Modelling and control of multiterminal HVDC

transmission systems for large offshore wind farms

CITCEA-UPC

Agust Egea-Alvarez
Porto, 14th June 2010
 Contents

1 Introduction

2 Modelling of multiterminal HVDC systems

3 Control design

4 Simulation results

5 Conclusions
 General scheme

L1 Grid side 1 (GS1)

Wind farm 1 (WF1)

SCIM SCIM
Grid 1
SCIM SCIM WF1-VSC GS1-VSC

SCIM SCIM
L3

L2 Grid side 2 (GS2)

Wind farm 2 (WF2)

SCIM SCIM
Grid 2
SCIM SCIM WF2-VSC GS2-VSC

SCIM SCIM
 Modelling summary

Wind turbine modelling

Wind turbine
Gear box and transmission
Electrical modelling
Induction machine
Cables and transformers
HVDC cables
 Wind turbine modelling
Wind Induction
iabc
vwind turbine IM machine
turbine Gear box
turbine IM
pitch Pitch
IM vabc
actuator

(1) (2)

1 3
Pmec =
ACp vwind (1)
2
dturbine
turbine IM = Jtotal (2)
dt
Jtotal = Jturbine + JIM 2
 Wind farm electrical modelling (I)

Induction machine equations in qd frame

!
isq rs Lr Lm2 r rr Lm Lm Lr r isq
  
d isd 1 Lm2 r Lm Lr r rr Lm isd
irq = rs Lm
rs Ls
Lm Ls r Ls Lr r irq
dt ird Ls Lr Lm2 L m L s r rs Lm
rs Lr
Ls Lr r rs Ls ird

Lr 0 Lm 0 vsq
  
1 0 Lr 0 Lm vsd
+ Lm 0 Ls 0 0 (3)
Ls Lr Lm2 0 Lm 0 Ls 0
 Wind farm electrical modelling (II)
AC wind farms cables and transformers are modelled as a short
line equivalent (a) and T model (b)

Rline LLine Rtr Ltr

iline Itr
v1 v2 v1 Ltr-mag v2

(a) (b)
 Wind farm aggregation

SCIM
SCIM
LV MV
SCIM

Electrical system can be aggregated as

Mechanical system can be aggregated as n
X
total
n
X isabc = isabci
Jtotal = Jredi i=1
i=1
dtur
n(tur maq ) = nJtotal
dt Ztotal = ZTrMV + ZcableLV + n
1
P 1
i=1 ZtrLV + ZcableLV
 Converter modelling (I)
RDC LDC
IDC Vla Ll Rl vza
ia

EDC Vlb Ll Rl ib vzb

C
Vlc Ll Rl ic vzc

DC grid VSC converter AC Grid

The controllable DC current source of the VSC model can be

described as
P
IDC = (4)
EDC
 Converter modelling (II)
The AC side equations of a VSC can be expressed under qd0
frame
          
Vzq Vlq rl Ll e ilq Ll 0 d ilq
= + (5)
0 Vld Ll e rl ild 0 Ll dt ild

Applying the following decoupling it is possible to eliminate the

angular velocity dependency and two SISO transfer functions are
obtained, one for each current component.
   
vlq vlq + vzq + Ll e ild
= (6)
vld vld Ll e ilq
 Converter modelling (III)
Replacing (6) to (5) the simplified system is
        
vlq rl 0 iq ll 0 d iq
= + (7)
vld 0 rl id 0 ll dt id

the system can be expressed as

vlq (s) 1
= (8)
iq (s) ll s + rl
vld (s) 1
= (9)
id (s) ll s + rl
HVDC lines modelling: Introduction
HVDC lines modelling: calculation methods

Impedance method Admittance method

HVDC lines modelling: results
 Control summary

Operation modes
Grid side controllers
Droop regulator
Current loop
Wind farm controller
Pitch controller
Voltage reduction controller
 Operation modes

Normal operation mode

Grid side converters: Control the DC voltage using a droop controller
Wind farm converters: Supply all the produced power to the DC grid

Fault operation mode

Grid side converters: Current control
Wind farm converters: Voltage droop control, power reduction using
AC voltage reduction and pitch
 Control specifications

General control specifications

Control the DC voltage and assure the stability of DC grid
Assure the mechanical and electrical stability of the wind turbines
Supply all the generated power, in case of fault, the maximum possible
Support the AC grid
 M-HVDC grid side control systems
IDC
vzabc
EDC iabc

vlabc
vzabc
PLL
Park-1
izabc
Park
i*d Reactive Q*z
vlqd Current computation
loop i*q
Droop
controller
EDC
Grid side control system

