Com o aumento de uso de fontes renováveis para geração de energia e o aprimoramento da tecnologia de conversores fonte de tensão (VSC – Voltage Source Converter), sistemas baseados em corrente contínua não só se tornaram viáveis como também se tornaram uma alternativa vantajosa em diversas situações. O uso de diversos conversores conectados em uma rede, isto é uma rede VSC-HVDC multiterminal, se apresenta como um caminho para a conexão de diversas fontes, como geradores eólicos e solares de maneira eficiente e economicamente vantajosa. No entanto, este tipo de rede possui algumas limitações, por exemplo, é mais sensível a faltas que um sistema de corrente contínua baseado em conversores do tipofonte de corrente (CSC – Current Source Converter). Desta forma, o estudo de faltas em sistemas VSC-HVDC é necessário para o desenvolvimento de mecanismos de proteção para estes sistemas. Neste contexto é importante o desenvolvimento de metodologias para a localização de faltas em sistemas MTDC, uma vez que este tipo de informação pode ajudar as equipes de manutenção a encontrarem as falhas e resolverem o problema da maneira mais rápida possível. Embora existam diversos estudos e metodologias desenvolvidas para sistemas de corrente alternada, ou para sistemas de corrente contínua de dois terminais, os estudos em redes de corrente contínua multiterminais ainda são poucos e em geral atendem a apenas um tipo de rede, mostrando assim a necessidade de mais estudos na área. Desta forma, o objetivo desta dissertação de mestrado é o desenvolvimento de uma metodologia localização de faltas em um sistema HVDC multiterminal, que contará também com técnicas já propostas na literatura para a detecção das falhas.Neste documento são mostrados o embasamento teórico, os estudos realizados para o desenvolvimento do tema, bem como os resultados obtidos para a localização de faltas em um sistema teste de simulação. / The increase of the use of renewable sources for power generation and the enhancement of Voltage Source Converter (VSC) technology, DC-based systems have become viable and an advantageous alternative in many situations. The use of several converters connected in a network, ie a multi-terminal VSC-HVDC network, is presented as a way to connect several sources, such as wind and solar generators in an efficient and economically advantageous way. However, this type of network has some limitations, for example, it is more sensitive to faults than a DC current system based on Current Source Converter (CSC). Therefore, the study of faults in VSC-HVDC systems is necessary for the development of protections for these systems. In this context it is important to develop fault location methodologies in MTDC systems since this type of information can help maintenance teams to find fault and solve the problem as quickly as possible. Although there are several studies and methodologies developed for alternating current systems or for two-terminal DC systems, there are few studies on multiterminal DC networks and this studies generally address only one type of network, thus showing the need for more studies in the area. Thus, the objective of this master\'s thesis is the development of a fault localization methodology in a multi-terminal HVDC system, which will also have techniques already proposed in the literature for the detection of faults. In this document are shown the theoretical background, the studies carried out for the development of the theme, as well as the results obtained for fault localization in a simulation test system.

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.

Presently power systems are being operated under high stress level conditions unforeseen at the moment they were designed. These operating conditions have negatively impacted reliability, controllability and security margins. FACTS devices and HVDC transmissions have emerged as solutions to help power systems to increase the stability margins. VSC-HVDC transmissions are of particular interest since the principal characteristic of this type of transmission is its ability to independently control active power and reactive power. This thesis presents various control strategies to improve damping of electromechanical oscillations, and also enhance transient and voltage stability by using VSC-HVDC transmissions. These control strategies are based of different theory frames, namely, modal analysis, nonlinear control (Lyapunov theory) and model predictive control. In the derivation of the control strategies two models of VSC-HVDC transmissions were also derived. They are Injection Model and Simple Model. Simulations done in the HVDC Light Open Model showed the validity of the derived models of VSC-HVDC transmissions and the effectiveness of the control strategies. Furthermore the thesis presents an analysis of local and remote information used as inputs signals in the control strategies. It also describes an approach to relate modal analysis and the SIME method. This approach allowed the application of SIME method with a reduced number of generators, which were selected based on modal analysis. As a general conclusion it was shown that VSC-HVDC transmissions with an appropriate input signal and control strategy was an effective means to improve the system stability. / QC 20110412

