Voltage Control of Offshore Load Connected to a Multi-Terminal

HVDC Transmission System

Z. Solhjoukhah∗ , A. Egea-Alvarez∗ , O. Gomis-Bellmunt∗
∗
CITCEA-UPC, Carrer Comte de Urgell 187, 08036, Barcelona, Spain, zahra.solh.joukhah@estudiant.upc.edu

Keywords: Voltage Source Converter (VSC), Multi- VSC-HVDC systems are appropriate for multiterminal config-
Terminal VSC-HVDC Transmission (MT-HVDC), Off- uration due to some features such as, controlling active and
shore Load, Vector Control Strategy. reactive power flow independently, Black start capability, no
need for external voltage source and no voltage polarity re-
versed needed to reverse power [13,14,16]. Hence, the connec-
Abstract tion of distant offshore loads to AC grids can be designed by
VSC-MT-HVDC systems in order to transmit electricity to the
This paper presents a voltage control for an offshore load fed
loads and also regulate load voltage. Therefore, the offshore
by a Multi-Terminal VSC-HVDC transmission system (MT-
load voltage control is one of the important issues in the MT-
HVDC). The studied system is composed by two GSCs (Grid
HVDC transmission systems connected to the offshore loads.
Side Converters) and one OSC (Offshore Side Converter). The
The objective of this study is to focus on the design of the
objective is to maintain the amplitude and frequency of the AC
AC voltage control applied in the offshore side converter sta-
voltage constant at the offshore terminal with a minimum over-
tion. This is achieved by a control scheme which consists of
shoot. A vector control strategy including a current control
two cascade controllers: current and voltage controllers. The
loop and a voltage control loop is proposed for the OSC and
paper also shows the performance of AC voltage at the off-
also LQG (Linear- Quadratic-Gaussian) compensator is em-
shore terminal by means of dynamic simulation. Three dif-
ployed to improve the voltage response of offshore load. The
ferent scenarios for load have been studied: normal operation,
performance of this controller is validated using simulation
no-load, start-up. The simulation is carried out by using MAT-
in MATLAB/SIMULINK software for three operating condi-
LAB/SIMULINK software to confirm the model and the pro-
tions: normal operation, no-load and start-up of the offshore
posed control mechanism.
load. Simulation results illustrate that the AC voltage of load
This article is classified as follows. The MT-HVDC system
can be governed at its nominal value and MT-HVDC system
is outlined in section II. The control strategies of converters
linked to the offshore load with the proposed controller is able
in MT-HVDC transmission system are described in section
to provide a reliable dynamic operation and a desirable voltage
III. The simulation results for a three terminal VSC-HVDC
quality during load variations.
transmission system linked with a load are presented in sec-
tion IV. Finally, the conclusions are drawn in section V.
1 Introduction
For the offshore oil and gas platforms situated in remote lo- 2 MT-HVDC Transmission System Description
cations from the coast, the VSC-HVDC transmission system
becomes a significant option. Troll-A in the northern part of 
 
the North Sea is the world’s first offshore transmission using     
     
HVDC technology which was Commissioned in february 2005




 
    
in Norway [1–3]. The Troll-A project comprising the Troll-A
1 and 2 provides a total power rating of 88 MW [3] for the off- 


 

shore gas platforms to enable feeding the variable-speed syn-

chronous machines [1]. In the last few years, some researchers
have undertaken on the modeling and control of VSC-HVDC
transmission system connected to the load [4–12].     
Multiterminal HVDC networks which are equipped with 
 
more two converters connected together through a DC link
[13–15] have been discussed in 1963 using Line Commu- 

tated Converters (LCCs) technology [14]. Multiterminal sys-

tems lead to the increasing of the flexibility and reliability in Fig. 1: Schematic diagram of a three-terminal MT-HVDC
transmission grids [15]. Compared to LCC-HVDC networks, transmission system connected to an offshore load.