M-HVDC grid side control systems

Current loop
Voltage droop controller
 Droop controller and reactive power reference
Active power reference is proportional to the EDC .In M-HVDC
grids a droop function is used to control the EDC

EDC



iDC = KDroop EDC EDroop (10)
KDroop
3 PDC
EDroop
iq = (11)
2 vzq
IDC

Reactive power is proposed for the grid operator and id reference

can be calculated
3 Qz
id = (12)
2 vzq
 Current loop
The AC side is modelled as
vlq (s) 1
= (13)
iq (s) ll s + rl
vld (s) 1
= (14)
id (s) ll s + rl
It is possible to design a PI controller
Kp s + Ki
Gciq (s) = Gcid (s) = (15)
s
where the constants can be calculated as
ll rl
Kp = Ki = (16)

 Current loop (II)
Also, the iqd reference are saturated

Iq* vlq
+ Gciq(s) - +-
-
Iq
e L
l
Id
I*d - -+
vld
+ Gcid(s)
 M-HVDC wind farm control systems
IDC
vsabc vcabc
iabc
SCIM EDC
pitch
Pitch
controller
Pitch controller vcabc Voltage
regulator
Voltage reduction controller

M-HVDC grid side control systems

Pitch controller
Voltage reduction controller
 Pitch controller
Wind turbine behaviour is linearized in the maximum power
generation point
PI controller has an antiwind-up saturation

1.5
Pitch

pitch []
0.5

0
12 14 16 18 20 22 24
max ^
Time [s]
Tur
+
- PIpitch(s) 1534

Angular velocity [min1]

turbine
Tur 1532

1530

1528

1526
12 14 16 18 20 22 24
Time [s]
 Voltage reduction
To reduce the power produced during AC faults a proportional
controller is used.

500 VWF1V
sa
V

Voltage [V]
WF1V
sb
VWF1V
0 sc

Vcqd ^
^ min Vcqd 500

EDC +
- 0 2 4 6 8 10 12 14 16 18
^ max ^ min .. - Time [s]
EDC EDC +

EDC 500 V
WF2V
1 V
sa

Voltage [V]
WF2V
sb
VWF2V
0 sc

500

0 2 4 6 8 10 12 14 16 18
Time [s]
 Simulation results

Simulations presented
Normal operation
Voltage sag in the AC side grid
 Simulation parameters: model
L1 Grid side 1 (GS1)
Wind farm 1 (WF1)

SCIM SCIM
Grid 1
SCIM SCIM WF1-VSC GS1-VSC

SCIM SCIM
L3

L2 Grid side 2 (GS2)

Wind farm 2 (WF2)

SCIM SCIM
Grid 2
SCIM SCIM WF2-VSC GS2-VSC
DC grid AC Grid
SCIM SCIM
Resistance 0.01 /km Resistance 4.36
Wind turbine Pitch controller Inductance 0.1 mH/km Inductance 0.052 mH
Nominal power 2 MW Kp 10 Length cable 1 100 km Nominal voltage 90 kV
Radius 39 m Length cable 2 80 km Current controller
Ki 837.97
Max. Pitch angle 55 Length cable 3 35 km Kp 10
Voltage reduction
Gear box 83 VSC capacitor 150 F Ki 837.97
Emin 159 kV
Induction machine Emax 164 kV Nominal voltage 150 kV Droop controller
Nominal power 690 V Input data Kdroop 1/10 kA/kV
Nominal voltage 2 MW Wind series EDCdroop 145 kV
Pair of poles 2
 Normal operation: Wind farm 1

Angular velocity [min1]

7
x 10
9.2 1532
PWF WF
9 1 1
Active power [W]

1530
8.8
1528
8.6
0 10 20 30 40 50 60
8.4 time [s]
8.2
6200

Torque [Nm]
PE
0 10 20 30 40 50 60 6000 1
Time [s]
5800
5600
20 vwind 0 10 20 30 40 50 60
WF
18 1 Time [s]
speed [min1]

16 0.8 pitcn

Pitch []
0.6 WF
14 1

0.4
12 0.2
0
10 0 10 20 30 40 50 60
0 10 20 30 40 50 60 Time [s]
Time [s]
 Normal operation: Wind farm 2

