Testing is an important activity when developing a system. Testing requires resources in terms of time, labour and money. By correctly automating the tests, the development time may either be shortened or there will be a possibility to run more tests. ABB in Ludvika has developed MACH, a control & protection system for HVDC (high power electrical transmission over long distances) applications. During development of the control & protection system for each HVDC project, which are all unique, the system is today tested manually, which takes considerable time.This thesis project studies the possibility of automating parts of the MACH system tests, by investigating current testing procedures, the control & protection system itself, and how a test tool may interact with the system. Using this information a test framework, aimed towards test automation, was created, and a simple test execution tool was developed. A new test case, a combination of multiple smaller test cases, ranon the system using the test execution tool.The outcome proves the proof of concept of automating parts of the system tests.The economics and the scope of the automated testing however, is dependent on how automation is implemented.

High Voltage Direct Current (HVDC) technology has never before been used to connect a Nuclear Power Plant (NPP) directly to the National Electricity Transmission System (NETS). There are both technical and economic factors which need to be considered and understood before such a technology is adopted for an NPP connection. In this thesis, both technical and economic factors surrounding the suitability of Current Source Converter (CSC) and Voltage Source Converter (VSC) HVDC technology for NPP connections are investigated. Power system models of both HVDC technologies, connected to an NPP, are studied in Power System Computer Aided Design (PSCAD) software. The studies highlight the susceptibility of CSC-HVDC technology to commutation failure during a three-phase fault condition at the inverter, and simulations demonstrate some key benefits of adopting VSC-HVDC technology for NPP connections: provision of independent reactive power support to both the NPP and AC system; black-start capability; fast current reversal for dynamic conditions; and the ability to connect to a weak High Voltage Alternating Current (HVAC) system. The simulations show the vulnerability of VSC-HVDC vector current control when the short circuit ratio of the AC system is very low (<1); in such cases, the Phase Locked Loop (PLL) is affected and power transfer through the VSC-HVDC link may drop to 50% of nominal rating. An economic analysis of HVDC technology development, cost and converter station size is presented. The size of a CSC-HVDC converter station can be much larger than an equivalent-rated VSC due to the additional filters required for reactive power compensation and harmonic mitigation. With the fast evolution of VSC-HVDC technology, the ratings required for an NPP connection are now available. The cost difference between the two technologies can vary from project to project and hence neither one can be ruled out for an NPP connection based only on price.

In order to achieve the ambitious decarbonisation targets of the UK government, up to 30GW of wind generation could be connected to the GB transmission system by 2020. The challenges imposed when incorporating this volume of renewable energy are significant, introducing new technical challenges for National Grid as the system operator for the Great Britain transmission system. The majority of this new renewable generation will be connecting in Scotland and offshore in the UK as a whole. This results in greater uncertainty in the system from significant changes to the direction and volume of power flows across the network. In addition this implies a higher power transfer capacity requirement on the AC transmission lines, which are currently stability-limited, connecting SPT (Scottish Power Transmission) and National Grid networks. The required power transfer capability increases every year because of the large-scale increase in wind generation. Therefore, there is insufficient transmission capacity in the existing network to accommodate the increasing power transfer without constraining output of some generation plants. A range of new state of art technologies such as embedded HVDC link and Thyristor Controlled Series Compensation (TCSC) are planned to be added to the GB system in order to provide additional capacity and consequently facilitate the integration of large-scale renewable generation. It is, therefore essential that National Grid explores new ways of operating the transmission network and new devices to gain additional benefit from the HVDC link and the TCSC capabilities with regard to the system stability enhancement. This thesis investigates the effectiveness of the HVDC link and the TCSC with a view to system stability enhancement. A hierarchical stability control system to enhance the stability limit and achieve the best transient and dynamic performance using the HVDC link and the TCSCs as actuators in the feedback control system is proposed. In addition, a stability control system, using a robust and stabilising Sample Regulator multivariable control design method , to guarantee the system robustness and stability is proposed and designed. The performance and capability of the designed controller in co-ordinated control of the forthcoming power flow control devices are demonstrated on benchmark networks as well as full dynamic models of the GB transmission system using various study cases. Finally, the effectiveness of the West Coast HVDC link in improving the inter-area oscillation damping is presented using the developed model of the future GB transmission system.

