[Main] Main Page VSC TRANSMISSION WITH AC TRANSMISSION CHARACTERISTICS

EXAMPLE CASE: VSC Transmission with AC transmission characteristics based on a simple 6-pulse STATCOM example provides up to 75 MW power to the ac receiving end system, DC voltage - 110kV - Rectifier Controls power as a function of phase angle difference between sending end and receiving end AC voltages, Controls reactive power at the sending end bus. Note: Sending end AC voltage controlled by exciter of the generator. PWM with carrier frequency up to 33 times fundamental. - Inverter Controls AC voltage - magnitude and also DC voltage. Uses PWM with carrier frequency up to 33 times fundamental. CASE START-UP INSTRUCTIONS Run case to 2.0 seconds and take a SNAPSHOT at 2.0 seconds. - Generator operates as a voltage source at its terminals for the period 0 to 1 second during the start-up. After 1.0 second, the generator operates as a synchronus machine with its terminal voltage determined by its exciter. However, the rotor is locked until 2 seconds. - The Voltage Source Converters de-block at 0.2 seconds at each end simultaneously. - The 1L-G fault is applied at the ac system at receiving end at 2.1 seconds or 0.1 second after the SNAPSHOT is taken.

MODES OF CONTROL Because PWM is used, there are two modes of control which can be independently applied at each converter. The modes of control used in this model are as follows: 1. Ac voltage control at the sending end is achieved by the exciter of the 75 MVA synchronous generator.
C Cable2

2. Power flow is achieved by controlling the phase angle of the ac side voltage of the sending end converter. 3. Reactive power generated by the sending end converter is held to a low value by adjusting the magnitude of the voltage on the ac side of the sending end converter. 4. The dc voltage is controlled by adjusting the phase angle of the ac side voltage of the receiving end converter. 5. The ac voltage magnitude at the receiving end ac bus is controlled by the magnitude of the voltage at the ac side of the receiving end converter.

SE

RE

80 70 60
deg (deg)

M/CAngle

50 40 30 20 10 0 35.0 30.0 25.0 20.0 15.0 10.0 5.0 0.0 2.50 2.00 QpowerR QpowerI DA

Voltage (kV)

160 140 120 100 80 60 40 20 0 -20 1.20 1.00

dcVoltage Rec

dcVoltage Inv

Vpu_R

Vpu_I

Voltage (pu)

0.80 0.60 0.40 0.20 0.00 1.00 0.80 0.60 0.40 0.20 0.00 -0.20 -0.40 -0.60 dclineRec dclineInv

Reactive Power (pu)

deg (deg)

1.00 0.50 0.00 -0.50 -1.00 -1.50 1.20 1.00 0.80 0.60 0.40 0.20 0.00 -0.20 -0.40 -0.60 0.0 PowerR PowerI

DC Current (kA)

1.50

1.00 0.90 0.80 0.70 0.60 0.50 0.40 0.30 0.20 0.10 4.0 5.0 ... ... ... 0.00

ModIndex(mr)

ModIndex(mi)

Power (pu)

1.0

2.0

3.0

0.50

1.00

1.50

2.00

2.50

3.00

3.50

... ... ...

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[SE] VSC TRANSMISSION WITH AC TRANSMISSION CHARACTERISTICS Sending End Subpage

McQ

* 400 0.00013 B +410 D Exciter (SCRX) Vref Vabc 430 Ef If

620

dcCur C1
20 610 600

10

Cable2

Exci... VsetM
2

dcVltg

C2

Ef 640 Ef

630

If Logic Fault 30 Timed

90

If

2 Rg1 ABC->G
80

40

Rg3 2

50 60

2 Rg5

70

Te Te 590 Tm Tm 580

S
420

Vb_a
100

A 110 V

#1 120 #2

130

Vc_b
140

w Tm Tm0
570

Va_c
139.0 [uF]