1
 The schematic diagram of the proposed MT-HVDC system Using the qd synchronous frame transformation, the mathe-
connecting two AC grids to an offshore load is shown in fig.1. matical model of fig.3 can be expressed as [5–10]
The three-terminal MT-HVDC system includes two AC net-
works, one offshore load, two GSC stations (GSC1 and GSC2) diq
L = vcq − vsq − Riq − ωLid (4)
and one OSC station (OSC1) which are connected together by dt
means of DC cables. did
L = vcd − vsd − Rid + ωLiq (5)
dt
2.1 Generic Model of the Grid Side Converter (GSC)
where iqd and vsqd denote qd-axis components of converter
The model of converter station connected to the AC grid is AC current and load voltage, respectively.
composed of an ideal VSC, an equivalent DC capacitor (c) [4] Also, according to state-space equations, dynamics of load
and a phase reactor(R + jωL) between converter and Point of voltage in qd synchronous frame can be defined as follows [4]
Common Coupling (PCC) [5]. The equivalent circuit of GSC
dvsq
station in the single phase representation is indicated in the cf = ωcf vsd + iq − ilq (6)
fig.2. dt
dvsd
  cf = −ωcf vsq + id − ild (7)
   dt



 
 
 where ilq and ild indicate the load current in qd synchronous


  frame. Moreover, the dynamic model of the load composed of
a series RL branch is written as [4]

dilq
Fig. 2: Single phase equivalent circuit of GSC. Ll = vsq − Rl ilq − ωLl ild (8)
dt
dild
According to the fig.2, the differential equations at the AC Ll = vsd − Rl ild + ωLl ilq (9)
dt
and DC sides of GSC (in the qd synchronous frame) can be
described as [5–10]
where Rl and Ll are the resistance and inductance of the load.
diq
L = vzq − vcq − Riq − ωLid (1)
dt 2.3 Model of DC Grid
did As seen in fig.1, the DC side of the converters is connected
L = vzd − vcd − Rid + ωLiq (2) to each other via DC transmission lines. Thus, the task of
dt
DC cables is to transfer DC power from two GSC stations to
dE the OSC station. The cables in the DC link are modeled by
ic = c = idc − icable (3)
dt π−equivalent representation [13].

Where vzqd denotes qd-axis components of AC bus voltage,

vcqd is voltage of the converter AC side, iqd represent the AC
current which flows into the converter and E stand for the DC
voltage.
2.2 Generic Model of the Offshore Side Converter (OSC)
In the OSC station, the AC side of the converter is connected
to the offshore load via a phase reactor (R + jωL) and a
shunt capacitor cf . Fig.3 shows the equivalent circuit of OSC
station.
   
3 Control Design of MT-HVDC
The MT-HVDC transmission system controllers are designed
to supply power to the offshore load ensuring the system sta-
bility without communications between the converter stations.
Each converter station in the MT-HVDC system uses the vec-
tor control strategy including a voltage control loop and a cur-
rent control loop. The current controller configuration in all
converters is identical, while voltage control loop of converter
stations has a different topology. On the other hand, the volt-
age controller of the OSC station connected to the load ap-
plies a constant AC voltage control system in order to keep


the offshore load voltage at a fixed value during various con-
 
   ditions [6, 7, 11, 12]. Also, a DC voltage controller and an


  

 AC voltage controller is employed in the voltage loop of the



 GSC1 station connected to the AC grid to stable the DC volt-

 
age in the HVDC link and retain AC grid voltage constant,
respectively [7, 11]. Furthermore, the voltage control loop of
Fig. 3: Single phase equivalent circuit of OSC. the GSC2 station handles a constant active power controller

2
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Fig. 4: Block diagram of control system for the converter stations.

in addition to the AC voltage controller. The control design proportional-integral regulators, KqCCS and KdCCS , are
of converter stations in qd synchronous frame is illustrated in considered to enable tracking of reference currents provided
fig.4. by the voltage control loop and are also defined as equation
The voltage controller of OSC station is developed in this pa- (12) [17]
per.
KpCCS s + KiCCS
KqCCS (s) = KdCCS (s) = (12)
s
3.1 Current Control System (CCS) of Converter stations
The current controller loop based on vector control strategy Where KpCCS and KiCCS represent proportional and integral
has the same topology for all converter stations (i.e., GSC1, gains, respectively. Then [17],
GSC2 and OSC1). This controller is described according to
L
the equations (10) and (11) [6]. KpCCS = (13)
τCCS
vcq = vq − ωLid + KqCCS (s)( i∗q − iq ) (10) R
KiCCS = (14)
vcd = vd + ωLiq + KdCCS (s)( i∗d − id ) (11) τCCS

Where τCCS is the time constant.

where vq and vd are qd-axis components of voltage for AC
grids or offshore load in the GSC and OSC converter stations,
3.2 Phase Locked Loop (PLL)
repectively.
To synchronize the q−axis with the AC grid voltage space
 vector and determine the frequency and the phase angle of

 
     the AC grid voltage, a Phase Locked Loop (PLL) is imple-
mented [10, 17] in the GSC station.
 

