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.

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.

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.

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.

A problem of interest in the power industry is the mitigation of severe torsional oscillations induced in turbine-generator shaft systems due to Subsynchronous Resonance (SSR). SSR occurs when a natural frequency of a series compensated transmission system coincides with the complement of one of the torsional modes of the turbine-generator shaft system. Under such circumstances, the turbine-generator shaft system oscillates at a frequency corresponding to the torsional mode frequency and unless corrective action is taken, the torsional oscillations can grow and may result in shaft damage in a few seconds. <p> This thesis reports the use of a supplementary controller along with the Voltage Source Converter (VSC) HVDC back-to-back active power controller to damp all SSR torsional oscillations. In this context, investigations are conducted on a typical HVAC/DC system incorporating a large turbine-generator and a VSC HVDC back-to-back system. The generator speed deviation is used as the stabilizing signal for the supplementary controller. <p>The results of the investigations conducted in this thesis show that the achieved control design is effective in damping all the shaft torsional torques over a wide range of compensation levels. The results and discussion presented in this thesis should provide valuable information to electric power utilities engaged in planning and operating series capacitor compensated transmission lines and VSC HVDC back-to-back systems.

A problem of interest in the power industry is the mitigation of severe torsional oscillations induced in turbine-generator shaft systems due to Subsynchronous Resonance (SSR). SSR occurs when a natural frequency of a series compensated transmission system coincides with the complement of one of the torsional modes of the turbine-generator shaft system. Under such circumstances, the turbine-generator shaft system oscillates at a frequency corresponding to the torsional mode frequency and unless corrective action is taken, the torsional oscillations can grow and may result in shaft damage in a few seconds. <p> This thesis reports the use of a supplementary controller along with the Voltage Source Converter (VSC) HVDC back-to-back active power controller to damp all SSR torsional oscillations. In this context, investigations are conducted on a typical HVAC/DC system incorporating a large turbine-generator and a VSC HVDC back-to-back system. The generator speed deviation is used as the stabilizing signal for the supplementary controller. <p>The results of the investigations conducted in this thesis show that the achieved control design is effective in damping all the shaft torsional torques over a wide range of compensation levels. The results and discussion presented in this thesis should provide valuable information to electric power utilities engaged in planning and operating series capacitor compensated transmission lines and VSC HVDC back-to-back systems.

This thesis deals with modeling, simulation and operating limits of high-voltage direct-current (HVDC) transmission systems that employ voltage-source converters (VSCs) as their building blocks. This scheme is commonly known as the VSC-HVDC transmission. A simulation-based study is undertaken in which detailed electromagnetic transient (EMT) models are developed for a back-to-back VSC-HVDC transmission system. Different control strategies are implemented and their dynamic performances are investigated in the PSCAD/EMTDC EMT simulator. The research presented in this thesis firstly specifies the factors that limit the operating points of a VSC-HVDC system with particular emphasis on the strength of the terminating ac system. Although the EMT model shows these limits it provides little analytical reason for their presence and extent. A phasor-based quasi-steady state model of the system including the phase-locked loop firing control mechanism is proposed to determine and characterize the factors contributing to these operating limits. Stability margins and limits on the maximum available power are calculated, taking into consideration the maximum voltage rating of the VSC. The variations of ac system short-circuit ratio (SCR) and transformer impedance are proven to significantly impact the operating limits of the VSC-HVDC system. The results show how the power transfer capability reduces as the SCR decreases. The analysis shows that VSC-HVDC converters can operate into much weaker networks, and with less sensitivity, than the conventional line commutated converters (LCC-HVDC). Also for a given SCR the VSC-HVDC system has a significantly larger maximum available power in comparison with LCC-HVDC. A second research thrust of the thesis is introduction of a simplified converter model to reduce the computational intensity of its simulation. This is associated with the admittance matrix inversions required to simulate high-frequency switching of the converter valves. This simplified model is based on the concept of dynamic average-value modelling and provides the ability to generate either the full spectrum or the fundamental-frequency component of the VSC voltage. The model is validated against the detailed VSC-HVDC circuit and shows accurate matching during steady state and transient operation. Major reductions of 50-70% in CPU-time in repetitive simulation studies such as multiple runs and optimization-based controller tuning are achieved.