Les nouvelles politiques adoptées par les autorités nationales ont encouragé pendant les dernières années l'intégration à grande échelle des systèmes d'énergie renouvelable (RES). L'intégration à grande échelle des RES aura inévitablement des conséquences sur le réseau de transport d'électricité tel qu'il est conçu aujourd'hui, car le transport de l'électricité massif sur de longues distances pourrait amener les réseaux de transport à fonctionner près de leurs limites, réduisant ainsi leurs marges de sécurité. Des systèmes de transport d’électricité plus complexes seront donc nécessaires.Dans ce scénario, les systèmes de transmission à Courant Continu Haute Tension (HVDC) constituent la solution la plus intéressante pour le renforcement et l'amélioration des réseaux à Courant Alternatif (AC) existants, non seulement en utilisant des configurations point à point, mais aussi dans des configurations multi-terminales. L'introduction des systèmes HVDC aboutira à terme à un réseau électrique hybride haute tension AC/DC, qui doit être analysé comme un système unique afin de mieux comprendre les interactions entre le réseau AC et le réseau DC.Cette thèse porte sur l'analyse de la stabilité transitoire des systèmes de transmission électrique hybrides AC/DC. Plus particulièrement, deux questions ont été abordées: Quel est l'impact d'un défaut du réseau DC sur la stabilité transitoire du réseau AC? Comment est-il possible de se servir des systèmes de transmission DC en tant qu'actionneurs afin d'améliorer la stabilité transitoire AC ?Dans la première partie de ce travail, les modèles mathématiques du réseau hybride AC/DC sont décrits ainsi que les outils nécessaires à l'analyse du système en tenant compte de sa nature non linéaire. Ensuite, une analyse approfondie de la stabilité transitoire du réseau électrique dans le cas particulier d'un court-circuit dans le réseau DC et l'exécution des stratégies de protection correspondantes sont effectuées. En complément, des indicateurs de stabilité et des outils pour dimensionner les futurs réseaux de la MTDC afin de respecter les contraintes des stratégies de protection existantes sont proposés.La deuxième partie de la thèse porte sur les propositions de commande pour la modulation des références de puissance des systèmes de transmission HVDC dans le but d'améliorer la stabilité transitoire du système AC connecté à ce réseau DC. Tout d'abord, nous axons notre étude sur le contrôle non linéaire des liaisons HVDC point à point dans des liaisons hybrides AC/DC. La compensation rapide des perturbations de puissance, l'injection de puissance d'amortissement et l'injection de puissance de synchronisation sont identifiées comme des mécanismes par lesquels les systèmes HVDC peuvent améliorer les marges de stabilité des réseaux AC.Enfin, une stratégie de contrôle pour l'amélioration de la stabilité transitoire par injection de puissance active dans par un réseau MTDC est proposée. Grâce à la communication entre les stations, la commande décentralisée proposée injecte la puissance d'amortissement et de synchronisation entre chaque paire de convertisseurs en utilisant uniquement des mesures au niveau des convertisseurs. L'implémentation proposée permet d'utiliser au maximum la capacité disponible des convertisseurs en gérant les limites de puissance d'une manière décentralisée. / The new policy frameworks adopted by national authorities has encouraged the large scale-integration of Renewable Energy Systems (RES) into bulk power systems. The large-scale integration of RES will have consequences on the electricity transmission system as it is conceived today, since the transmission of bulk power over long distances could lead the existing transmission systems to work close to their limits, thus decreasing their dynamic security margins. Therefore more complex transmissions systems are needed.Under this scenario, HVDC transmission systems raise as the most attractive solution for the reinforcement and improvement of existing AC networks, not only using point-to-point configurations, but also in a Multi-Terminal configuration. The introduction of HVDC transmission systems will eventually result in a hybrid high voltage AC/DC power system, which requires to be analyzed as a unique system in order to understand the interactions between the AC network and the DC grid.This thesis addresses the transient stability analysis of hybrid AC/DC electric transmission systems. More in particular, two questions sought to be investigated: What