Voltage-Sourced Converter High Voltage Direct Current (VSC-HVDC) transmission technology has received great interest and experienced rapid development worldwide because of its compact size, ability to connect two asynchronous AC systems and ability to connect to weak AC grids. It is expected that VSC-HVDC will play a significant role in future power transmission networks. Multi-Terminal Direct Current (MTDC) networks are even being established based on VSC-HVDC and these have great potential to support conventional AC transmission networks. However, such DC networks are vulnerable to any DC side short-circuit fault. DC protection issues must be tackled to enable the development of MTDC networks. This thesis conducts some of the underpinning research for such DC protection studies. As a first step to conduct the protection study, a detailed four-terminal VSC-HVDC system is developed in PSCAD/EMTDC, which consists of both two-level converters and MMC devices. Based on this high fidelity four-terminal system model, a thorough analysis is conducted for the two-level converter and the MMC systems under different fault scenarios. Based on this, a basic understanding of the converter systems' natural responses to these fault scenarios is obtained. Apart from using a DC circuit breaker to isolate a DC fault, there may be other devices which could potentially be used for DC protection. After the fault analysis, a study is conducted to search for any other DC protection equipment which could help the DC breaker isolate a DC fault. Different types of fault current limiters (FCLs) are reviewed and compared. It is found that the resistive type superconducting FCL (SCFCL) has the potential to be usefully employed for DC protection. Next, a DC fault detection and location strategy study is performed. This thesis conducts a detailed study of different DC fault detection and location strategies using a much higher fidelity model than previous studies. After reviewing different fault detection methodologies, it is found that wavelet transforms presently might be the best option for DC protection. The continuous wavelet transform (CWT) is then extensively tested under different DC faults and transient scenarios to prove its robustness, as this method has not been extensively studied in the previous literature. In the end, by using the CWT and placing the SCFCLs in series with DC circuit breakers, the performance of the SCFCLs under a DC side pole-to-pole fault is examined. This study shows that the SCFCL can help reduce the fault current seen by a DC breaker. In the end, a DC system fault recovery study is performed. Different methods are proposed and studied to examine the impact they have on the converter system's DC fault recovery process. A novel bump-less control is proposed to help the system achieve a good fault recovery response.

Este trabajo está dividido en dos partes. En la primera se presentan y proponen observadores y estimadores para señales sinusoidales de frecuencia desconocida pensados para aplicaciones de sincronización con la red eléctrica. En la segunda se presentan y proponen controladores de corriente para el Convertidor Fuente de Tensión (Voltage Source Con- verter ) (VSC), capaces de inyectar una corriente sinusoidal con bajo nivel de distorsión en fase con la componente fundamental de la tensión de la red, los cuales cuentan con adaptacion en frecuencia y pueden prescindir del sensor de tensión de red. Todos los esquemas son analizados desde un punto de vista teórico y las conclusiones obtenidas de este análisis son validadas mediante simulaciones, y en algu-nos casos mediante resultados experimentales. Los algoritmos implementados experimentalmente son optimizados para lograr buena performance con un bajo costo computacional, lo que permite su implementación en procesadores de bajo costo. La obtención de estos resultados experimentales fue posible gracias al diseño y construcción de un prototipo industrial de Sistema de Generación Distribuida de Potencia (Distributed Power Generation System) (DPGS), el cual se muestra también en este trabajo. / This work is divided in two parts. Part I analyzes and proposes estimators and observers of sinusoidal signals with an unknown frequency for the purpose of synchronizing DPGS to the power grid. Part II analyzes and proposes current controllers for the VSC capable of injecting low distortion sinusoidal currents in phase with the fundamental component of the grid voltage. Some of these are frequency adaptive and can be made grid voltage sensorless. All the schemes are analyzed from a theoreti-cal viewpoint and the conclusions drawn from these analysis are validated through simulations, and in some cases through experimental results. The experi-mentally implemented algorithms are optimized to achieve a good performance with low computational burden, which makes them suitable for implementation in low cost pro-cessors. The obtention of these experimental results was possible thanks to the design and construction of a DPGS industrial prototype, which is also shown in this work.