This thesis presents an investigation into the power transmission limitations imposed on a VSC-HVdc converter by ac system strength and ac system impedance characteristics, quantified by the short circuit ratio (SCR). An important result of this study is that the operation of the converter is not only affected by the SCR’s magnitude, but is also significantly affected by the ac system’s impedance angle at the fundamental frequency. As the ac impedance becomes more resistive, the minimum SCR required at the rectifier side increases from that required for ideally inductive ac impedance, but it decreases at the inverter side. The finite megavolt ampere (MVA) limit of the VSC imposes a further limitation on power transfer, requiring an increase in the value of the minimum SCR. This limitation can be mitigated if additional reactive power support is provided at the point-common-connection. A state-space VSC model was developed and validated with a fully detailed non-linear EMT model. The model showed that gains of the phased-locked-loop (PLL), particularly at low SCRs greatly affect the operation of the VSC-HVdc converter and that operation at low SCRs below about 1.6 is difficult. The model also shows that the theoretically calculated power-voltage stability limit is not attainable in practice, but can be approached if the PLL gains are reduced. The thesis shows that as the VSC-HVdc converter is subject to large signal excitation, a good controller design cannot rely on small signal analysis alone. The thesis therefore proposes the application of optimization tools to coordinate the controls of multiple converters in a dc grid. A new method, the "single converter relaxation method", is proposed and validated. The design procedure of control gains selection using the single converter relaxation method for a multi-converter system is developed. A new method for selecting robust control gains to permit operation over a range of operation conditions is presented. The coordination and interaction of control parameters of multi-terminal VSC are discussed. Using the SCR information at converter bus, the gain scheduling approach to optimal gains is possible. However, compared to robust control gains setting, this approach is more susceptible to system instability.

This thesis presents an investigation into the power transmission limitations imposed on a VSC-HVdc converter by ac system strength and ac system impedance characteristics, quantified by the short circuit ratio (SCR). An important result of this study is that the operation of the converter is not only affected by the SCR’s magnitude, but is also significantly affected by the ac system’s impedance angle at the fundamental frequency. As the ac impedance becomes more resistive, the minimum SCR required at the rectifier side increases from that required for ideally inductive ac impedance, but it decreases at the inverter side. The finite megavolt ampere (MVA) limit of the VSC imposes a further limitation on power transfer, requiring an increase in the value of the minimum SCR. This limitation can be mitigated if additional reactive power support is provided at the point-common-connection. A state-space VSC model was developed and validated with a fully detailed non-linear EMT model. The model showed that gains of the phased-locked-loop (PLL), particularly at low SCRs greatly affect the operation of the VSC-HVdc converter and that operation at low SCRs below about 1.6 is difficult. The model also shows that the theoretically calculated power-voltage stability limit is not attainable in practice, but can be approached if the PLL gains are reduced. The thesis shows that as the VSC-HVdc converter is subject to large signal excitation, a good controller design cannot rely on small signal analysis alone. The thesis therefore proposes the application of optimization tools to coordinate the controls of multiple converters in a dc grid. A new method, the "single converter relaxation method", is proposed and validated. The design procedure of control gains selection using the single converter relaxation method for a multi-converter system is developed. A new method for selecting robust control gains to permit operation over a range of operation conditions is presented. The coordination and interaction of control parameters of multi-terminal VSC are discussed. Using the SCR information at converter bus, the gain scheduling approach to optimal gains is possible. However, compared to robust control gains setting, this approach is more susceptible to system instability.

The development of voltage source converter (VSC) based high voltage direct current (HVDC) transmission has progressed rapidly worldwide over the past few years. The UK transmission system is going through a radical change in the energy landscape which requires a number of VSC HVDC installations to connect large Round 3 windfarms and for interconnections to other countries. For bulk power long distance transmission, VSC HVDC technology offers flexibility and controllability in power flow, which can benefit and strengthen the conventional AC system. However, the associated uncertainties and potential problems need to be identified and addressed. To carry out this research, integrated mathematical dynamic AC/DC system models are developed in this thesis for small disturbance stability analysis. The fidelity of this research is further increased by developing a dynamic equivalent representative Great Britain (GB) like system, which is presented as a step-by-step procedure with the intention of providing a road map for turning a steady-state load flow model into a dynamic equivalent. This thesis aims at filling some of the gaps in research regarding the integration of VSC HVDC technology into conventional AC systems. The main outcome of this research is a systematic assessment of the effects of VSC controls on the stability of the connected AC system. The analysis is carried out for a number of aspects which mainly orbit around AC/DC system stability issues, as well as the control interactions between VSC HVDC and AC system components. The identified problems and interactions can mainly be summarized into three areas: (1) the effect of VSC HVDC controls on the AC system electromechanical oscillations, (2) the potential control interactions between VSC HVDC and flexible alternating current transmission systems (FACTS) and (3) the active power support capability of VSC HVDC for improving AC system stability. The effect of VSC controls on the AC system dynamics is assessed with a parametric sensitivity analysis to highlight the trade-offs between candidate VSC HVDC outer control schemes. A combination of analysis techniques including relative gain array (RGA) and modal analysis, is then applied to give an assessment of the interactions – within the plant model and the outer controllers – between a static synchronous compensator (STATCOM) and a VSC HVDC link operating in the same AC system. Finally, a specific case study is used to analyse the capability of VSC HVDC for providing active power support to the connected AC system through a proposed frequency droop active power control strategy.

