STUDY ON CONTROL STRATEGIES TO IMPROVE THE STABILITY
OF MULTI-INFEED HVDC SYSTEMS APPLYING VSC-HVDC
Chengyong Zhao, Member, IEEE, and Ying Sun
Key Laboratory ofPower System Protection and Dynamic Security Monitoring and Control under Ministry
ofEducation, North China Electric Power University, Baoding 071003, Hebei Province, China
email: chengyongzhao(ncepu.edu.cn, yingsun(ncepu.edu.cn
Abstract
Against the stability of the multi-infeed HVDC (MIDC)
Transmission system, Voltage Source Converter based HVDC
(VSC-HVDC) is applied to MIDC systems. The new systems
can reduce probability of commutation failure and improve the
stability of the MIDC systems. A physical model of a
multi-infeed HVDC and VSC-HVDC system is developed, and
its mathematical model is analyzed. The rectangular
coordinate form of VSC's power transmission equations is
deduced through coordinate conversion. Based on the inverse
system method for multivariable nonlinear control, the
nonlinear controllers of the multi-infeed HVDC and
VSC-HVDC system are designed. Simulation results by
PSCADIEMTDC show that the designed nonlinear controllers
improve effectively the voltage stability of the multi-infeed
HVDC and VSC-HVDC system under small or large
disturbances, such as short circuit fault, reduce the probability
of commutation failure in the inverter of HVDC systems and
increase the operation reliability of HVDC systems.
Keywords: HVDC; VSC-HVDC, multi-infeed HVDC
Transmission system; commutation failure; inverse system
method
1. Introduction
Along with the growing applications of HVDC transmission
technology, two or more HVDC links are located in the same
AC system. Such systems are termed as MIDC systems
(Multi-Infeed Direct Current systems) [1-2]. Though the
appearance of MIDC system can improve the transmission
ability and provide more flexible operation modes, it also
brings some problems, such as voltage stability. In [3-5],
interactions between AC and DC systems or DC and DC
systems may be very complicated and strong when the
electrical connections among bus bars of converters are very
strong. These may result in a bad performance of the whole
system, even as instability. So, it is much important to study the
stability of MIDC systems.
In recent years, a new HVDC system has been proposed
which uses Voltage Source Converter (VSC) applying
self-commutation devices such as GTO or IGBT. The new
system is known as the VSC based High Voltage Direct Current
(VSC-HVDC) system [6-8]. It is possible to control the active
1-4244-0038-4 2006 2 253
IEEE CCECE/CCGEI, Ottawa, May 2006
and reactive power absorbed by the VSC independently, fast
and simultaneously using the phase angle and the modulation
index of the fundamental component of SPWM. Compared
with the conventional HVDC systems, VSC-HVDC systems
compensate, instead of absorb, the reactive power of the AC
system and stabilize the voltage of AC buses, and consequently
improve the stability of the systems.
According to the advantages of VSC-HVDC, it is applied to
a MIDC system. The new system can reduce probability of
commutation failure and improve the stability of the MIDC
system. A physical model of a multi-infeed HVDC and
VSC-HVDC system is developed, and its mathematical model
is analyzed. The rectangular coordinate form of VSC's power
transmission equations is deduced through coordinate
conversion [9]. Based on the inverse system method for
multivariable nonlinear control [10], the nonlinear controllers
of the multi-infeed HVDC and VSC-HVDC system are
designed. Simulation results show that the designed nonlinear
controllers improve effectively the voltage stability of the
multi-infeed HVDC and VSC-HVDC system under small or
large disturbances, such as short circuit faults, reduce the
probability of commutation failure in the inverter of HVDC
systems and increase the operation reliability of HVDC
systems.
2. Physical Model of the MIDC System Applying
VSC-HVDC
HVDC systems and VSC-HVDC systems in this paper are
connected in parallel to the bus of the same AC system. The
physical model of a multi-infeed HVDC and VSC-HVDC
system is present as shown in Fig. 1. The MIDC system
includes several HVDC subsystems and VSC-HVDC
subsystems (i, j>l). Where, SrO is the common equivalent
receiving AC system. ZrO, ZLrO are the common equivalent
system impedance and AC transmission line impedance
respectively. The ith HVDC subsystem is composed of
equivalent receiving AC system Ssi, equivalent system
impedance Zsi, converter transformer Tsi and HVDC link DCi.
The jth HVDC subsystem is composed of equivalent receiving
AC system Ssj, equivalent system impedance Zsj, converter
transformer Tsj and VSC-HVDC link DCj. These subsystems
are connected by a AC line impedance ZL~i and a transformer power can be controlled simultaneously by U, and 3
Tij at the inverter side because of small capacity and low Assume the DC voltage utilization ratio of the adopted
voltage of VSC-HVDC systems. SPWM method is 1, and the modulation index M (O<M<1),
then we have
TiDCTri ZL ZriO SrO
UC = Ud)
(5