Recentes avanços em relação aos dispositivos semicondutores utilizados no processo de conversão CA/CC levaram à aplicação de conversores fonte de tensão, do inglês Voltage Source Converter (VSC), na transmissão de energia elétrica em altas tensões e corrente contínua, do inglês High Voltage Direct Current (HVDC). Uma das vantagens da utilização de VSCs é simplificr o processo de criação de redes HVDC com múltiplos terminais, identificadas pela sigla em inglês Multi-terminal HVDC (MTDC). Entretanto, a severidade das faltas em linhas CC, aliada à fragilidade dos conversores, exige a utilização de algoritmos capazes de identificar corretamente a ocorrência de faltas em um reduzido intervalo de tempo. Neste sentido, este trabalho tem por objetivo a elaboração de uma nova metodologia de proteção que possa ser aplicada na proteção primária de sistemas HVDC, especialmente para redes MTDC. Para tanto, foi elaborado um modelo detalhado de rede MTDC com três terminais e, a partir dos dados obtidos por meio de extensivas simulações de falta, foram identificadas características dos sinais de corrente na linha CC capazes de auxiliar na proteção da rede. Pela utilização da Transformada wavelet, análise de componentes principais e sistemas Genético-Fuzzy, foi possível a elaboração de um algoritmo de proteção sem comunicação, rápido, confiável e seletivo para utilização em redes MTDC. Adicionalmente, foi realizada a implementação em hardware do algoritmo proposto, evidenciando sua aplicabilidade em sistemas reais. A metodologia proposta foi capaz de garantir seletividade, confiabilidade e velocidade de atuação ao sistema de proteção, identificando corretamente faltas nos condutores CC em menos de 1,5 ms. / Recent progress regarding semiconductor devices used in AC/DC conversion led to the use of Voltage Source Converters (VSC) in High Voltage Direct Current (HVDC) power transmission systems. AN advantage of using VSCs it to simplify the creation of Multi-terminal HVDC (MTDC) networks. However, the severity of DC faults, combined with the converters vulnerability, requests the use of algorithms able to correctly identify fault occurrences in a short period of time. Therefore, this work aims to elaborate a new primary protection methodology that could be applied to HVDC systems, especially in MTDC networks. For this purpose, a detailed three terminals MTDC network has been modeled and, through extensive computational faulty simulations, DC current characteristics that are able to assist network protection methods were identified. By means of the wavelet transform, principal component analysis and genetic fuzzy systems, it was possible to develop a fast, reliable an selective non-unit protection for MTDC grids. Moreover, the proposed algorithm was implemented in hardware, emphasizing its applicability in actual systems. The proposed methodology was able to ensure selectivity, reliability and speed of operation, correctly identifying DC faults in less than 1.5 ms.

Recentes avanços em relação aos dispositivos semicondutores utilizados no processo de conversão CA/CC levaram à aplicação de conversores fonte de tensão, do inglês Voltage Source Converter (VSC), na transmissão de energia elétrica em altas tensões e corrente contínua, do inglês High Voltage Direct Current (HVDC). Uma das vantagens da utilização de VSCs é simplificr o processo de criação de redes HVDC com múltiplos terminais, identificadas pela sigla em inglês Multi-terminal HVDC (MTDC). Entretanto, a severidade das faltas em linhas CC, aliada à fragilidade dos conversores, exige a utilização de algoritmos capazes de identificar corretamente a ocorrência de faltas em um reduzido intervalo de tempo. Neste sentido, este trabalho tem por objetivo a elaboração de uma nova metodologia de proteção que possa ser aplicada na proteção primária de sistemas HVDC, especialmente para redes MTDC. Para tanto, foi elaborado um modelo detalhado de rede MTDC com três terminais e, a partir dos dados obtidos por meio de extensivas simulações de falta, foram identificadas características dos sinais de corrente na linha CC capazes de auxiliar na proteção da rede. Pela utilização da Transformada wavelet, análise de componentes principais e sistemas Genético-Fuzzy, foi possível a elaboração de um algoritmo de proteção sem comunicação, rápido, confiável e seletivo para utilização em redes MTDC. Adicionalmente, foi realizada a implementação em hardware do algoritmo proposto, evidenciando sua aplicabilidade em sistemas reais. A metodologia proposta foi capaz de garantir seletividade, confiabilidade e velocidade de atuação ao sistema de proteção, identificando corretamente faltas nos condutores CC em menos de 1,5 ms. / Recent progress regarding semiconductor devices used in AC/DC conversion led to the use of Voltage Source Converters (VSC) in High Voltage Direct Current (HVDC) power transmission systems. AN advantage of using VSCs it to simplify the creation of Multi-terminal HVDC (MTDC) networks. However, the severity of DC faults, combined with the converters vulnerability, requests the use of algorithms able to correctly identify fault occurrences in a short period of time. Therefore, this work aims to elaborate a new primary protection methodology that could be applied to HVDC systems, especially in MTDC networks. For this purpose, a detailed three terminals MTDC network has been modeled and, through extensive computational faulty simulations, DC current characteristics that are able to assist network protection methods were identified. By means of the wavelet transform, principal component analysis and genetic fuzzy systems, it was possible to develop a fast, reliable an selective non-unit protection for MTDC grids. Moreover, the proposed algorithm was implemented in hardware, emphasizing its applicability in actual systems. The proposed methodology was able to ensure selectivity, reliability and speed of operation, correctly identifying DC faults in less than 1.5 ms.

