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Modelling and Control of Multiterminal HVDC Transmission Systems For Large Offshore Wind Farms
Modelling and Control of Multiterminal HVDC Transmission Systems For Large Offshore Wind Farms
Agust Egea-Alvarez
Porto, 14th June 2010
Contents
1 Introduction
3 Control design
4 Simulation results
5 Conclusions
General scheme
SCIM SCIM
Grid 1
SCIM SCIM WF1-VSC GS1-VSC
SCIM SCIM
L3
SCIM SCIM
Grid 2
SCIM SCIM WF2-VSC GS2-VSC
SCIM SCIM
Modelling summary
(1) (2)
1 3
Pmec =
ACp vwind (1)
2
dturbine
turbine IM = Jtotal (2)
dt
Jtotal = Jturbine + JIM 2
Wind farm electrical modelling (I)
Lr 0 Lm 0 vsq
1 0 Lr 0 Lm vsd
+ Lm 0 Ls 0 0 (3)
Ls Lr Lm2 0 Lm 0 Ls 0
Wind farm electrical modelling (II)
AC wind farms cables and transformers are modelled as a short
line equivalent (a) and T model (b)
iline Itr
v1 v2 v1 Ltr-mag v2
(a) (b)
Wind farm aggregation
SCIM
SCIM
LV MV
SCIM
vlq (s) 1
= (8)
iq (s) ll s + rl
vld (s) 1
= (9)
id (s) ll s + rl
HVDC lines modelling: Introduction
HVDC lines modelling: calculation methods
Operation modes
Grid side controllers
Droop regulator
Current loop
Wind farm controller
Pitch controller
Voltage reduction controller
Operation modes
vlabc
vzabc
PLL
Park-1
izabc
Park
i*d Reactive Q*z
vlqd Current computation
loop i*q
Droop
controller
EDC
Grid side control system
EDC
iDC = KDroop EDC EDroop (10)
KDroop
3 PDC
EDroop
iq = (11)
2 vzq
IDC
Iq* vlq
+ Gciq(s) - +-
-
Iq
e L
l
Id
I*d - -+
vld
+ Gcid(s)
M-HVDC wind farm control systems
IDC
vsabc vcabc
iabc
SCIM EDC
pitch
Pitch
controller
Pitch controller vcabc Voltage
regulator
Voltage reduction controller
1.5
Pitch
pitch []
0.5
0
12 14 16 18 20 22 24
max ^
Time [s]
Tur
+
- PIpitch(s) 1534
1530
1528
1526
12 14 16 18 20 22 24
Time [s]
Voltage reduction
To reduce the power produced during AC faults a proportional
controller is used.
500 VWF1V
sa
V
Voltage [V]
WF1V
sb
VWF1V
0 sc
Vcqd ^
^ min Vcqd 500
EDC +
- 0 2 4 6 8 10 12 14 16 18
^ max ^ min .. - Time [s]
EDC EDC +
EDC 500 V
WF2V
1 V
sa
Voltage [V]
WF2V
sb
VWF2V
0 sc
500
0 2 4 6 8 10 12 14 16 18
Time [s]
Simulation results
Simulations presented
Normal operation
Voltage sag in the AC side grid
Simulation parameters: model
L1 Grid side 1 (GS1)
Wind farm 1 (WF1)
SCIM SCIM
Grid 1
SCIM SCIM WF1-VSC GS1-VSC
SCIM SCIM
L3
SCIM SCIM
Grid 2
SCIM SCIM WF2-VSC GS2-VSC
DC grid AC Grid
SCIM SCIM
Resistance 0.01 /km Resistance 4.36
Wind turbine Pitch controller Inductance 0.1 mH/km Inductance 0.052 mH
Nominal power 2 MW Kp 10 Length cable 1 100 km Nominal voltage 90 kV
Radius 39 m Length cable 2 80 km Current controller
Ki 837.97
Max. Pitch angle 55 Length cable 3 35 km Kp 10
Voltage reduction
Gear box 83 VSC capacitor 150 F Ki 837.97
Emin 159 kV
Induction machine Emax 164 kV Nominal voltage 150 kV Droop controller
Nominal power 690 V Input data Kdroop 1/10 kA/kV
