2)
dt
VSC-HVDC system is constituted by two voltage source
converter (VSC1, VSC2), two DC capacitor (C1, C2), two ⎡ ⎤
converting reactor(L1,L2)and DC transmission line.In general, ⎢sin (ωt + δ ) ⎥
L1=L2=L,C1=C2=C,loss in two convertor and line is shown
⎢ ⎥
mU dc ⎢ ⎛ 2π ⎞⎥
as resistance R1=R2=R; loss in DC line is shown as resistance U cabc1 = ⎢sin ⎜ ωt + δ − ⎟⎥ (3)
Rd. The use of DC capacitor are providing Voltage support 2 ⎢ ⎝ 3 ⎠⎥
and reduceing DC side harmonic for VSC. The use of ⎢ ⎛ 2π ⎞⎥
converting reactor is filtering the harmonic of output ⎢sin ⎜ ωt + δ + ⎟⎥
current[2]. Illustrating with hemi-side converting system, the ⎣ ⎝ 3 ⎠⎦
system model is shown as Fig.1[3] . AC system busbar voltage

Fig. 1.VSC-HVDC system diagram

“m”is modulation degree; δ is initial phase angle of PWM. system.So, the active power and reactive power cannot be
Formula (2) can develop into formula (4): controlled independently.Introducing external decoupling
*
⎡ia ⎤ ⎡U sa ⎤ ⎡ia ⎤ ⎡U ca ⎤ branch of system from deviation of given current “ i1 ”and
d ⎢ ⎥ 1⎢ ⎥ R⎢ ⎥ 1⎢ ⎥ feedback current for eliminating the coupling effect.After
ib = U sb − ib − U cb (4)
dt ⎢ ⎥ L ⎢ ⎥ L ⎢ ⎥ L ⎢ ⎥ transforming time domain function to frequency domain
⎢⎣ic ⎥⎦ ⎢⎣U sc ⎥⎦ ⎢⎣ic ⎥⎦ ⎢⎣U cc ⎥⎦ function by “Laplace transform”, schematic diagram of
Making Park transformation to formula (4),the Park matrix decoupling control is shown as Fig.2.
is formula (5):
⎡ sin ωt sin (ωt − 2π 3) sin (ωt + 2π 3)⎤ ΔU1d
2⎢
P = ⎢cos ωt cos(ωt − 2π 3) cos(ωt + 2π 3)⎥⎥ (5) i1d
*d
i
1
3
⎢⎣ 1 2 12 12 ⎥⎦
The AC voltage and current of VSC1 is transformed to
dq0 synchronous coordinate system, shown as formula(6) :
⎡i d ⎤ ⎡U sd ⎤ ⎡i d ⎤ ⎡U cd ⎤ ⎡ 0 − ω 0⎤ ⎡i d ⎤ i1*q i1q
d ⎢ q⎥ 1 ⎢ q⎥ R ⎢ q⎥ 1 ⎢ q⎥ ⎢ ⎢ ⎥
i ⎥ = ⎢U s ⎥ − ⎢i ⎥ − ⎢U c ⎥ − ⎢ω 0 0⎥⎥ ⎢i q ⎥ (6)
q
ΔU
⎢
dt 0 L 0 L 0 L 0
1

⎢i ⎥ ⎢U s ⎥ ⎢i ⎥ ⎢U c ⎥ ⎢⎣ 0 0 0⎥⎦ ⎢i 0 ⎥
⎣ ⎦ ⎣ ⎦ ⎣ ⎦ ⎣ ⎦ ⎣ ⎦ Fig. 2. Schematic diagram of decoupling control
To suppose the system is three-phase symmetric,has no
“F” is transfer function of current controller; “G1”and
zero-sequence component.Then,the three-phase dynamic
differential equation of VSC1 at dq0 synchronous coordinate “G2”is decoupling function. A = LS + R , B = ωL ,
system is formula (7): ΔU 1d = U sd1 − U cd1 ， ΔU 1q = U sq1 − U cq1 . Formula (10) is
⎧ di1d U sd1 − U cd1 R1i1d acquired from schematic diagram of decoupling control:
= − + ωi1q
⎪
⎪ dt L1 L1 ( ) ( )
⎧ i1*d − i1d F + i1*q − i1q G2 = ΔU 1d = Ai1d − Bi1q
⎨ q (7) ⎨ *q q (10)
q q q
⎪ di1 = U s1 − U c1 − R1i1 − ωi1d ( ) ( *d d
) q
⎩ i1 − i1 F + i1 − i1 G1 = ΔU1 = Ai1 + Bi1
q d

