A Three-Phase VSC-HVDC Average Value Model

Implementation using Modelica and Software-

to-Software Validation using a Power System
Domain Specific Simulator

Luigi Vanfretti Md Ahsan Adib Murad

Royal Institute of Technology University College Dublin
(KTH) (UCD)

1
 Outline
• Motivations
• Description of VSC-HVDC Model
• Implementation Modelica
• Model Validation
• Conclusion

2
 Introduction and Motivations
 VSC-HVDC models ‘trusted’ by users
were available in EMTP-RV
 Dynamic security assessment
carried out using the iTesla1 toolbox,
requires phasor time-domain models
 An VSC-HVDC AVM model for
phasor time-domain simulation was
implemented in Modelica
 Control gain parameters are
calibrated using the RaPId toolbox
 Proof of concept, Three phase AVM VSC-HVDC model
implemented in Modelica
1http://www.itesla-project.eu/
Why not use Modelica for
modeling and model exchange of
EMT-like models? Specially for
control systems of power-electronic
devices?
 Advantage: model defined in one
language, does not need to be
maintained in multiple platforms
(e.g. Modelica export to FMI, FMI
supported in EMTP, Simulink, etc…)
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 VSC-HVDC Model
Idc
iua
SM1ua
iub
SM1ub
iuc
SM1uc
Different kinds of VSC based MMC
models are available.
Vua

 In Average Value Models (AVMs), the

SM2ua SM2ub SM2uc

SMNua SMNub SMNuc

power electronic switches (IGBTs) and
Larm Larm Larm

Vdc
vc
vb
ib
ic
diodes are not modeled in detail.
va
ia
Larm
SM1la
Larm
SM1lb
Larm
SM1lc
 MMC behavior is represented using
SM2la SM2lb SM2lc
controlled voltage and current sources.
 An ideal behavior of the internal
Vla

variables of the MMC is assumed.

SMNla SMNlb SMNlc
ila ilb ilc

MMC Topology
Req_DC
AC

DC_Side Leq_DC P
Varef
Vbref
Larm Larm Larm
Vcref
IDC
AC Side Vac AC Side Vac AC Side Vac Ia C1
VDC VDC VDC
Varef Phase A Vbref Phase B Vcref Phase C
Ib
Ic N
DC Side
AC Side of AVM
4
 VSC-HVDC Control

 The AVM and this control is already available in EMTP-RV

which are implemented in Modelica using Modelica
Standard Library library. 5
 Implementation in Modelica
 Each component is implemented  For Example: PI control block
separately in Modelica .
 After implementing each component,
validation is carried out with reference
models.
Models implemented in Modelica
Three phase equivalent generator &
two winding transformer
Clark transformation
P/Q/VAC calculations
d/q transformations
Outer control , inner control
Synchronization block (PLL)
Linearization's and d/q to abc

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VSC-HVDC in Modelica

7
 Model Validation
Each component is validated against
EMTP-RV

Equivalent Generator
and Transformer

Phase Lock Loop

8
 Model Validation
 Two Node power system is implemented and used for system level
validation.
 Converter 1 (VSC1) controls the active power and Converter 2 (VSC2)
controls the DC voltage.
 1000 MW active power is transferred from VSC1 to VSC2.
 The user can select which controller should be active in each VSC.

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 Simulation Results
 Step change in active power reference from 1000 MW to 500 MW at 0.8
second

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 Conclusions
 Potential use of the Modelica language to model EMT-type models of
VSC-HVDC systems.

 The Modelica implementation was compared to the EMTP-RV

software, provides similar results.

 The major benefit of the work reported herein is that the control
system implemented can now be exchanged with different tools that
support the FMI standard, including:
Simulink and
EMTP-RV,
which makes it possible to keep and maintain a single version of the
control system model implemented (i.e. the one in Modelica)

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 Questions?
• The VSC HVDC models presented here can be found on-line at Github:
https://github.com/SmarTS-Lab/2017_ModelicaConf_VSC-
HVDC_AVM_Model

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