<p>In this thesis a study of the HVDC related phenomenon core saturation instability and methods to prevent this phenomenon is performed. It is reason to believe that this phenomenon caused disconnection of the Skagerrak HVDC link 10 August 1993. Internationally, core saturation instability has been reported at several HVDC schemes and thorough complex studies of the phenomenon has been performed. This thesis gives a detailed description of the phenomenon and suggest some interesting methods to prevent the development of it.</p><p>Core saturation instability and its consequences can be described in a simplified way as follows:</p><p>It is now assumed that a fundamental harmonic component is present in the DC side current. Due to the coupling between the AC side and the DC side of the HVDC converter, a subsequent second harmonic positive-sequence current and DC currents will be generated on the AC side. The DC currents will cause saturation in the converter transformers. This will cause the magnetizing current to also have a second harmonic positive-sequence component. If a high second harmonic impedance is seen from the commutation bus, a high positive-sequence second harmonic component will be present in the commutation voltages. This will result in a relatively high fundamental frequency component in the DC side voltage. If the fundamental frequency impedance at the DC side is relatively low the fundamental component in the DC side current may become larger than it originally was. In addition the HVDC control system may contribute to the fundamental frequency component in the DC side voltage, and in this way cause a system even more sensitive to core saturation instability. The large magnetizing currents that eventually will flow on the AC side cause large zero-sequence currents in the neutral conductors of the AC transmission lines connected to the HVDC link. This may result in disconnection of the lines. Alternatively, the harmonics in the large magnetizing currents may cause overheating of filters or other components. This may also cause disconnection.</p><p>In this thesis, several ways to reduce/eliminate the core saturation instability problem are described and most of them are also demonstrated by simulations on a modified CIGRE HVDC benchmark model in PSCAD/EMTDC version 3. PSCAD/EMTDC version 3 is a powerful simulation tool which perform simulations in the time domain and offers detailed models for transformers, power electronic switches etc. To understand and have confidence in the simulation results, the transformer models, the model for the on-line frequency scanner, and models for power electronic switches are evaluated in detail.</p><p>The suggested initiatives that were successfully simulated are listed below:</p><p>1) Stabilizing loops in the control system of the HVDC link.</p><p>These loops diminish the influence of the HVDC control system on core saturation instability. Some of the loops suggested are believed to give improvements in applications where it is required that the stabilizing loop are only active for a small band of frequencies.</p><p>2) A hybrid shunt filter connected to the commutation bus on the AC side.</p><p>The hybrid filter consists of a PWM converter in addition to a passive circuit of components. It is superior to the plain passive filter because it does not cause any resonances with the AC grid and because it is not as sensitive to component drifting as passive filters. The hybrid filter prevents most of the second harmonic current generated by the HVDC converter to flow into the AC grid. This way the second harmonic component in the commutation voltages is significantly decreased.</p><p>3) A passive shunt filter connected to the commutation bus on the AC side.</p><p>Functions the same way as the hybrid shunt filter, but it may create resonances with the AC net. In addition it is more sensitive for changes in the component values than the hybrid filter.</p><p>4) A blocking LC filter between the low voltage potential and earth on the DC side</p><p>This filter blocks any fundamental frequency current from flowing on the DC side at the same time as it allows the DC component in the DC side current to flow through it. By placing the filter between the low voltage potential and earth on the DC side it does not have to sustain the DC side voltage.</p><p>It is 1) that represent the most preferable solution. It does not introduce any new components in the AC or DC grid, and it is inexpensive compared to the other solutions. The solutions in 2), 3), and 4) requires large and expensive components. However, it might be that in future schemes hybrid filters replaces passive filters on the AC side. Then it might be inexpensive and convenient to use the hybrid filters to prevent core saturation instability.</p>