⎪⎩ dt L1 L1 *d
Eliminating i1 in formula (10) then formula (11) is
Power of rectifier absorbed from AC system is shown as acquired:
formula (8):
⎧
[(A + F ) 2
]
+ (B + G1 )(B − G2 ) i1d = (AG2 + BF )i1*q
⎪ P1 =
2
(
3 d d
U s1i1 + U sq1i1q ) + [(A + F )F + (B − G2 )G1 ]i1*d
(11)

⎨ (8)
3
(
⎪Q1 = U sd1i1q − U sq1i1d
⎩ 2
) Eliminating i1*q in formula (10) then formula (12) is
acquired:

III. PRINCIPLE OF DECOUPLING CONTROL [(A + F ) 2

]
+ (B + G1 )(B − G 2 ) i1q = (BF − AG1 )i1*d
(12)
Fundamental wave phasor of AC system busbar voltage is + [(B + G1 )G 2 − (A + F )F ]i *q
1
U s1 , U s1 has the same phase with“d”axis.Namely: U sd1 = U s1 Coupling term (AG2 + BF )i1 and (BF − AG1 )i1
*q *d

U sq1 = 0 ，substituting formula (7),(8) obtaining formula (9): exist in formula (11) and formula (12). If it want to control
⎧ di1d U s1 − U cd1 R1i1d direct axis current i1d just by given current i1*d ,and control
⎪ = − + ωi1q q *q
quadrature axis current i1 just by given current i1 ,and
⎪ dt L1 L1
⎪ di1 q q q without effection from coupling term,it must satisfy the
U Ri
⎪⎪ = − c1 − 1 1 − ωi1d conditions that AG2 + BF = 0 and BF − AG1 = 0 .From
dt L1 L1
⎨ (9) the conditions formula (13) is acquired:
⎪ 3 d ⎧ BF ωLF
⎪ P1 = 2 U s1i1 ⎪⎪G1 = A = SL + R
⎪ ⎨ (13)
⎪Q = 3 U i q ⎪G = − BF = − ωLF
⎪⎩ 1 2 s1 1 ⎪⎩ 2 A SL + R
There is cross coupling item ωi1 and ωi1 in formula (9).
q d
Taking G1 and G2 into formula (11) and formula (12) then
Cross coupling item influence the control performance of formula (14) is acquired:
 ⎧ d F *d V. SIMULATION ANALYSIS
⎪ i1 = A + F i1 A. Modelling
⎨ F *q
(14)
For checking the correctness of VSC-HVDC mathematical
⎪i1 = −
q
i1 model and controller,in this paper, VSC-HVDC system model
⎩ A+F
d q
is built using electrical power system module library “Sim
Formula (14) show that i1 and i1 can be controlled Power Systems” by Matlab/Simulink software. In order to
independently and without effection from coupling term. So facilitate the analysis of simulation results, the model set a
the active power and reactive power can be controlled unified reference value for this system. A 200 MVA (+/-100
independently and without effection from angular frequency . kV DC) forced-commutated Voltage-Sourced Converter
(VSC) interconnection is used to transmit power from a 230
IV. VSC CONTROLLER DESIGN kV, 2000 MVA, 50 Hz system to another identical AC system.
In the process of simulation, the p.u per unit standard is
Control strategy of converter in this system is direct applied. Setting DC active power 200MW=1p.u, reactive
current control based on synchronous rotating coordinate power 200Mvar=1p.u, DC voltage 200kV=1p.u. Simulation
system. Double closed loop control method based on space curve is shown as Fig.5 and Fig.6. “P_meas” is measured
vector is adopted in this system.The control structure is value of active power, “Pref_ramped” is set value of active
straightforward, dynamic property is excellent.The current can power, “Q_meas” is measured value of reactive power, “Qref”
track given current order rapidly and accurately[5]. Amplitude is set value of reactive power, “Udc_meas” is measured value
of order current can be limited. So the switching element can of DC voltage, “Udref” is set value of DC voltage.
be protected.
The VSC controller is constituted by inner loop current
controller and outer loop current controller. The control
diagram is shown as Fig.3. Inner loop current controller track
reference current component from outer loop current
controller,then waveform and phase of converter AC current
can be controlled directly.The control diagram is shown as
Fig.4.According to system control goals,outer loop current
controller has kinds of control modes. The command signal of
outer loop controller“in1”and“in2”is from superior control
system.For rectifying side, the control mode is set DC
current(active power) mode. The controlled variable “in1” and
* *
“in2” is Pac1 and Qac1 . For inverting side,the control mode is
Fig. 5. simulation curve of VSC1
set DC voltage mode. The controlled variable “in1” and “in2”
* *
is U dc and Qac 2 .
Zs Us Z1
U dc
U abc iabc
θ abc dq