The present work was performed at HVDC ABB as an initial study on how to adopt probabilistic concepts into the VCSHVDC insulation coordination. Due to large voltage levels in HVDC applications the corresponding insulation need to be properly addressed to ensure a safe, economical and reliable operation. Traditionally, only the maximum overvoltage is considered, where no adoption to the shape of the overvoltage distribution is regarded. Use of probabilistic concepts in the insulation coordination procedure can ideally reduce insulation margins with a maintained low risk of flashover. Analysis and understanding of probabilistic concepts of AC systems is needed in order to implement the concepts into VSC-HVDC. With use of advanced VSC-HVDC models, faults are simulated with varied fault insertion time in PSCAD. The resulting overvoltages from the simulation is gathered using different statistical methods in order to obtain the approximated overvoltage distribution. It was found from the simulation results that use of a Gaussian distribution is inappropriate due to shape variety in the overvoltage distributions. Instead, Kernel Density Estimate can serve as a flexible tool to approximate overvoltage distributions with a variety in number of modes and shape. The retrieved approximated overvoltage distributions are compared with the insulation strength in order to calculate the risk of flashover. The comparison shows that the insulation can be tuned in order to match set requirements. The thesis work should be seen as pilot study, where key problems have been pointed out and recommended further studies are proposed.

This thesis treats the subject of a complete steady state and dynamic model of the VSC-HVDC covering both the AC and DC system-side of the converter. The topology of the model is recreated after the scheduled transmission line in the south of Sweden, called SydVästlänken. The topology covers both a simple two terminal connection as well as a multi-terminal one. This model is to be implemented in the power system simulation program ARISTO. The main directive of the model is operation planning and education during real-time scenarios. The model is deliberately designed as a complete and complex model but with methods of reducing it's complexity to suit the users needs at the time for implementation. Further more the author have made sure that it is a complete generic model to suit the application of the program as the technology to the day of this study are unknown. Lastly, a method of controlling the converters are presented where Droop-control take a prominent roll as the AC and DC voltage regulator.