In this thesis a study of the HVDC related phenomenon core saturation instability and methods to prevent this phenomenon is performed. It is reason to believe that this phenomenon caused disconnection of the Skagerrak HVDC link 10 August 1993. Internationally, core saturation instability has been reported at several HVDC schemes and thorough complex studies of the phenomenon has been performed. This thesis gives a detailed description of the phenomenon and suggest some interesting methods to prevent the development of it. Core saturation instability and its consequences can be described in a simplified way as follows: It is now assumed that a fundamental harmonic component is present in the DC side current. Due to the coupling between the AC side and the DC side of the HVDC converter, a subsequent second harmonic positive-sequence current and DC currents will be generated on the AC side. The DC currents will cause saturation in the converter transformers. This will cause the magnetizing current to also have a second harmonic positive-sequence component. If a high second harmonic impedance is seen from the commutation bus, a high positive-sequence second harmonic component will be present in the commutation voltages. This will result in a relatively high fundamental frequency component in the DC side voltage. If the fundamental frequency impedance at the DC side is relatively low the fundamental component in the DC side current may become larger than it originally was. In addition the HVDC control system may contribute to the fundamental frequency component in the DC side voltage, and in this way cause a system even more sensitive to core saturation instability. The large magnetizing currents that eventually will flow on the AC side cause large zero-sequence currents in the neutral conductors of the AC transmission lines connected to the HVDC link. This may result in disconnection of the lines. Alternatively, the harmonics in the large magnetizing currents may cause overheating of filters or other components. This may also cause disconnection. In this thesis, several ways to reduce/eliminate the core saturation instability problem are described and most of them are also demonstrated by simulations on a modified CIGRE HVDC benchmark model in PSCAD/EMTDC version 3. PSCAD/EMTDC version 3 is a powerful simulation tool which perform simulations in the time domain and offers detailed models for transformers, power electronic switches etc. To understand and have confidence in the simulation results, the transformer models, the model for the on-line frequency scanner, and models for power electronic switches are evaluated in detail. The suggested initiatives that were successfully simulated are listed below: 1) Stabilizing loops in the control system of the HVDC link. These loops diminish the influence of the HVDC control system on core saturation instability. Some of the loops suggested are believed to give improvements in applications where it is required that the stabilizing loop are only active for a small band of frequencies. 2) A hybrid shunt filter connected to the commutation bus on the AC side. The hybrid filter consists of a PWM converter in addition to a passive circuit of components. It is superior to the plain passive filter because it does not cause any resonances with the AC grid and because it is not as sensitive to component drifting as passive filters. The hybrid filter prevents most of the second harmonic current generated by the HVDC converter to flow into the AC grid. This way the second harmonic component in the commutation voltages is significantly decreased. 3) A passive shunt filter connected to the commutation bus on the AC side. Functions the same way as the hybrid shunt filter, but it may create resonances with the AC net. In addition it is more sensitive for changes in the component values than the hybrid filter. 4) A blocking LC filter between the low voltage potential and earth on the DC side This filter blocks any fundamental frequency current from flowing on the DC side at the same time as it allows the DC component in the DC side current to flow through it. By placing the filter between the low voltage potential and earth on the DC side it does not have to sustain the DC side voltage. It is 1) that represent the most preferable solution. It does not introduce any new components in the AC or DC grid, and it is inexpensive compared to the other solutions. The solutions in 2), 3), and 4) requires large and expensive components. However, it might be that in future schemes hybrid filters replaces passive filters on the AC side. Then it might be inexpensive and convenient to use the hybrid filters to prevent core saturation instability.

<p>Power electronic converters are widely used in industrial power conversion systems both for utility and drives applications. As the power level increases, the voltage level is increased accordingly to obtain satisfactory efficiency. During the last years, the voltage rating of fast switching high voltage semiconductors such as the Insulated Gate Bipolar Transistor (IGBT) has increased. Still, there is a need for series connection of switching devices. In this area of applications, the Multilevel Converter has shown growing popularity.</p><p>The fundamental advantages of the Multilevel Converter topologies are low distorted output waveforms and limited voltage stress on the switching devices. The main disadvantages are higher complexity and more difficult control. </p><p>In this thesis, Multilevel Converters are analysed for large motor drive applications. The main focus has been on converter losses, output waveform quality and control.</p><p>Analytical expressions for both switching and conduction losses for 4- and 5-level Diode Clamped Converters have been developed. The investigation shows that the losses can be reduced by utilizing a multilevel topology for a 1 MW drive. This work is presented in [46]. The same reduction in losses is proven for a 2300V/ 3 MW drive.</p><p>Analytical expressions for the harmonic losses in 3-level converters have been developed for 2 different Carrier Based PWM schemes, presented in [56], [57] and [58]. Also Space Vector PWM are investigated and compared by simulations, in addition to 4- and 5-level Carrier Based PWM.</p><p>DC-bus balancing in both 3- and 5-level converters is discussed. Balancing in 3- level converters can be achieved by proper control. Balancing in 5-level converters can be achieved by proper arrangement of isolated DC-supplies.</p><p>One 40kW 3-level converter and one 5kW 5-level converter has been designed and built. Experimental verification of the analytical and simulated results is shown.</p>