   

 
 

 

  
 
 
  
   
   

Fig. 5: Current control loop of the converter stations. Fig. 6: Phase Locked Loop (PLL).

In the current controller illustrated in fig.5, two simple Therefore, the PLL ensures that the q−and d−axis

3
voltage components, vzq and vzd , become identi- The voltage control loop of OSC station can be designed as
cal to (vz , 0) [10]. Where vz is the AC grid voltage magnitude. follows [4]
The block diagram of the PLL is shown in fig.6 and can also
be expressed as [17] i∗q = ilq − ωcf vsd + KqOSC1 (s)( vsq
∗
− vsq ) (19)
KpP LL s + KiP LL i∗d = ild + ωcf vsq + KdOSC1 (s)( vsd
∗
− vsd ) (20)
KfP LL (s) = (15)
s
KpP LL According to the equations (19) and (20), the voltage control
KiP LL = (16)
τP LL block diagram of the OSC station is illustrated in fig.8.

Where τP LL is the PLL time constant. The controller  



parameters τP LL and KpP LL are obtained by using equations 
 
   
(17) and (18). [17]
 

 




KpP LL vz
ωn = (17)
τP LL


KpP LL vz τP LL
ζ= (18)
2

Where ζ is damping ratio and ωn is the electrical angular  





velocity.     
3.3 Voltage Controlled Oscillator (VCO)
In the offshore load in which frequency is not imposed by the
AC system [4], the frequency control is a challenge. In order
to solve this issue, the Voltage Controlled Oscillator (VCO)
is used instead of PLL in the OSC station supplying power to
the offshore load [11]. The output of VCO which is obtained
by integrating the nominal frequency of the power system is
handled for transformation of voltages and currents from abc
to qd frame and its inverse [4]. The following figure shows the
scheme of the VCO.





Fig. 8: Voltage control loop of the OSC1 station.
As shown in fig.8, two q-and d-axis compensators, so-called
LQG compensators, are employed to perform rapid control
and zero steady state error [4].
The LQG optimization procedure is selected in this paper
in order to achieve an optimum regulation and stability of
closed-loop system which are the important design objectives
of the voltage controller. Compared to a symmetrical optimum
approach, the LQG technique can offer a better disturbance
rejection and also faster dynamic response.
The LQG compensators are defined as [18]

As3 + Bs2 + Cs + D
KqOSC1 (s) = KdOSC1 (s) = k1
Es3 + F s2 + Gs + H
Fig. 7: Voltage Controlled Oscillator (VCO). (21)

Also, the symmetrical optimum method is stated as fol-

3.4 Voltage Control System of Offshore Side Converter lows [4, 19]
(OSC1) s+n
KqOSC1 (s) = KdOSC1 (s) = k (22)
The control aim of offshore side converter is to maintain the s
amplitude and frequency of AC voltage (vsabc ) constant at the
offshore terminal [7,9] and feeds power to the load. Hence, the The controller parameters, n and k, are calculated based on
vector control concept is adopted in the OSC station to achieve the equations (23) and (24).
a stable AC voltage. The vector control strategy, as shown in
1 − τi n
fig.4, consists of a current control loop and a voltage control δm = sin−1 ( ) (23)
loop. Due to coupling of q-and d-axis components of the load 1 + τi n

voltage and effects of load current, a decoupling feed-forward
ωc = nτi−1 , k = cf ωc (24)
compensation and a load compensating feed forward [4]
are implemented in voltage control loop to guarantee the
uninterrupted and balanced voltage at the offshore load [6] Where δm , ωc , k and τi denote phase margin, crossover fre-
and also to fulfill a pre-specified dynamic performance. quency, proportional gain and time constant respectively.