is the impact of a DC contingency on AC transient stability? How can we take advantage of the of DC transmission systems as control inputs in order to enhance AC transient stability?In the first part of this work, the mathematical models of the hybrid AC/DC grid are described as well as the necessary tools for the analysis of the system taking into account its nonlinear nature. Then, a thorough analysis of transient stability of the power system in the particular case of a DC fault and the execution of the corresponding protection strategies is done. As a complement, stability indicators and tools for sizing future MTDC grids in order to respect the constraints of existing protection strategies are proposed.The second part of the thesis addresses the control proposals for the modulation of power references of the HVDC transmission systems with the purpose of transient stability enhancement of the surrounding AC system. Firstly, we focus our study in the nonlinear control of point-to-point HVDC links in hybrid corridors. Fast power compensation, injection of damping power and injection of synchronizing power are identified as the mechanisms through which HVDC systems can improve stability margins.Finally, a control strategy for transient stability enhancement via active power injections of an MTDC grid is proposed. Using communication between the stations, the proposed decentralized control injects damping and synchronizing power between each pair of converters using only measurements at the converters level. The proposed implementation allows to fully use the available headroom of the converters by dealing with power limits in a decentralized way.

Detta examensarbete är gjort på uppdrag av ABB i Ludvika. ABB har fått en beställning på en uppgradering av en högspänd likströmstation, på engelska High Voltage Direct Current (HVDC). Det finns huvudsakligen två olika tekniker gällande HVDC. Det är HVDC med Line Commutated Converters (LCC) och HVDC med Voltage Source Converters (VSC). LCC-tekniken är den äldsta och mest använda tekniken och är den teknik som stationen som uppgraderas använder. VSC-HVDC är en något nyare teknik som har fördelen att den inte kräver ett genererande nät på båda sidor av HVDC-länken men nackdelen att den inte klarar av lika höga effekter som LCC gör. Den har med dessa egenskaper blivit en populär teknik att använda för att till exempel överföra energi från vindkraftsparker ute till havs in till fastlandet eller för att förse oljeplattformar med energi. VSC-tekniken introducerades för första gången 1997 av ABB där den går under namnet HVDC-Light. Den aktuella HVDC-länken är en förbindelse mellan två länder och har en överföringskapacitet på totalt 600 MW. Uppgraderingen innefattar även uppdatering av befintliga scheman för att de skall finnas tillgängliga i den nya programvaran Engineering Base. Ritningarna har ritats i Microsoft Visio. Den utrustning som har ritats om och behandlas i denna rapport gäller utrustningen på likströmssidan av HVDC-stationen. Det innefattar jordknivar, frånskiljare, strömtransformatorer, spänningsdelare, överströmsskydd och genomföringar. / This thesis was conducted on behalf of ABB in Ludvika. ABB has received an order for an upgrade of a high voltage direct current (HVDC) station. There are two main technologies that HVDC is based on; line commutated converters (LCC) and voltage source converters (VSC). The LCC technology is the oldest and most widely used. It's also the technology that the upgraded station is based on. VSC HVDC is a newer technology that has the advantage of not requiring a generating power grid on both sides of the HVDC link but has the disadvantage that it cannot handle as high power as LCC can. With these qualities it has become a popular technology to use to transfer energy from offshore wind farms to the mainland or to provide oil platforms with energy. VSC technology was first introduced in 1997 by ABB where it is called HVDC Light. The revised HVDC link is a connection between two countries and has a total power transmission of 600 MW. The upgrade also includes updating existing circuit diagrams for the HVDC station to be available in the new software Engineering Base. The circuit diagrams have been drawn in Microsoft Visio. The equipment which have been designed and examined in this report applies to equipment on the DC side of the HVDC station. This includes grounding knives, disconnectors, power transformers, voltage dividers, current protection units and wall bushings.