Power electronic converters are widely used in industrial power conversion systems both for utility and drives applications. As the power level increases, the voltage level is increased accordingly to obtain satisfactory efficiency. During the last years, the voltage rating of fast switching high voltage semiconductors such as the Insulated Gate Bipolar Transistor (IGBT) has increased. Still, there is a need for series connection of switching devices. In this area of applications, the Multilevel Converter has shown growing popularity. The fundamental advantages of the Multilevel Converter topologies are low distorted output waveforms and limited voltage stress on the switching devices. The main disadvantages are higher complexity and more difficult control. In this thesis, Multilevel Converters are analysed for large motor drive applications. The main focus has been on converter losses, output waveform quality and control. Analytical expressions for both switching and conduction losses for 4- and 5-level Diode Clamped Converters have been developed. The investigation shows that the losses can be reduced by utilizing a multilevel topology for a 1 MW drive. This work is presented in [46]. The same reduction in losses is proven for a 2300V/ 3 MW drive. Analytical expressions for the harmonic losses in 3-level converters have been developed for 2 different Carrier Based PWM schemes, presented in [56], [57] and [58]. Also Space Vector PWM are investigated and compared by simulations, in addition to 4- and 5-level Carrier Based PWM. DC-bus balancing in both 3- and 5-level converters is discussed. Balancing in 3- level converters can be achieved by proper control. Balancing in 5-level converters can be achieved by proper arrangement of isolated DC-supplies. One 40kW 3-level converter and one 5kW 5-level converter has been designed and built. Experimental verification of the analytical and simulated results is shown.

<p>There has been a pressure to operate power systems closer to their security limits. This has partially been due to financial imperatives following the deregulating of markets. Other practical difficulties have been obtaining authorization from regulatory bodies to build power plants and transmission lines.</p><p>In this situation it is essential to monitor the system and to have tools that can predict the distance to the point of collapse (PoC). Much effort has been put into research of the phenomenon voltage collapse, and many approaches have been explored. Both dynamic and steady-state behavior have been studied thoroughly, though very few protection and control schemes have been implemented. In this dissertation the possibility of an index based on local area measurements have been explored. Voltage stability can be classified as either a transient or a long-term stability problem, and the index proposed in this dissertation is based on long-term dynamics.</p>

There has been a pressure to operate power systems closer to their security limits. This has partially been due to financial imperatives following the deregulating of markets. Other practical difficulties have been obtaining authorization from regulatory bodies to build power plants and transmission lines. In this situation it is essential to monitor the system and to have tools that can predict the distance to the point of collapse (PoC). Much effort has been put into research of the phenomenon voltage collapse, and many approaches have been explored. Both dynamic and steady-state behavior have been studied thoroughly, though very few protection and control schemes have been implemented. In this dissertation the possibility of an index based on local area measurements have been explored. Voltage stability can be classified as either a transient or a long-term stability problem, and the index proposed in this dissertation is based on long-term dynamics.