4
3.5 Voltage Control System of Grid Side Converter1 purpose can be attained by applying constant active power
(GSC1) controller in the GSC2. The constant active power controller
is formulated based on the instantaneous power theory [17] as
The GSC1 in the MT-HVDC transmission system connected
to the load is responsible for controlling the DC voltage in 2 P2
the HVDC network so as to assure the stability of DC grid i∗2q = (26)
3 vz2q
voltage and an adequate power transmission from AC grid to
the HVDC grid [7–9]. Meanwhile, the AC voltage controller in the control system
Similar to the converter at the offshore load side, the control of GSC2 is the same with that of the GSC1.
system of GSC1 is composed of a current controller loop
governing the currents and two voltage controllers regulating
4 Simulation Results
the DC and AC grid voltages. Therefore, the mentioned
voltage controllers provide the active and reactive currents (i∗1q To investigate the performance of the OSC1 controller, sim-
and i∗1d ) which are imposed to the current controller loop. For ulation for model of a MT-HVDC system connected to an off-
DC voltage regulation, a droop control approach is applied shore load was carried out using MATLAB/SIMULINK soft-
in GSC1 which is a proportional control law. During normal ware for three operating conditions: normal operation, no-load
operation mode, the DC current of GSC1 is controlled based and start-up of the offshore load. In this system, the RL branch
on the following voltage droop function [14]. is supposed as a load at the offshore terminal. The rated pa-
rameters of system are given in tables 1.
i∗dc1 = kdroop ( E1 − E1∗ ) (25)
AC systems 195kV / 350MVA / 50Hz
GSCs R1 =R2 =1.3037 Ω
Where i∗dc1 denotes the DC reference current in GSC1, E1∗ L1 =L2 =0.0415H
and E1 represent the reference and actual values of DC voltage DC voltage Kdroop =0.1
at GSC1 ,respectively and kdroop is the droop gain to be cho- controller
sen in the control system design. Fig. 9 shows the schematic of GSC1
diagram of the DC voltage controller. Current τCCS−GSC =0.5ms
controller of KpCCS−GSC =82.997

   KiCCS−GSC =2607.4
 

 GSC1,2
  active power 200MW
  controller of
GSC2
PLL ζ=0.707,
Fig. 9: DC voltage controller of the GSC1 station.
of GSC1,2 τP LL =0.0045s
ωn =314.1593
To control the AC grid voltage magnitude with its reference
KpP LL =0.0028
value, the AC voltage controller is handled in the GSC1 sta-
KiP LL =0.6199
tion. This controller enables generation of reactive power in
OSC1 R3 =1.6296Ω, L3 =0.0519H,
order to adjust the AC grid voltage [8, 20]. Fig. 10 pictures the
Cf =2.93 μF
scheme of the AC voltage control in the grid side converter1
Current τCCS−OSC1 =0.5ms
(GSC1) .
controller KpCCS−OSC1 =103.7463
 KiCCS−OSC1 =3259.3
 
 


  
Voltage k1 =126.203*104
controller (LQG A=0,B=0.001
 
 compenators) C=21.534,D=21.32
E=0.001,F =208,H=0
Fig. 10: AC voltage controller of the GSC1 station. G=21630752.068
Offshore Vsrms =195kV
Due to the reactive current is associated with reactive power, load
as seen in fig.10, the voltage of AC system can be controlled Sl =230+j80MVA
by d-axis reference current. DC grid Vdcrated =300kV, Vdcmax =315kV
Rdccable1 =1.5Ω, Rdccable2 =0.7Ω
Xdccable1 =6.8mH, Xdccable2 =3.4mH
3.6 Voltage Control System of Grid Side Converter2
c1,2,3 =200μF/km
(GSC2)
For feeding power to the offshore load, the GSC2 is regulated Table 1: Parameters of the system.
to transmit constant active power to the HVDC grid. This

5
4.1 Simulation for Start-up of the Offshore Load ila
1
i
lb

Current [kA]
In the beginning, the OSC1 gating signals are blocked and 0.5
i
all control systems of it are passive. Then, switch S1 is closed lc
0
at t=0.2s and the OSC1 gating signals are de-blocked. Con- −0.5
sequently, controllers of the OSC1 become active and at this
−1
instant, the load voltage starts to increase from zero to its nomi- 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time [s]
nal value, corresponding to vsq =159.22 kV, whereas vsd is zero i
lq
(fig.11). Therefore, under this condition, the MT-HVDC sys- 1
i