This thesis investigates issues affecting grid synchronisation of VSC-HVDC systems with particular regard to, but not limited to, offshore wind power generation during the complex but potentially serious behaviours following solar storms. An averaged value model (AVM) for the contemporary modular multilevel converter (MMC) based VSC-HVDC system is developed and is used in combination with different phase-locked loop (PLL) models and the unified magnetic equivalent circuit (UMEC) transformer model to assess the impacts of geomagnetically induced current (GIC) on grid synchronisation of an offshore VSC-HVDC system. GIC is DC current flowing in the earth caused by strong geomagnetic disturbance events. GIC enters the electric utility grid via the grounded transformer neutral and can cause severe saturation to transformers. This in turn causes disruptions to grid synchronisation. The main contribution of this thesis is that effects of GIC are studied using the UMEC transformer model, which can model saturation. The assessment leads to the development of enhanced fundamental positive sequence control (EFPSC) which is capable of reducing the stress on the system during GIC events. The methods developed can also be applied to other non-symmetrical AC events occurring in VSC-HVDC such as single-phase faults. Additional contributions of the thesis are:A mathematical model of the MMC is derived and forms the foundation of the AVM. The AVM is verified against a detailed equivalent-circuit-based model and shows good accuracy. The PLL is the essential component for grid synchronisation of VSC-HVDC system. Different PLLs are studied in detail. Their performance is compared both qualitatively and quantitatively. This appears to have been done for the first time systematically in the public literature. The UMEC model is verified using hand calculation. Its saturation characteristic is matched to a predefined B-H curve and is also verified. The verifications show that this model is capable of modelling transformer saturation and thus is suitable for this study. The consolidation of the AVM, PLL, UMEC, GIC and EFPSC provides an insight into the how the MMC based VSC-HVDC system behaves under severe geomagnetic disturbances and the possible methods to mitigate the risks and impacts to the power grid.

The UK Government has identified that nearly 15% of the UK’s electricity generation must come from offshore wind by 2020. The reliability of the offshore windfarms and their electrical transmission systems is critical for their feasibility. Offshore windfarms located more than 50-100km from shore, including most Round 3 offshore windfarms, are likely to employ Voltage Source Converter (VSC) High Voltage Direct Current (HVDC) transmission schemes. This thesis studies factors which affect the reliability of VSC-HVDC transmission schemes, in respect to availability, protection, and system modelling. The expected availability of VSC-HVDC systems is a key factor in determining if Round 3 offshore windfarms are technically and economically viable. Due to the lack of publications in this area, this thesis analyses the energy availability of a radial and a Multi-Terminal (MT) VSC-HVDC system, using component reliability indices derived from academic and industrial documentation, and examining the influence of each component on the system’s energy availability. An economic assessment of different VSC-HVDC schemes is undertaken, highlighting the overall potential cost savings of HVDC grids. The connection of offshore windfarms to a MT HVDC system offers other potential benefits, in comparison to an equivalent radial system, including a reduction in the volume of assets and enhanced operational flexibility. However, without suitable HVDC circuit breakers, a large MT HVDC system would be unviable. In this thesis, a review of potential HVDC circuit breaker topologies and HVDC protection strategies is conducted. A HVDC circuit breaker topology, which addresses some of the limitations of the existing designs, was developed in this thesis, for which a UK patent application was filed. Accurate simulation models are required to give a high degree of confidence in the expected system behaviour. Modular Multi-level Converters (MMCs) are the preferred HVDC converter topology, however modelling MMCs in Electromagnetic Transient (EMT) simulation programs has presented a number of challenges. This has resulted in the development of new modelling techniques, for which the published validating literature is limited. In this thesis these techniques are compared in terms of accuracy and simulation speed and a set of modelling recommendations are presented. Cable models are the other main DC component which, upon analysis, is found to have a significant impact on the overall model’s simulation results and simulation time. A set of modelling recommendations are also presented for the leading cable models. Using the modelling recommendations to select suitable MMC models, radial and MT EMT MMC-HVDC models for the connection of typical Round 3 windfarms are developed in this thesis. These models are used to analyse the steady-state and transient performance of the connections, including their compliance to the GB grid code for AC disturbances and reactive power requirements. Furthermore, the MT model is used to investigate the effect of MT control strategies on the internal MMC quantities.