SaskPower has two separate systems, namely the North and the South systems. The South system contains SaskPower major generation and system load. The North system load is located relatively far from its generation (200 to 300 km). The North system is considered, therefore, to be electrically weaker than the South system. Recently there has been an interest in connecting the two systems to improve the security, stability and reliability of the integrated system. Grid interconnections, however, especially between weak and strong systems, often result in the arising of low-frequency oscillations between the newly connected areas. These oscillations that are termed “inter-area oscillations” exhibit, generally poor damping and can severely restrict system operations by requiring the curtailment of electric power transfers level as an operational measure. There are two options for SaskPower North and South systems interconnection, namely HVAC and HVDC interconnections (tie-lines). This thesis reports the results of digital time-domain simulation studies that are carried out to investigate the dynamic performance of a proposed 260 km, ± 110 kV, 50 MW Voltage-Sourced Converter HVDC tie-line that would connect SaskPower North and South systems. The potential problems that might arise due to such an interconnection, namely power flow control and low-frequency oscillations are studied and quantified and a proposed feasible solution is presented. In this context, the effectiveness of the HVDC and a Power Oscillations Damping (POD) controller in damping power system oscillations in the tie-line is investigated. Time-domain simulations are conducted on the benchmark model using the ElectroMagnetic Transients program (EMTP-RV). The results of the investigations have demonstrated that the presented HVDC link and its POD controller are effective in mitigating the low-frequency oscillations between the North and South systems at different system contingencies and operating conditions.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2017-06-01T17:54:00Z No. of bitstreams: 1 samuelnevesduarte.pdf: 5789380 bytes, checksum: b5b511b2ce2bf7c5f0c6c6b3ef94a9c1 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2017-06-02T15:58:36Z (GMT) No. of bitstreams: 1 samuelnevesduarte.pdf: 5789380 bytes, checksum: b5b511b2ce2bf7c5f0c6c6b3ef94a9c1 (MD5) / Made available in DSpace on 2017-06-02T15:58:36Z (GMT). No. of bitstreams: 1 samuelnevesduarte.pdf: 5789380 bytes, checksum: b5b511b2ce2bf7c5f0c6c6b3ef94a9c1 (MD5) Previous issue date: 2017-03-08 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Esta dissertação propõe estratégias de energização/desenergização de um compensador estático síncrono para distribuição. É também proposta uma alteração na topologia do compensador estático síncrono com a inclusão de dois circuitos capazes de realizar o procedimento de energização/desenergização proposto. O primeiro circuito é baseado em um retificador semi–controlado enquanto o segundo circuito é baseado na topologia de um gradador. A metodologia de controle é derivada da modelagem matemática do circuito equivalente formado durante a energização e a desenergização. A equação obtida é resolvida numericamente pelo método de Newton-Raphson e posteriormente usa-se uma aproximação linear por partes para representar os pontos intermediários da curva que relaciona a tensão do barramento CC do compensador com o ângulo de disparo dos tiristores. Um modelo digital do compensador estático, desenvolvido no programa PSIM, e um modelo experimental de pequena escala (3,8 kVA/220 V) são usados para validar a metodologia proposta. Resultados de simulação e experimentais demonstram a eficiência dos controladores de energização e desenergização. / This dissertation proposes strategies to energize/de-energize a distribution static synchronous compensator. It is also proposed a change in the topology of the static synchronous compensator with the inclusion of two circuits capable of performing the energization/de-energization procedure. The first circuit is based on a semi-controlled rectifier while the second one is based on a grader. The control methodology is derived from the mathematical modeling of the equivalent circuit formed during the energization and de-energization process. The resulting equation is numerically solved by the Newton-Raphson method and a piecewise linear method is used to model the curve that relates the DC bus voltage of the compensator to the firing angle of the thyristors. A digital model, in the PSIM program, and a small scale laboratory prototype (3,8 kVA/220 V) are used to validate the proposed methodology. Simulation and experimental results demonstrates the effectiveness of the energization and de-energization controllers.

The electric grid of Gotland is connected to the mainland via a 90 km HVDC Classic bipole of 2 * 130 MW. The HVDC link balances the load and production on the island to maintain the frequency within limits, the load varies between 50 and 180 MW throughout the year. The power production on the island comes mainly from wind power. Today, the installed power is about 170 MW but the wind power production will be further exploited and the plan is to add another 500 MW of wind power capacity to the existing plants. These plants will be connected to a new 130 kV transmission grid which will have a connection to the existing 70 kV grid at a new substation called Stenkumla. Along with the increased wind power production on the island comes the need of increased transmission capacity to the mainland. A VSC HVDC link of 500 MW is planned for this purpose and it will be connected to Stenkumla. As of today, it is not certain whether the two grids will be connected or not. Having connected grids is in the interest of the grid owner Gotlands Energi AB, GEAB since they then could utilize the technology of the new link and thereby ensure stableoperation during faults that today would lead to black out. In this thesis the feasibility of having connected grids was investigated and the study was divided into three main parts. •Reactive power and voltage profiles •Short circuit study •Converter trip study This study shows that under the assumptions made regarding production grid layout and proportion of WTG types there will be no need for adding reactive power compensation equipment. That is provided that demands are set on wind power plant contractors to have their equipment contributing with reactive power compensation, even during no load. A trip of the SvK VSC HVDC converter during full power production causes the most severe stress to the system. The major problem proved to be surviving the first 100 ms after converter trip without loosing angular stability and the most important measure to improve the stability was active power reduction of the wind turbines. The overall conclusion is that it is feasible to have connected grids during normal operation but demands has to be put on wind power plant contractors.

Travelling wave based fault location techniques work well for line commutated converter (LCC) based high voltage direct current (HVDC) transmission lines, but the large capacitors at the DC line terminals makes application of the same techniques for voltage source converter (VSC) based HVDC schemes challenging. A range of possible signals for detecting the fault generated travelling wave arrival times was investigated. Considering a typical VSC HVDC system topology and based on the study, an efficient detection scheme was proposed. In this scheme, the rate of change of the current through the surge capacitor located at each line terminal is measured by using a Rogowski coil and compared with a threshold to detect the wave fronts. Simulation studies in PSCAD showed that fault location accuracy of ±100 m is achievable for a 300 km long cable and 1000 km long overhead line. Experimental measurements in a practical HVDC converter station confirmed the viability of the proposed measurement scheme.