TmO

560

550

540

75 MVA Synchronous generator with solid state exciter

2 Rg4

150

2 Rg6

160

2 Rg2

180

S/H out in 450 hold Lock_Free

Timer
170

Src_Mc

10 MVAR RC Damped Capacitor. Improved filtering may be needed.

Timer
190

Lock_Free

Synchronous generator initializing timer signals

Rangle AngR AngL VRec VpuR Pvsc

530 520 510 200 210 220

M/CAngle Rotor Angle Load Angle SEndACVltg Vpu_R Pvsc

0 0

SrcQ

G 1 440 + sT G 1 460 + sT

500 McQ QpowerR

Reac.Pwr Cntrl QTconst QGain

1 10

SrcP

490

500.0 [uF]

Qrefse: Sending end reactive power order (pu)

Qrefr

F D + +
280

QerrR

dcVltg

340

dcVoltage Rec

350

dclineRec

* 390
380

Pdc470 dcCurrent Rec

DCCurrent

360

dcCur

G 1 370 + sT

Sending end (rectifier) dc voltage, current and power measurement.

Prec

pu
260 270

0.0 [H]

SE REACTIVE POWER CONTROLLER

0.5 [ohm]

PowerR

0.1
230

1
240

Ac reactive power control for the sending end. Signal "mr" modulates magnitude of PWM sin reference signal for sending end PWM control

TconstQ Qvsc
250

PgainQ

P-I controller gains

1 Rg1 P
300

Qvsc

290

SE ... Qrefse
1.5

G 1 310 + sT

mr 320 ModIndex(mr)

V VRec MI mr P Pdc
480

2 Rg2 3 Rg3 Controls 4 Rg4 5 Rg5 6 Rg6

-1.5

0.1
G 1 330 + sT

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[RE] VSC TRANSMISSION WITH AC TRANSMISSION CHARACTERISTICS Receiving End Subpage

<Untitled> RE Source Parameters REV REFr REPh

Cable2 C1 dcVltgI C2 Fault1
Icap

Timed Fault Logic

Control of the receiving end ac system Thevenin voltage source.

150

61

100

500.0 [uF]

IaInv

Measured ac volts "Vpul"at receiving end (in pu).

Vref

VpuI

the output of PI controller is the modulation index used in PWM for voltage magnitude control

IbInv IcInv

IcInv IbInv IaInv

Verr

Receiving end ac volts set point (pu)

PgainI TconstI

Ac ... Vref
1.5 0 0

Fault1

deg

Hz

Hz

5 2 g5

3 2 g3

1 2 g1

100

59

-100

115

60

ViPhA #2 #1 A V C->G
2 [uF]

Ph

F RL

Fault

2 2 g2

6 2 g6

4 2 g4

Fault

Timed Fault Logic

10 MVAR capacitor
Mag (63) Ph (63) F = 60.0 [Hz] dc

Fault application timer, set at 2.1 seconds (on the assunption that the snapshot is at 2.0 second)

i2

FFT 1

RECEIVING END AC VOLTAGE CONTROLLER

VInv(1)

RE Ac V PhA

Line (phase) currents of transformer low voltage (valve) side.

F D + -

P mi I ModIndex(mi)

VpuI

Measured ac power and reactive power at the receiving end system.

Vpu_I

VInv(1)

SrcPI

REVphA

PI param. - Inv PgainI TconstI

45 10

G 1 + sT G 1 + sT

PowerI

SrcQI

QpowerI

Parameters of PI controller for receiving end ac voltage control (their values are not optimal, find better ones).

1.25

0.1
1 g1 2 Vac VInv MI mi 4 Vdc dcVltgI Controls 5 g5 6 g4 3 g3 g2

Receiving end (inverter) dc voltage, current and power measurement.