abc dq
i1*d i1*q

in1 in2 Fig. 6. simulation curve of VSC2

Fig. 3. VSC controller diagram

i1d U sd B. Curve analysis

*d
i
1 U cd Station 2 converter controlling DC voltage is first
BA Ua deblocked at t=0.1s . Then, station 1 controlling active power
Ub converter is deblocked at t=0.3s and power is ramped up
BA Uc slowly to 1pu. Steady state is reached at approximately t=1.3s
*q
i
1 U cq with DC voltage and power at 1.0pu (200 kV, 200MW) . Both
q
i
1
U sq converters control the reactive power flow to a null value in
station 1 and to 20 Mvar(-0.1 pu) into station 2 system.After
Fig. 4. Inner loop current controller diagram
steady state has been reached, a -0.1 pu step is applied to the
reference active power in converter 1 (t=1.5 s) and later a -0.1
pu step is applied to the reference reactive power (t=2.0 s). In validity of the mathematical models,and demonstrated that the
station 2, a -0.05 p.u step is applied to the DC voltage controller is convenient and efficient.
reference. The dynamic response of the regulators are
observed. Stabilizing time is approximately 0.3 s.The control REFERENCES
design attempts to decouple the active and reactive power [1] Hu Zhaoqing,Mao Chengxiong,Lu Jiming,Li Guodong.“New High
responses. Note how the regulators are more or less mutually Voltage Direct Current Transmission Technology-HVDC Light”,
Transactions of China Electrotechnical Society, Vol. 20, No. 7, pp. 12-
affected. 16, July 2005.
[2] Li Yongjian,Zhou Youqing,Song Qiang.“The Development and
VI. CONCLUSION Application of HVDC Light Technology”,High Voltage Engineering,
Vol. 29, No. 10, pp. 26-28, July 2003 October.
The mathematical models of both the steady state and the [3] Bao Jieqiu, Meng Chuiyi. “Application of VSC-HVDC system on
dynamic state are set up. Using the Parker matrix,an offshore wind farm”, Journal of Shenyang Institute of Engineering, Vol.
equivalent continuous-time state-space model of VSC in the 7, No. 1, pp. 5-8, January 2011.
[4] Zhang Guibin,Xu Zheng,Wang Guangzhu.“Steady-state Model and
synchronous dq reference frame is presented. The VSC Itsnonlinear Control of VSC-HVDC System”, Proceedings of the CSEE,
controller designed in this paper is based on the strategies of Vol. 22, No. 2, pp. 17-22, January 2002.
deviation decoupled control ， and the characteristics are [5] Wen Jun,Zhang Yigong,Han Minxia,Xiao Xiangning.“HVDC based on
voltage source converter-a new generation of HVDC technique”,Power
analyzed from the mathematical calculations process. For System Technology,Vol. 27, No.1,pp.47-51, January 2003.
validating the VSC controller, the Matlab/Simulink simulation
models are established.The simulation results verify the