From (5) we know Uc is proportional to the modulation

AC Filter F e AC Filter index M, and S depends on the phase angle of the fundamental
component of SPWM. So it is possible to control active and
reactive power independently by Sand M.
Fig. 1 Physical model of a multi-infeed HVDC and
VSC-HVDC system 4. VSC's Power Transmission Control Based on
Under normal operation, some control modes are adopted to
Rectangular Coordinate Transform
maintain the power transmission in the HVDC subsystems and When used for connecting active network, a VSC can be
VSC-HVDC subsystems. Through fast control of reactive regarded as a double-input and double-output nonlinear control
power by the modulation index of SPWM under small or large object. The two inputs are the phase angle and modulation
disturbances, VSC-HVDC can supply or consume reactive index. The two outputs are the reactive power and the DC
power of the AC system and stabilize the voltage of the AC voltage or DC current. The active power PC has direct relation
system. to the DC voltage or DC current, so it is taken into account
when controlling DC voltage or DC current. Considering the
3. Mathematical Model of VSC influence of VSC on the AC system, it is necessary to control
The simplified physical model of VSC is considered as the reactive power Q, absorbed by VSC from the AC system.
Thus, we choose PC and Q, as the outputs of VSC, and the
shown in Fig. 2. Us is the fundamental component of the AC explicit relationship between the double-input and
bus voltage, UC is the fundamental component of the VSC's double-output can be derived as follows.
AC bus voltage, which lags behind Us an angle of A, L is the 4.1. Analysis of VSC's Power Transfer
converter transformer equivalent inductance, R is the Characteristic
equivalent loss resistance by which the loss of the VSC is
represented, P, and Qs are the active and reactive power of the From (1)-(4), because of the effect of coupling and
AC system output power respectively, PC and QC are the active trigonometric function, the VSC's power transfer characteristic
and reactive power absorbed by the VSC respectively. can not be illustrated with simple curves. The rectangular
coordinate form of VSC's power transmission equations is
deduced through coordinate conversion to eliminate the effect
and simplify the VSC's power transfer characteristic.
Introduce the variables, A and B, and define them as follows.
{A = Uc cos(8- a) (6)
IB = UC sin(8 - a)

Substituting (6) into (1) and (4), after some simplification we

get
Fig.2 Simplified physical model of VSC PC UsYBcos2x -B 2y sinax+D (7)
I =-UYA+
Qs Q s U2Y cos x
s~~~~~~~ (8)
Let X=oL, a= arctan-, Y= From Fig. 2 we where, D= UYAsin2a- A2Ysina.
X JR2 +x2
Eq. (7) and (8) are the rectangular coordinate forms of
have VSC's power transmission equations. The new equations have
P= U,U Ysin( +a) UcYsina (1) only one coupling channel, according to which the VSC's
QC Us Uc Y cos(±+a) U2Y cos a
_
(2) power transfer characteristic can be illustrated with simple
curves. The relationship between Pc and B is a quadratic
PJ UsUcYsin(5 -a)+UYsina (3)
polynomial which has two monotonic intervals at most, and the
Qs = _U U Ycos(8 - ) + UsY cos a (4) relationship between Qs and A is linear.
In (1)-(4), Us and Uc are r.m.s of line-to-line voltage, Ps, Pc, According to (7) and (8), the maximum and minimum of PC,
Qs and QC are three-phase active and reactive power. From Qs depend on A and B. However, A and B are affected by some
(1)-(4), it can be concluded that VSC's active and reactive factors, such as DC voltage Ud, Mand 3