G 1 + sT * [SE] DCCurrent G 1 + sT

dcVltgI

dcVoltage Inv PdcI dcCurrent Inv Pinv

g6

dcCur

dclineInv

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[SECtrl] VSC TRANSMISSION WITH AC TRANSMISSION CHARACTERISTICS Sending End Controls Subpage

OPEN LOOP POWER FLOW CONTROLLER

SEPh is sending end phase angle through delay to emulate transmission delay from receiving end. SE VALVE FIRING CONTROLLER
Sin SEPh B -

Phase difference between sending and receiving ends.

A1

A2

REPh is receiving end phase angle via telecommunication from receiving end PLL
Sin REPh [RECtrl] REph

This control causes the VSC Transmission to emulate the characteristics of an ac line by controlling power from the synthesized ac voltage phase angle difference measured between each end.

Phase Difference

B
B2

B1

F Sin + 120.0 F + D

SE PWM Freq <PWM Setting>

5 4 3 2 1

This number defines the triangular wave carrier frequency, it is a multiplication of fundamental freqency,its value has to be dividable by three and an odd number.

C1

33
VRec VRec 1 2 3
0 0

User-defined component: This component represents a function MODULO, user has to specify the modulo factor which in this case limits the ramp function between 0 to 360 degrees.

+ F 120.0

Sin

C2

Triangular signal

PLL gain settings GpPLL GiPLL

100 1000

Va Vb Vc PLL theta Modulo * 360.0

1 2 3 4 5 6 TrgRon 1 2 3 4 5 6

PhDiff B * 0.00225 + D + + F

Synthesized phase angle in radians

Ao

Output power control signal "Shft" is used to phase shift the ac side volts of the sending end voltage sourced converter (in degrees).

PWM triangular carrier signal array at a frequency 33 times fundamental frequency for turning GTOs on. Pdc - Dc power into sending end cables multiplied by approximate short circuit impedance summed from ac systems at sending and receiving ends. When added to the measured phase difference, an approximated extended phase angle from which to generate ac line characteristics is derived.

* 0.135

D + + F

* 57.2958

Shft AngleOrder

DerivP

dF

DeltaA

75

500
-sT e GpPLL GiPLL SEPh

Aux ... PhaseShift

1

DA Freq Dep O1 Gain Control

PWM triangular carrier signal array at a frequency 33 times fundamental frequency for turning GTOs off.

Dam... Damping
1

rad
-1

Phase Lock Loop proportional - integral gain constants.

Delay function added at the sending end measurement of ac voltage phase angle to match the telecom delay from the receiving end (10 ms)
mr mr

TrgRoff

The synthesized phase angle across the transmission line is filtered, then phase advanced to cause ac system damping. Gain is automatically reduced if high frequency control oscillations are detected.

X1

GRed
0

0.15

Va VRec(1) Vb VRec(2) Vc VRec(3)

3 2 1 6 5 4

PLL thetaY Six 6 Pulse

Shift: (in-sh) in sh

Sin

Multip 6 6

RefRon

blocking of rectifier for first 0.2 s

Timer deblk
Rg1

Sin

Multip 6 6

Rg3

Shft

RefRoff

"Shft" is the phase angle order in degrees derived from the open loop power controller. It is the angle by which the voltage across the sending end transformer is phase shifted in order to control power flow.

1 2 3 4 5 6

PWM sinusoidal reference signal arrays at fundamental frequency whose magnitude is controlled by signal "mr" and whose phase is controlled by signal "Shft"
mr

30.0

Dblck (1) RefRon 6 H (2) ON TrgRon L (3) 6 RefRoff 6 H (4) OFF TrgRoff L (5) 6 (6)

g1 g2 g3 g4 g5 g6

Firing pulse generator for sending end converter: - firing pulses are generated using comparison of reference signals to triangular signals - two sets of signals (reference and triangular ones) are needed, one set for turning on and the second one (a negation of the first set of signals) for turning off - two signals are being sent to each switch, the first one tells to turn on or off, the second one determines an exact moment of switching and is used by interpolation procedure which allows for exact switching between time steps

-4-

Rg6

Rg5

Rg4

Rg2

[RECtrl] VSC TRANSMISSION WITH AC TRANSMISSION CHARACTERISTICS Receiving End Controls Subpage

Receiving end ac voltage phase angle as determined by the phase locked loop - telecommunicated to the sending end with a 10ms transmission delay.