Cette thèse porte sur les convertisseurs des liaisons à courant continu (HVDC- High Voltage Direct Current). Une nouvelle méthodologie de synthèse des régulateurs des convertisseurs basée sur un modèle de commande a été développée. Ce dernier prend en considération non seulement les deux convertisseurs de la liaison HVDC mais aussi l'ensemble des principaux éléments impactant la stabilité transitoire du système électrique dans lequel la liaison est insérée. Une commande robuste coordonnée est proposée pour, à la fois, répondre au cahier des charges de la liaison et améliorer la stabilité de la zone AC voisine à la liaison. La coordination de la synthèse de régulateurs pour les convertisseurs se fait à deux niveaux : le premier concerne les deux stations de conversion d'une même liaison HVDC et un second consistant en la coordination de plusieurs liaisons HVDC. De plus, seules les mesures disponibles localement (i.e., au niveau des stations de conversion) sont utilisées. Ce nouveau cadre de commande est une alternative à la commande vectorielle classique. L'approche a été validée à la fois sur des benchmarks académiques et en grande taille sur des cas concrets de renforcement du réseau de transport européen. / This thesis focuses on the control of converters of high voltage direct current (HVDC) links. A new methodology of synthesis of the controllers of the HVDC converters based on a control model has been developed. The latter takes into consideration not only the two converters of HVDC link but all the main dynamics affecting the transient stability of the power system in which the link is inserted. In order to improve the stability of the AC zone neighboring the HVDC link, in addition to the local objectives like power and voltage control, a coordinated robust control is proposed. The coordination of the synthesis controllers for converters is done at two levels: the first one is the coordination of the two stations of an HVDC link the second is consisting on the coordination of several HVDC links. In addition, only measures available locally (i.e., at the converter stations) are used. This new control frame is an alternative to the conventional vector control. The approach was validated on both academic benchmark and a large-scale dynamic model of the whole European power system.

Atualmente, em virtude do aumento da demanda energética surgem diversas preocupações devido à escassez dos recursos energéticos tradicionais e os impactos ambientais proporcionados pelos mesmos. Neste contexto, para atender a demanda, diversos investimentos têm sido feitos no desenvolvimento de gerações alternativas e renováveis de energia, bem como na interconexão entre países para exportação de energia. Assim, os estudos exigem soluções mais eficazes para transmissão de energia elétrica, como os sistemas de transmissão High Voltage Direct Current (HVDC), uma alternativa aos sistemas de transmissão atuais, que são predominantemente em Corrente Alternada (CA). Dentre as principais vantagens dos sistemas HVDC, destaca-se a possibilidade de transmissão de grandes montantes de energia a longas distâncias com baixas perdas. Desta forma, eles estão susceptíveis às mais diversas condições meteorológicas e geográficas, em regiões isoladas, o que os tornam vulneráveis a descargas atmosféricas, afetando a segurança do sistema. Assim, neste trabalho, foi simulado um sistema HVDC, utilizando conversores Voltage Source Converter (VSC) do tipo modular multinível, do inglês Modular Multilevel Converter (MMC), frente descargas atmosféricas. Foram analisados diversos casos, visando verificar o comportamento dos conversores e validar a eficácia da utilização de para-raios de óxido metálico, comumente chamado de para-raios de óxido de zinco (ZnO), visto que este é um componente geralmente empregado em sistemas CA. O trabalho apresenta uma revisão acerca dos sistemas VSC-based HVDC (VSC-HVDC), tratando principalmente dos conversores MMC. Também foram descritos todos os modelos utilizados nas simulações, as quais foram realizadas através do software PSCAD/EMTDC. Concluiu-se que o correto dimensionamento e locação dos para-raios operam adequadamente em sistemas Corrente Contínua (CC). Um outro fato interresante é que a sobretensão gerada pelo surto atmosférico se propaga para o lado CA ao incidir no lado CC, mas o contrário não ocorre. / Nowadays, due to the increase in energy demand, several concerns arise due to the scarcity of traditional energy resources and the environmental impacts. In this context, to meet the demand, several investments have been made in the development of alternative and renewable generations of energy, as well as in the interconnection among countries for energy exports. Thus, studies require more effective solutions for electric power transmission, such as VSC-HVDC systems, an alternative to current transmission systems, which are predominantly in CA. Among the main advantages of VSC-HVDC systems, we can highlight the possibility of transmitting large amounts of energy over long distances with low losses. In this way, they are susceptible to the most diverse meteorological and geographic conditions, in isolated regions, which make them vulnerable to lightning, affecting the safety of the system. Thus, in this work, an HVDC system was simulated using VSC converters of the multilevel modular type (MMC) in front of lightnings. Several cases were analyzed in order to verify the behavior of the converters and validate the effectiveness of the use of metal oxide arresters, also known as ZnO arresters, since this is a commonly used component in CA systems. The work presents a review about the VSC-HVDC systems, mainly dealing with the MMC converters. We also described all the models used in the simulations, which were performed through the PSCAD/EMTDC software. It was concluded that the correct dimensioning and location of the arresters operate properly in CC systems. Another interresting fact is that the overvoltage generated by the lightning propagates to the AC side when it hits the CC side, but the reverse does not occur.