Angular velocity [min1]

x 10
8.5 PWF
2
1528 WF
Active power [W]

8 1526 2

1524
7.5 1522

0 10 20 30 40 50 60
7 time [s]

6.5

Torque [Nm]
0 10 20 30 40 50 60 5500 PE
2
Time [s]
5000
4500
vwind 0 10 20 30 40 50 60
13 WF
2 Time [s]
speed [min1]

4
x 10
12
2
pitcn

Pitch []
11 WF
2
1
10
0
0 10 20 30 40 50 60
0 10 20 30 40 50 60 Time [s]
Time [s]
 Normal operation: DC grid

7
x 10

600 Il1 9 PWFDC

1
Il2 PWFDC
8.5
400
Current [A]

Power [W]
Il2 2
8
200 7.5

0 7
6.5
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
5 7
x 10 x 10
1.52 7
EWF PGSDC
1 1
1.515 EWF 7.5 PGSDC
Voltage [V]

Power [W]
2 2
1.51 EGS 8
1
1.505 EGS 8.5
2

1.5 9

0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
 Normal operation: AC side converter

7
x 10

720 i*qGS1 PGS

9 1
iqGS1 PGS
Current [A]

Power [W]
700 8.5 2

680 8

660 7.5

640 7
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
4
x 10
850
i* 7.3485 vcx1zq
qGS2
iqGS2 v
cx2zq

Voltage [V]
Current [A]

800 7.3485

750 7.3485

0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
 Fault operation: General scheme

L1 Grid side 1 (GS1)

Wind farm 1 (WF1)

SCIM SCIM
Grid 1
SCIM SCIM WF1-VSC GS1-VSC
Voltage sag
SCIM SCIM
L3 Duration 1s
Voltage drop 80 %

L2 Grid side 2 (GS2)

Wind farm 2 (WF2)

SCIM SCIM
Grid 2
SCIM SCIM WF2-VSC GS2-VSC

SCIM SCIM
 Fault operation: Grid side and wind farm voltage

5
x 10
1
500 VWF1V VGS1V
sa la
VWF1V 0.5 VGS1V
Voltage [V]

Voltage [V]
sb lb
VWF1V VGS1V
0 sc
0 lc

0.5
500
1
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
5
x 10
1
500 VWF2V VGS2V
sa la
VWF2V 0.5 VGS2V
Voltage [V]

Voltage [V]
sb lb
VWF2V VGS2V
0 sc
0 lc

0.5
500
1
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
 Fault operation: DC grid

8
x 10
1000
PWFDC Il1
1
1
PWFDC Il2

Current [A]
Power [W]

0.5 2 500 Il2

0
0.5

1
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
7 5
x 10 x 10

0 PGSDC EWF
1 1
1.6
PGSDC EWF

Voltage [V]
Power [W]

2 2
5 EGS
1.55 1
EGS
10 2
1.5

0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
 Fault operation: Wind farm 1

Angular velocity [min1]

8
x 10
1650
1 PWF WF
1 1
Active power [W]

1600
0.5
1550

0 1500
0 2 4 6 8 10 12 14 16 18
0.5 time [s]

8000

Torque [Nm]
1 PE
0 2 4 6 8 10 12 14 16 18 6000 1
Time [s]
4000
2000
vwind 0 2 4 6 8 10 12 14 16 18
15 WF
1 Time [s]
speed [min1]

14
20
pitcn
13

Pitch []
WF
1
10
12

11 0
0 2 4 6 8 10 12 14 16 18
0 2 4 6 8 10 12 14 16 18 Time [s]
Time [s]
 Fault operation: Wind farm 2

Angular velocity [min1]

7
x 10

10 PWF WF
2 1600 2
Active power [W]

5 1550

1500
0 0 2 4 6 8 10 12 14 16 18
time [s]
5
8000

Torque [Nm]
PE
0 2 4 6 8 10 12 14 16 18 6000 2
Time [s]
4000
2000
13.5 vwind 0 2 4 6 8 10 12 14 16 18
WF
13
2 Time [s]
speed [min1]

15
12.5 pitcn

Pitch []
10 WF
12 2

5
11.5
0
11 0 2 4 6 8 10 12 14 16 18
0 2 4 6 8 10 12 14 16 18 Time [s]
Time [s]
 Conclusions

A modelling HVDC systems method is presented

Operation modes and controls are proposed
Simulation results are presented
An experimental platform is being built
Thank you for your attention