User-defined component: This component represents a function MODULO, user has to specify the modulo factor which in this case limits the ramp function between 0 to 360 degrees.
-sT e REPh REph 1 2 3 4 5 6 1 2 3 4 5 6 TrgIoff TrgIon

PWM triangular carrier signal array at a frequency 33 times or less of fundamental frequency for turning GTOs on.

Va VInv(1) Vb VInv(2) Vc VInv(3) PLL theta Modulo * 360.0

This number defines the triangular wave carrier frequency, it is a multiplication of fundamental freqency,its value has to be dividable by three and an odd number. It is adjusted by the dial selector located at the sending end controls.
VInv Vinv 1 2 Va Vb Vc

Triangular signal generators

PWM triangular carrier signal array at a frequency 33 times or less of fundamental frequency for turning GTOs off.

Pllerr

G 1 + sT

PLL error Shift: (in-sh) sh 6

Phase locked loop error signal

mi Sin 6 Array 6 6

mi

PLL gain settings GpPLL GiPLL

100 1000

PLL thetaY Six 6 Pulse D + + F

in

Multip 6

3 2 1 6 5 4

Shfti

30.0

Vsina

1 2 3 4 5 6 6

PWM sinusoidal reference signal arrays at fundamental frequency whose magnitude is controlled by signal "mi" and whose phase is controlled by signal "Shfti"

75

500

GpPLL

GiPLL

Array

Multip

mi

DC VOLTAGE CONTROLLER Measured dc volts "dcVltgl" and dc voltage set point at receiving end (in kV). Firing pulse generator for receiving end converter: - firing pulses are generated using comparison of reference signals to triangular signals - two sets of signals (reference and triangular ones) are needed, one set for turning on and the second one (a negation of the first set of signals) for turning off - two signals are being sent to each switch, the first one tells to turn on or off, the second one determines an exact moment of switching and is used by interpolation procedure which allows for exact switching between time steps.
D + + F Shfti AngleVdc

dcVltgI

dcVltgI

F * G 1 + sT

D + 118.0 Dc Volts Set Point

blocking of inverter for first 0.2 s

Firing pulses can be plotted.

DC ... DcGain
10

BlkI

1 sT TIME

BlkI

Dblck (1)
-10

g1 g1 g2 g2 g3 g3 g4 g4 g5 g5 g6 g6

RefIoff

The phase shift for the receiving end pulses requires a 30 degree phase shift to compensate for the star-delta transformer.

Sin

RefIon

g1 g2 g3 g4 g5 g6

RefIon TrgIon RefIoff TrgIoff

2.5

The gain of the dc controls is readily adjustable by the "DcGain" slider. The control is active when converters are deblocked. The control acts to adjust the phase of the ac side of the receiving end converter. When dc volts are too high, the phase angle is adjusted to push power into the receiving end ac system. If more power is thus extracted from the dc system than is ordered by the sending end power controller, the cable and capacitors will discharge, and dc volts will lower.

H (2) ON L (3) H (4) OFF L (5) (6)

6 6

-5-

[Damping]

Z5_Z4

B + + F B + e-sT D + + F

D * 0.5

B + + F B + D + D F B + B + + D + F + D e-sT -sT e e-sT + F D e-sT D + + F * 0.5 dF

D + F D + F F

Z3_Z4 B

D + Z3_Z2 D B + -

B + D + + F * 0.333333

F B

* 0.333333

D e-sT -sT e e-sT -sT e Z4 Z3 Z2

F Z1

Z2_Z1 D

-sT e

-6-

[GainAdjust]

X1

G 1 + sT

RMS

N/D D

G 1 + sT

O1 F
0.667

RMS 0.001

D E

Max

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