Este trabalho aborda os sistemas multiterminais para transmissão em corrente contínua baseados em conversores do tipo fonte de corrente (CSC - current source converters). São apresentados resultados de estudo em um sistema multiterminal em corrente contínua (MTDC) de quatro terminais em três estações inserido no sistema norte-nordeste brasileiro, tendo como enfoque principal a sua modelagem, simulação e desempenho em relação à estabilidade durante transitórios eletromecânicos. O sistema é modelado nos programas PSCAD/EMTDC e EMTP-RV, com detalhe para a topologia, os controles e requisitos do MTDC. São também descritos e modelados os conversores a tiristores, as linhas em corrente contínua, bancos capacitivos para compensação de fator de potência, bem como os geradores síncronos e seus reguladores. O desempenho do sistema é avaliado por meio de simulações de inicialização, de regime permanente e transitória diante de contingências. Com isso, esta pesquisa contribui para a compreensão do desempenho de sistemas MTDC e para a criação de modelos para inserção nos programas de transitórios eletromecânicos. / This work addresses the CSC-based, multiterminal solution for DC transmission. The focus of the study was to analyze a four-terminal three-station MTDC scheme inserted in the Brazilian north-northeast power system through modeling, simulation and evaluation of performance regarding stability during electromechanical transients. The system is modeled in PSCAD/EMTDC and EMTP-RV programs, with special detail in the MTDC topology, controls and technical/operative requirements. It is also described the thyristor-based converters, the DC lines, capacitor banks for power factor compensation, as well as the synchronous generators and their regulators. The system performance is evaluated through simulation of converter initialization, steady state response and transient response after contingencies. Thus, this research not only contributes to the understanding of the performance and operation of MTDC systems, but it also assists the development of MTDC models for electromechanical transient programs.