<p>This study was initiated to investigate if it could be feasible to supply offshore oil installations in the North Sea with electrical power from land. A prestudy of alternative converter topologies indicated that the most promising solution would be to investigate a conventional system with reduced synchronous compensator rating.</p><p>The study starts with a summary of the state of power supply to offshore installations today, and a short review of classical HVDC transmission. It goes on to analyse how a passive network without sources influences the inverter. The transmission, with its current controlled rectifier and large inductance, is simulated as a current source. Under these circumstances the analysis shows that the network frequency has to adapt in order to keep the active and reactive power balance until the controllers are able to react. The concept of firing angle for a thyristor is limited in a system with variable frequency, the actual control parameter is the firing delay time.</p><p>Sensitivity analysis showed some astonishing consequences. The frequency rises both by an increase in the active and in the reactive load. The voltage falls by an increase in the active load, but rises by an increase in the inductive load.</p><p>Two different control principles for the system of inverter, synchronous compensator and load are defined. The first takes the reference for the firing delay time from the fundamental voltage at the point of common coupling. The second takes the reference for the firing delay time from the simulated EMF of the synchronous compensator. Of these, the second is the more stable and should be chosen as the basis for a possible control system.</p><p>Two simulation tools are applied. The first is a quasi-phasor model running on Matlab with Simulink. The other is a time domain model in KREAN. The time domain model is primarily used for the verification of the quasi-phasor model, and shows that quasi-phasors is still a valuable tool for making a quick analysis of the main features when the details of the transients are of less importance.</p><p>The study indicates that power supply by HVDC transmission from land to offshore oil installations could be technically feasible, even without the large synchronous compensators normally required. It has been shown that in a network only supplied by an inverter, variations of active and reactive loads have significant influence on both voltage and frequency. Particularly it should be noted that the frequency shows a positive sensitivity to increases in load. This could make the system intrinsically unstable in the case of a frequency dependent load such as motors.</p><p>It was not a part of the study to optimize controllers, but even with simple controllers it was possible to keep the frequency within limits given by norms and regulations, but the voltages were dynamically outside the limits, though not very far. These voltage overswings take place in the first few instances after a disturbance, so it takes unrealistically fast controllers to handle them. They are partly due to the model, where the land based rectifier and the DC reactors are simulated by a constant current source, but partly they have to be handled by overdimensioning of the system.</p><p>The simulations indicate that it should be technically possible to supply an oil platform with electrical power from land by means of HVDC transmission with small synchronous compensators. Whether this is financially feasible has not been investigated. Neither has it been considered whether the necessary equipment can actually be installed on an oil platform.</p><p>Recently both ABB and Siemens have presented solutions for HVDC transmission in the lower and medium power range based on voltage source converters based on IGBTs. Fully controllable voltage source HVDC converters have properties that may be better suited than conventional line commutated current source thyristor inverters, to supply weak or passive networks, such as offshore oil installations, with electrical power. But they also have some disadvantages, and a complete technical and financial comparison must be performed in order to decide about any potential project.</p>

This study was initiated to investigate if it could be feasible to supply offshore oil installations in the North Sea with electrical power from land. A prestudy of alternative converter topologies indicated that the most promising solution would be to investigate a conventional system with reduced synchronous compensator rating. The study starts with a summary of the state of power supply to offshore installations today, and a short review of classical HVDC transmission. It goes on to analyse how a passive network without sources influences the inverter. The transmission, with its current controlled rectifier and large inductance, is simulated as a current source. Under these circumstances the analysis shows that the network frequency has to adapt in order to keep the active and reactive power balance until the controllers are able to react. The concept of firing angle for a thyristor is limited in a system with variable frequency, the actual control parameter is the firing delay time. Sensitivity analysis showed some astonishing consequences. The frequency rises both by an increase in the active and in the reactive load. The voltage falls by an increase in the active load, but rises by an increase in the inductive load. Two different control principles for the system of inverter, synchronous compensator and load are defined. The first takes the reference for the firing delay time from the fundamental voltage at the point of common coupling. The second takes the reference for the firing delay time from the simulated EMF of the synchronous compensator. Of these, the second is the more stable and should be chosen as the basis for a possible control system. Two simulation tools are applied. The first is a quasi-phasor model running on Matlab with Simulink. The other is a time domain model in KREAN. The time domain model is primarily used for the verification of the quasi-phasor model, and shows that quasi-phasors is still a valuable tool for making a quick analysis of the main features when the details of the transients are of less importance. The study indicates that power supply by HVDC transmission from land to offshore oil installations could be technically feasible, even without the large synchronous compensators normally required. It has been shown that in a network only supplied by an inverter, variations of active and reactive loads have significant influence on both voltage and frequency. Particularly it should be noted that the frequency shows a positive sensitivity to increases in load. This could make the system intrinsically unstable in the case of a frequency dependent load such as motors. It was not a part of the study to optimize controllers, but even with simple controllers it was possible to keep the frequency within limits given by norms and regulations, but the voltages were dynamically outside the limits, though not very far. These voltage overswings take place in the first few instances after a disturbance, so it takes unrealistically fast controllers to handle them. They are partly due to the model, where the land based rectifier and the DC reactors are simulated by a constant current source, but partly they have to be handled by overdimensioning of the system. The simulations indicate that it should be technically possible to supply an oil platform with electrical power from land by means of HVDC transmission with small synchronous compensators. Whether this is financially feasible has not been investigated. Neither has it been considered whether the necessary equipment can actually be installed on an oil platform. Recently both ABB and Siemens have presented solutions for HVDC transmission in the lower and medium power range based on voltage source converters based on IGBTs. Fully controllable voltage source HVDC converters have properties that may be better suited than conventional line commutated current source thyristor inverters, to supply weak or passive networks, such as offshore oil installations, with electrical power. But they also have some disadvantages, and a complete technical and financial comparison must be performed in order to decide about any potential project.