This thesis deals with modeling, simulation and operating limits of high-voltage direct-current (HVDC) transmission systems that employ voltage-source converters (VSCs) as their building blocks. This scheme is commonly known as the VSC-HVDC transmission. A simulation-based study is undertaken in which detailed electromagnetic transient (EMT) models are developed for a back-to-back VSC-HVDC transmission system. Different control strategies are implemented and their dynamic performances are investigated in the PSCAD/EMTDC EMT simulator. The research presented in this thesis firstly specifies the factors that limit the operating points of a VSC-HVDC system with particular emphasis on the strength of the terminating ac system. Although the EMT model shows these limits it provides little analytical reason for their presence and extent. A phasor-based quasi-steady state model of the system including the phase-locked loop firing control mechanism is proposed to determine and characterize the factors contributing to these operating limits. Stability margins and limits on the maximum available power are calculated, taking into consideration the maximum voltage rating of the VSC. The variations of ac system short-circuit ratio (SCR) and transformer impedance are proven to significantly impact the operating limits of the VSC-HVDC system. The results show how the power transfer capability reduces as the SCR decreases. The analysis shows that VSC-HVDC converters can operate into much weaker networks, and with less sensitivity, than the conventional line commutated converters (LCC-HVDC). Also for a given SCR the VSC-HVDC system has a significantly larger maximum available power in comparison with LCC-HVDC. A second research thrust of the thesis is introduction of a simplified converter model to reduce the computational intensity of its simulation. This is associated with the admittance matrix inversions required to simulate high-frequency switching of the converter valves. This simplified model is based on the concept of dynamic average-value modelling and provides the ability to generate either the full spectrum or the fundamental-frequency component of the VSC voltage. The model is validated against the detailed VSC-HVDC circuit and shows accurate matching during steady state and transient operation. Major reductions of 50-70% in CPU-time in repetitive simulation studies such as multiple runs and optimization-based controller tuning are achieved.

Voltage source converter high voltage direct current (VSC-HVDC) technology has become increasingly cost-effective and technically feasible in recent years. It is likely to play a vital role in integrating remotely-located renewable generation and reinforcing existing power systems. Multi-terminal VSC-HVDC (MTDC) systems, with superior reliability, redundancy and flexibility over the conventional point-to-point HVDC, have attracted a great deal of attention globally. MTDC however remains an area where little standardisation has taken place, and a series of challenges need to be fully understood and tackled before moving towards more complex DC grids. This thesis investigates modelling, control and stability of MTDC systems. DC voltage, which indicates power balance and stability of DC systems, is of paramount importance in MTDC control. Further investigation is required to understand the dynamic and steady-state behaviours of various DC voltage and active power control schemes in previous literature. This work provides a detailed comparative study of modelling and control methodologies of MTDC systems, with a key focus on the control of grid side converters and DC voltage coordination. A generalised algorithm is proposed to enable MTDC power flow calculations when complex DC voltage control characteristics are employed. Analysis based upon linearised power flow equations and equivalent circuit of droop control is performed to provide further intuitive understanding of the steady-state behaviours of MTDC systems. Information of key constraints on the stability and robustness of MTDC control systems has been limited. A main focus of this thesis is to examine these potential stability limitations and to increase the understanding of MTDC dynamics. In order to perform comprehensive open-loop and closed-loop stability studies, a systematic procedure is developed for mathematical modelling of MTDC systems. The resulting analytical models and frequency domain tools are employed in this thesis to assess the stability, dynamic performance and robustness of active power and DC voltage control of VSC-HVDC. Limitations imposed by weak AC systems, DC system parameters, converter operating point, controller structure, and controller bandwidth on the closed-loop MTDC stability are identified and investigated in detail. Large DC reactors, which are required by DC breaker systems, are identified in this research to have detrimental effects on the controllability, stability and robustness of MTDC voltage control. This could impose a serious challenge for existing control designs. A DC voltage damping controller is proposed to cope with the transient performance issues caused by the DC reactors. Furthermore, two active stabilising controllers are developed to enhance the controllability and robust stability of DC voltage control in a DC grid.