Atualmente, em virtude do aumento da demanda energética surgem diversas preocupações devido à escassez dos recursos energéticos tradicionais e os impactos ambientais proporcionados pelos mesmos. Neste contexto, para atender a demanda, diversos investimentos têm sido feitos no desenvolvimento de gerações alternativas e renováveis de energia, bem como na interconexão entre países para exportação de energia. Assim, os estudos exigem soluções mais eficazes para transmissão de energia elétrica, como os sistemas de transmissão High Voltage Direct Current (HVDC), uma alternativa aos sistemas de transmissão atuais, que são predominantemente em Corrente Alternada (CA). Dentre as principais vantagens dos sistemas HVDC, destaca-se a possibilidade de transmissão de grandes montantes de energia a longas distâncias com baixas perdas. Desta forma, eles estão susceptíveis às mais diversas condições meteorológicas e geográficas, em regiões isoladas, o que os tornam vulneráveis a descargas atmosféricas, afetando a segurança do sistema. Assim, neste trabalho, foi simulado um sistema HVDC, utilizando conversores Voltage Source Converter (VSC) do tipo modular multinível, do inglês Modular Multilevel Converter (MMC), frente descargas atmosféricas. Foram analisados diversos casos, visando verificar o comportamento dos conversores e validar a eficácia da utilização de para-raios de óxido metálico, comumente chamado de para-raios de óxido de zinco (ZnO), visto que este é um componente geralmente empregado em sistemas CA. O trabalho apresenta uma revisão acerca dos sistemas VSC-based HVDC (VSC-HVDC), tratando principalmente dos conversores MMC. Também foram descritos todos os modelos utilizados nas simulações, as quais foram realizadas através do software PSCAD/EMTDC. Concluiu-se que o correto dimensionamento e locação dos para-raios operam adequadamente em sistemas Corrente Contínua (CC). Um outro fato interresante é que a sobretensão gerada pelo surto atmosférico se propaga para o lado CA ao incidir no lado CC, mas o contrário não ocorre. / Nowadays, due to the increase in energy demand, several concerns arise due to the scarcity of traditional energy resources and the environmental impacts. In this context, to meet the demand, several investments have been made in the development of alternative and renewable generations of energy, as well as in the interconnection among countries for energy exports. Thus, studies require more effective solutions for electric power transmission, such as VSC-HVDC systems, an alternative to current transmission systems, which are predominantly in CA. Among the main advantages of VSC-HVDC systems, we can highlight the possibility of transmitting large amounts of energy over long distances with low losses. In this way, they are susceptible to the most diverse meteorological and geographic conditions, in isolated regions, which make them vulnerable to lightning, affecting the safety of the system. Thus, in this work, an HVDC system was simulated using VSC converters of the multilevel modular type (MMC) in front of lightnings. Several cases were analyzed in order to verify the behavior of the converters and validate the effectiveness of the use of metal oxide arresters, also known as ZnO arresters, since this is a commonly used component in CA systems. The work presents a review about the VSC-HVDC systems, mainly dealing with the MMC converters. We also described all the models used in the simulations, which were performed through the PSCAD/EMTDC software. It was concluded that the correct dimensioning and location of the arresters operate properly in CC systems. Another interresting fact is that the overvoltage generated by the lightning propagates to the AC side when it hits the CC side, but the reverse does not occur.

Este trabalho aborda os sistemas multiterminais para transmissão em corrente contínua baseados em conversores do tipo fonte de corrente (CSC - current source converters). São apresentados resultados de estudo em um sistema multiterminal em corrente contínua (MTDC) de quatro terminais em três estações inserido no sistema norte-nordeste brasileiro, tendo como enfoque principal a sua modelagem, simulação e desempenho em relação à estabilidade durante transitórios eletromecânicos. O sistema é modelado nos programas PSCAD/EMTDC e EMTP-RV, com detalhe para a topologia, os controles e requisitos do MTDC. São também descritos e modelados os conversores a tiristores, as linhas em corrente contínua, bancos capacitivos para compensação de fator de potência, bem como os geradores síncronos e seus reguladores. O desempenho do sistema é avaliado por meio de simulações de inicialização, de regime permanente e transitória diante de contingências. Com isso, esta pesquisa contribui para a compreensão do desempenho de sistemas MTDC e para a criação de modelos para inserção nos programas de transitórios eletromecânicos. / This work addresses the CSC-based, multiterminal solution for DC transmission. The focus of the study was to analyze a four-terminal three-station MTDC scheme inserted in the Brazilian north-northeast power system through modeling, simulation and evaluation of performance regarding stability during electromechanical transients. The system is modeled in PSCAD/EMTDC and EMTP-RV programs, with special detail in the MTDC topology, controls and technical/operative requirements. It is also described the thyristor-based converters, the DC lines, capacitor banks for power factor compensation, as well as the synchronous generators and their regulators. The system performance is evaluated through simulation of converter initialization, steady state response and transient response after contingencies. Thus, this research not only contributes to the understanding of the performance and operation of MTDC systems, but it also assists the development of MTDC models for electromechanical transient programs.