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 Substituting (5) into (6), we get 5. Designing of VSC-HVDC Control System
[A = Ud cos(8- a)
J2 this paper, the constant DC voltage control is adopted in
(9) oneInside; the constant DC current control is adopted in other
B =1 Ud sin( - a) side because the linked AC system is a active network. Usually,
-2
the transmission active power is determined by the DC voltage
According to (9), the maximums of A and B are proportional or DC current, namely, and
to Ud. That is, PC and Q, are affected by Ud. Pcref can be obtained by the DC
voltage and DC current at one side; the reactive power is
4.2. Designing of Independent Pc, Qs Control controlled by Qsrej directly or the AC voltage.
System 5.1. Constant DC Voltage Control
The VSC transmission power control system adopting DC voltage depends on the storage energy of the capacitor at
inverse system method for multivariable nonlinear control is the DC side. It is necessary to adjust the energy absorbed by
designed. The inverse system is the system in which the inputs VSC to keep the storage energy of the capacitor constant for
are the anticipative outputs of the original system and the the invariableness of DC voltage. Assume It is a sampling
outputs are the corresponding inputs of the original system. It cycle, and from Fig. 2 we can get the energy 1 W absorbed by
can be obtained through deriving the inverse of the original the capacitor.
system. The inverse system is connected in series in front of the 1 1
original system, and by feedback of the state, the fake linear AW CUd2 (t(t+ At) -CU 2 t)
t

(14)
4

system is obtained.
According to (7), there are two solutions of Equation (7). =-CA[U2 (t)]
Considering the rationality and economy, the smaller solution then,
is adopted. From (7)-(9), we get t,A
= AW = 4APdA
A[U (t)] (15)
A U2Ycosa Qs (10)
d
C C
UsY where, JPd, is the average power absorbed by the capacitor
k2 -4k1(P -D) during the duration of It.
B -k2 (11) According to (15), the change of the square of the DC
2k1 voltage is proportional to JPd,. In a transient course, Pd varies
arct-) + a A>O with the DC voltage. Thus, it is necessary to compensate Pd.
During the duration of It, the resistance of the DC side is
almost invariable. Then,
S=arctg-)+a±+T
A
A<O B>O (12)
Ud (t+ At) Ud (t) (16)
arctg(BA )+ a-T A<O B<O id (t + At) Id (t)
We know Pd= UdId, therefore,
M 27A (13)
Ud cos(-a) Pd (t + UAt)U (t±At)
= d
(17)
where, kl Ysina, k2=-UsYcos2a.
=(1 4LfdcAt )Pd (t)
±

According to the discussion above, the structure of control CU32(t)

system adopting inverse system method is shown in Fig. 3. PI where, Pd(t+A-t)
controllers and proper feedback compensation measure are the DC lines when the DC
is the estimated value of the active power of
proposed. The control system can adjust the active and reactive voltage varies.
According to (17), we can estimate Pd. The control system
power respectively and flexibly. for constant DC voltage is designed as shown in Fig. 4.
PC
Udd Ud equation Qsref independent
U Udf APd ++ iF , c1, P Q
u

22 (17)
P1(3)
dref APdc + cref ~~~~~~~~~~~~~~~~~~~control
system

Fig.4 Control system for constant DC voltage

5.2. Constant DC Current Control

Under normal operation, the DC voltage is constant at one
Fig.3 Structure of independent PC, Q, control system side in a VSC-HVDC system. So, the active power is almost

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proportional to the DC current. Pcref is obtained by the product 7.1. Simulation under a Small Disturbance
of the DC voltage and DC current. The control system for
constant DC current is designed as shown in Fig. 5. Assume that there is a small disturbance in the receiving AC
system at the time hi1 .6s, the duration of the disturbance is 0. Is.
independent 35 The simulation results are described in Fig. 7. By comparison,
UdLd Qsref '. PC &QS the simulation results of the conventional HVDC system under
Idref P1ref control M the same disturbance are also shown in Fig. 7.
system
oAC bus voltage HVDC Inv MIDC AC bus voltage Inv HVDC
Fig.5 Control system for constant DC current 1 - -
curve 1
1.00
5.3. Constant Reactive Power Control with 0.90 curve 2
Feedback of AC Bus Voltage pu
0.80