L'intégration des liaisons à courant continu dans les systèmes électriques permet d’accroitre les possibilités de pilotage des réseaux, ce qui permet d’en améliorer la sûreté et de raccorder de nouveaux moyens de production. Pour cela la technologie VSC-HVDC est de plus en plus plébiscitée pour interconnecter des réseaux non synchrones, raccorder des parcs éoliens offshore, ou contrôler le flux d’énergie notamment sur des longues distances au travers de liaisons sous-marines (liaison NorNed). Les travaux de cette thèse portent sur la modélisation, la commande non-linéaire et la stabilisation des systèmes VSC–HVDC, avec deux axes de travail. Le premier se focalise sur la conception et la synthèse des lois de commandes non-linéaires avancées basées sur des systèmes de structures variables (VSS). Ainsi, les commandes par modes glissants (SMC) et le suivi asymptotique de trajectoire des sorties (AOT) ont été proposées afin d’assurer un degré désiré de stabilité en utilisant des fonctions de Lyapunov convenables. Ensuite, la robustesse de ces commandes face à des perturbations et/ou incertitudes paramétriques a été étudiée. Le compromis nécessaire entre la robustesse et le comportement dynamique requis dépend du choix approprié des gains. Ces approches robustes, qui sont facile à mettre en œuvre, ont été appliquées avec succès afin d’atteindre des performances dynamiques élevées et un niveau raisonnable de stabilité vis-à-vis des diverses conditions anormales de fonctionnement, pour des longueurs différentes de liaison DC. Le deuxième vise à étudier l’influence de la commande du convertisseur VSC-HVDC sur l'amélioration de la performance dynamique du réseau de courant alternatif en cas d’oscillations. Après une modélisation analytique d’un système de référence constitué d’un groupe connecté à un convertisseur VSC-HVDC via un transformateur et une ligne, un contrôleur conventionnel simple PI est appliqué au niveau du convertisseur du système pour agir sur les oscillations rotoriques de la machine synchrone. Cette commande classique garantie une amélioration acceptable des performances dynamiques du système; surtout pour l'amortissement des oscillations de l'angle de puissance de la machine synchrone lors de défauts. / The integration of nonlinear VSC-HVDC transmission systems in power grids becomes very important for environmental, technical, and economic reasons. These systems have enabled the interconnection of asynchronous networks, the connection of offshore wind farms, and the control of power flow especially for long distances. This thesis aims the non-linear control and stabilization of VSC-HVDC systems, with two main themes. The first theme focuses on the design and synthesis of nonlinear control laws based on Variable Structure Systems (VSS) for VSC-HVDC systems. Thus, the Sliding Mode Control (SMC) and the Asymptotic Output Tracking (AOT) have been proposed to provide an adequate degree of stability via suitable Lyapunov functions. Then, the robustness of these commands has been studied in presence of parameter uncertainties and/or disturbances. The compromise between controller’s robustness and the system’s dynamic behavior depends on the gain settings. These control approaches, which are robust and can be easily implemented, have been applied to enhance the system dynamic performance and stability level in presence of different abnormal conditions for different DC link lengths. The second theme concerns the influence of VSC-HVDC control on improving the AC network dynamic performance during transients. After modeling the Single Machine via VSC-HVDC system in which the detailed synchronous generator model is considered, the conventional PI controller is applied to the converter side to act on damping the synchronous machine power angle oscillations. This simple control guarantees the reinforcement of the system dynamic performance and the power angle oscillations damping of the synchronous machine in presence of faults.

<p>Utilization of power electronics based controllable systems (or devices) in transmission systems has opened new opportunities for the power industry to optimize utilization of the existing transmission systems, and at the same time to keep high system reliability and security.</p><p>As a member of these controllable systems, Voltage Source Converters-based High Voltage direct current (VSC-HVdc) systems have the ability to rapidly control the transmitted active power, and also to independently exchange reactive power with transmissions systems. Therefore, VSC-HVdcs with a suitable control scheme can offer an alternative means to enhance transient stability, to improve power oscillations damping, and to provide voltage support. An interesting application of this system is the analysis of a power system when a VSC-HVdc is connected in parallel with ac transmission lines.</p><p>This thesis presents the derivation of control strategies to damp power oscillations, to enhance the transient stability and to provide voltage support for a VSC-HVdc. The thesis also formulates a multichoice control strategy and its application when the VSC-HVdc is connected in a synchronous system.</p><p>The control strategy for enhancing transient stability is based on the theory of Control Lyapunov Function. The control strategy for increasing the damping is based on Linear Analysis. A very effective well known way to increase damping in the system is modulating the active power through the HVdc. However, besides the control of active power, the thesis explores an alternative way to mitigate power oscillations by controlling the reactive power. This condition might be very useful when the dc link in the VSC-HVdc system is out of service, but the converter stations are in operating conditions.</p><p>A simple model of VSC-HVdc is considered in order to test the control strategy. The model represents the VSC-HVdc as an element in the power system that provides adequate interaction with other systems elements. The model is intended for analysis of power flows and electromechanical transients. It is then sufficient to consider the power frequency components of voltages and currents represented by phasors that vary with time during transients. The model is valid for symmetrical conditions, i.e. positive sequence phasors are used for the representation of the electrical state.</p>