Nominal voltage 2 MW Wind series EDCdroop 145 kV
Pair of poles 2
Normal operation: Wind farm 1
1530
8.8
1528
8.6
0 10 20 30 40 50 60
8.4 time [s]
8.2
6200
Torque [Nm]
PE
0 10 20 30 40 50 60 6000 1
Time [s]
5800
5600
20 vwind 0 10 20 30 40 50 60
WF
18 1 Time [s]
speed [min1]
16 0.8 pitcn
Pitch []
0.6 WF
14 1
0.4
12 0.2
0
10 0 10 20 30 40 50 60
0 10 20 30 40 50 60 Time [s]
Time [s]
Normal operation: Wind farm 2
8 1526 2
1524
7.5 1522
0 10 20 30 40 50 60
7 time [s]
6.5
Torque [Nm]
0 10 20 30 40 50 60 5500 PE
2
Time [s]
5000
4500
vwind 0 10 20 30 40 50 60
13 WF
2 Time [s]
speed [min1]
4
x 10
12
2
pitcn
Pitch []
11 WF
2
1
10
0
0 10 20 30 40 50 60
0 10 20 30 40 50 60 Time [s]
Time [s]
Normal operation: DC grid
7
x 10
Power [W]
Il2 2
8
200 7.5
0 7
6.5
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
5 7
x 10 x 10
1.52 7
EWF PGSDC
1 1
1.515 EWF 7.5 PGSDC
Voltage [V]
Power [W]
2 2
1.51 EGS 8
1
1.505 EGS 8.5
2
1.5 9
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
Normal operation: AC side converter
7
x 10
Power [W]
700 8.5 2
680 8
660 7.5
640 7
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
4
x 10
850
i* 7.3485 vcx1zq
qGS2
iqGS2 v
cx2zq
Voltage [V]
Current [A]
800 7.3485
750 7.3485
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Time [s] Time [s]
Fault operation: General scheme
SCIM SCIM
Grid 1
SCIM SCIM WF1-VSC GS1-VSC
Voltage sag
SCIM SCIM
L3 Duration 1s
Voltage drop 80 %
SCIM SCIM
Grid 2
SCIM SCIM WF2-VSC GS2-VSC
SCIM SCIM
Fault operation: Grid side and wind farm voltage
5
x 10
1
500 VWF1V VGS1V
sa la
VWF1V 0.5 VGS1V
Voltage [V]
Voltage [V]
sb lb
VWF1V VGS1V
0 sc
0 lc
0.5
500
1
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
5
x 10
1
500 VWF2V VGS2V
sa la
VWF2V 0.5 VGS2V
Voltage [V]
Voltage [V]
sb lb
VWF2V VGS2V
0 sc
0 lc
0.5
500
1
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
Fault operation: DC grid
8
x 10
1000
PWFDC Il1
1
1
PWFDC Il2
Current [A]
Power [W]
0
0.5
1
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
7 5
x 10 x 10
0 PGSDC EWF
1 1
1.6
PGSDC EWF
Voltage [V]
Power [W]
2 2
5 EGS
1.55 1
EGS
10 2
1.5
0 2 4 6 8 10 12 14 16 18 0 2 4 6 8 10 12 14 16 18
Time [s] Time [s]
Fault operation: Wind farm 1
1600
0.5
1550
0 1500
0 2 4 6 8 10 12 14 16 18
0.5 time [s]
8000
Torque [Nm]
1 PE
0 2 4 6 8 10 12 14 16 18 6000 1
Time [s]
4000
2000
vwind 0 2 4 6 8 10 12 14 16 18
15 WF
1 Time [s]
speed [min1]
14
20
pitcn
13
Pitch []
WF
1
10
12
11 0
0 2 4 6 8 10 12 14 16 18
0 2 4 6 8 10 12 14 16 18 Time [s]
Time [s]
Fault operation: Wind farm 2
10 PWF WF
2 1600 2
Active power [W]
5 1550
1500
0 0 2 4 6 8 10 12 14 16 18
time [s]
5
8000
Torque [Nm]
PE
0 2 4 6 8 10 12 14 16 18 6000 2
Time [s]
4000
2000
13.5 vwind 0 2 4 6 8 10 12 14 16 18
WF
13
2 Time [s]
speed [min1]
15
12.5 pitcn
Pitch []
10 WF
12 2
5
11.5
0
11 0 2 4 6 8 10 12 14 16 18
0 2 4 6 8 10 12 14 16 18 Time [s]
Time [s]
Conclusions