When the AC system is very weak or the fluctuation of the 0.70

AC bus voltage is very large, it is necessary to control the AC 0.60
bus voltage at the side. Therefore, the feedback of the AC bus 1.50 1.80 2.10 2.40 2.70
voltage is introduced in the control system of constant reactive tls
power. The control system for constant reactive power with the
feedback of the AC bus voltage is designed as shown in Fig. 6. o DC voltage HVDC lnvMIDC o.DC voltage_lnv HVDC

curve 3

Usref+ -kAQ~+ Qsref independent 8- 1.00

0.90-
-

'X + & Qs
PCcontrol curve 4
U, s QS ce m pu
0.80-
system
0.70-
Fig.6 Control system for constant reactive power
0.60-
1.50 1.80 2.10 2.40 2.70

6. HVDC Subsystem curve 1 the AC bus voltage at the inverter of the MIDC
curve 2 the AC bus voltage at the inverter of the HVDC
CIGRE HVDC Benchmark Model [11] is adopted in the curve 3 the DC voltage at the inverter of the MIDC
HVDC subsystem. The conventional control of the model used curve 4 the DC voltage at the inverter of the HVDC
in this paper is as follows: the rectifier has a constant DC Fig.7 Simulation results under the small disturbance
current control and a minimum firing angle control, and the
inverter is subjected to constant extinction angle control and As can be seen from the simulation results, the fluctuations
constant DC current control. Additionally, the control modes of the AC bus voltage at the inverter and the DC voltage in the
include voltage-dependent current order limits (VDCOL) in the HVDC subsystem is smaller than those of the conventional
rectifier and inverter respectively. HVDC system; The recovery time is shorter than that of the
conventional HVDC system. The designed control systems
7. Simulation have high response speed and desirable stability. It is concluded
that a VSC-HVDC system can compensate the reactive power
To verify the validity and availability of the designed of the MIDC system fast and improve the voltage stability.
controllers, the simulation research about the designed
controllers is done by PSCAD/EMTDC. 7.2. Simulation under a Short Circuit Fault
A simplified physical model of a dual infeed HVDC and
VSC-HVDC system is present as shown in Fig. 1, where i=1, Assume that there is a three-phase short circuit fault at the
j=2. The HVDC subsystem has the same parameters (together AC bus of the HVDC subsystem at the time 1.6s, and the
with their control parameters) as the CIGRE HVDC duration of the fault is 0.2s. The simulation results are
Benchmark Model; The parameters of the VSC-HVDC described in Fig. 8. By comparison, the simulation results of
subsystem are as follows: the rated line-line voltage of the AC the conventional HVDC system under the same fault are also
side is 62.5kV, equivalent loss resistance R is 0.6Q, equivalent shown in Fig. 8.
inductance L of the converter transformer is 1 5mH, the As can be seen from the simulation results, the commutation
capacitance C of the capacitor at the DC side is 250&F, failures happened during the fault in both the systems.
equivalent line resistance Rd is 5Q, the reference value Udiref of However, the continued commutation failure took place in the
the DC voltage is 120kV, the rated transformation ratio of the HVDC system while it didn't in the MIDC system after the
transformer T12 is 115KV/230KV. fault. It is deduced that VSC-HVDC systems can avoid the

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 The authors appreciate the financial support provided by
1.50 OAC bus voltage_HVDC Inv_MIDC O.AC bus voltage Inv_HVDC "National Science Foundation of China (No. 50577018)".
curve 1
1 00 .Q
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pu 050

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Chengyong Zhao was born in Zhejiang Province, China. He received the B.S.,
of HVDC systems.
M.S. and Ph.D. degrees in power system and its automation from North China
Considering that the capacity of VSC-HM IDC systems is still
small at present, the function of them is linTnited to improve the Electric Power University (NCEPU) in 1988, 1993 and 2001 respectively. His
operating characteristic of the MIDC systeims. Along with the fields of interest include power quality, HVDC and flexible AC transmission
development of power electronic technolog y and the increasing system (FACTS). in
capacity of the VSC-HVDC systems, it will be evident for Ying Sun was born Henan province, China. He received B.S. degree in
VSC-HVDC systems to improve the stat)ility of the MIDC power system and its automation from North China Electric Power University
(NCEPU) in 2004 and he is going on studying in NCEPU for his M.S. degree.
systems.
His research field is HVDC and FACTS.

Acknowledgements

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