Current [kA]
ld
tem can deliver power to the offshore load, as shown in fig.12.
Thus, at t = 0.2s after that the load is started-up, the system 0.5
achieves stable state and the voltage of offshore terminal is reg-
ulated at the invariant value. 0
0 0.2 0.4 0.6 0.8 1
Time [s]
v
200 sa
v
Voltage [kV]

100 sb Fig. 13: Current of offshore load during start-up process.

v
sc
0

−100
4.2 Simulation for Normal Operation
−200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time [s] The fig.14, fig.15 and fig.16 illustrate the simulation results
v under normal operating mode. In this case of study, it can be
200 sq
v seen that the offshore load voltage is governed to remain at
Voltage [kV]

150 sd
100
the nominal value of 159.22 kV and also offshore load absorbs
50
power of 230+j80 MVAR.
0
−50 v
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 200 sa
Time [s] vsb
Voltage [kV]

100
v
sc
0
Fig. 11: Voltage of offshore load during start-up process.
−100

−200
0.5 1 1.5 2
Time [s]
200 v
sq
P
Voltage [kV]

l 150 v
200 sd
Power [MW]

100
100 50
0
0
−50
0.5 1 1.5 2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 Time [s]
Time [s]
100 Q
l
Power [MVAR]

Fig. 14: Voltage of offshore load during normal operation.

50

4.3 Simulation for No-Load Condition

−50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time [s] Initially, the system is considered under the steady state case
and supplies the offshore load as 230 + j80 MVA, as shown
in fig.17. Then, at t = 1.1s, the load of offshore terminal is
Fig. 12: Active and reactive power of offshore load during
disconnected from MT-HVDC system and at t=1.6s, the load
start-up process.
is reconnected. Hence, during this time interval, the real and
reactive power delivered to load become equal to zero due to
As seen in fig.13, before the mode command varies at t = de-energization of RL branch of the load.
0.2s, the amplitude of load current is identical to zero. How- As seen in fig.18, however, the voltage of the offshore load
ever, with the starting of load, ilq and ild increase and follow remains constant, at t = 1.1s, the vsq and vsd experience sharp
their nominal reference contents. transients due to discharging current of the shunt capacitor. The

6
 fluctuations are rapidly damped and the maximum deviation of
250 P
l the load voltage magnitude is about 20% of its corresponding
240
Power [MW]

230
rated value. Fig.19 illustrates the load current under this con-
220
dition.
210 v
sa
200 200
0.5 1 1.5 2 vsb

Voltage [kV]
Time [s] 100
v
100 Q sc
l 0
Power [MVAR]

90
−100
80
−200
70 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time [s]
60
v
50 sq
0.5 1 1.5 2
Time [s] 200 v

Voltage [kV]
sd

100

Fig. 15: Active and reactive power of offshore load during nor-
0
mal operation.
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time [s]
i
1 la
i
Current [kA]

0.5 lb Fig. 18: Voltage of offshore load in disconnection and connec-

i
0 lc tion conditions of load.
−0.5

−1 i
0.5 1 1.5 2 la
Time [s] 1 i
lb
i
Current [kA]

lq 0.5 ilc
1
ild 0
Current [kA]

0.8
−0.5
0.6 −1
0.4 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time [s]
0.2
0.5 1 1.5 2 ilq
Time [s] ild
1
Current [kA]

0.5
Fig. 16: Current of offshore load during normal operation.
0

−0.5
300 P 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
l Time [s]
Power [MW]

200

100 Fig. 19: Current of offshore load in disconnection and connec-

0 tion conditions of load.
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time [s]
150 Q
l 4.4 Comparison of the LQG and Symmetrical Optimum
Power [MVAR]

100 Methods in the No-Load Condition

50
A comparison of fig.20 with fig.21 shows that the LQG opti-
0 mization procedure is suitable for the AC voltage controller of
−50 the OSC1 station due to the offshore load voltage overshoot in
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time [s] the instant of the load disconnection (t=1.1s) is less compared
to that of the Symmetrical Optimum Method.
Fig. 17: Active and reactive power of offshore load in discon-
nection and connection conditions of load. 5 Conclusion
This paper has investigated that how the voltage of offshore
load linked with the MT-HVDC system is controlled under

7
 300
v
sa References
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suggested. The proposed control scheme has been utilized
a de-coupling feed-forward compensation, Load compensat-
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ating modes and also reliable dynamic performance of MT-
HVDC system in order to inject power to offshore load.
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