1
Control of a VSC-HVDC Operating in Parallel with
AC Transmission Lines
H. F. Latorre, Student Member, IEEE, M. Ghandhari, Member, IEEE, and L. Söder, Member, IEEE
Index Terms— Damping of power oscillations, load flow con-
trol, transient stability, voltage control, VSC-HVdc.
I. I NTRODUCTION
T RANSMISSION of energy based on the VSC-HVdc sys-
tem has obtained special attention during the last decade
thanks to the benefits of fast control of active power and reac-
tive power independent of each other, and the growing rated
values of its components. The number of projects based on
VSC-HVdc is increasing and today there are about 8 systems
in commercial operation [1]. Most of them were initially con-
ceived as solutions to the connection of asynchronous systems,
and environmental or geographical difficulties. An interesting
topology for studying the benefits of the VSC-HVdc is the
connection of the dc link in parallel with ac transmission lines.
Some authors have studied this kind of connection [2], [3]
and [4] and one of the 8 existing VSC-HVdc projects currently
operates in parallel with ac transmission lines [5].
HVdc links in parallel with ac transmission lines have been
the subject of several studies, analyses and investigations, but
most of them have been focused on LCC-HVdc and although
the results may be applicable to VSC-HVdc, there is little
research that specifically studies the case of the latter.
The aim of the paper is to present an adaptive control
that integrates the features of the VSC-HVdc and applies its
benefits when the dc link is connected in parallel with ac
transmission lines. These benefits are: damping of power os-
cillations and improving of transient stability, voltage support
(voltage stability), and power flow control.
The control input signals are based on local measurements
at the buses where the dc link is connected.
A very simple model, which represents the VSC-HVdc as an
element in the power system that provides adequate interaction
with other systems elements, is considered in order to test the
control. The simple model is intended for analysis of power
flows and electromechanical transients. It is then sufficient
to consider the power frequency components of voltages and
currents represented by phasors that vary with time during
1-4244-0288-3/06/$20.00 ©2006 IEEE
transients. The model is valid for symmetrical conditions, i.e.
positive sequence phasors are used for the representation of
the electrical state.
II. S IMPLE M ODEL OF VSC-HV DC
Fig. 1 shows an HVdc link connected in parallel with an ac
transmission line. From the nodes of connections Bus i and
Bus j, a VSC-HVdc can be seen as a synchronous machine
without inertia where the production or consumption of the
active power is independent of the production or consumption
of the reactive power. This interpretation leads to modelling
a VSC-HVdc as two controllable voltage sources, as shown
in Fig. 2, in series with a reactance, which represents the
impedance of the power transformer. The desired amount of
active power is specified and the amount of reactive power
can be either specified or calculated in the power flow for a
desired ac voltage magnitude at the connection bus.
Ui θi Uj θj
ac line
HVdc
Fig. 1. HVdc in parallel with ac transmission line
Ui θi Uj θj
j xs
j xT j xT
Fig. 2. Simple model of VSC-HVdc
Different detailed models represent the losses of the con-
verters as resistances, which are connected in parallel with
the dc capacitors. In the Simple Model, it is assumed that
the voltage control keeps the dc voltage magnitude close to
the rated voltage; in this way, the losses of the converter are
basically constant, independent of the magnitude of the current
through the converter. Losses are consequently represented in
the Simple Model by a constant active load. The losses of the
dc cables are neglected.
The relation between nodes i and j is given by the active
power: P i = −P j; the reactive power is independent at each
node. The model does not have a real dc transmission. Fig. 3
represents the Simple Model. Software used in simulations is
SIMPOW [6].
 2

Ui θi Uj θj 2) Damping and Transient Stability Control: The damping

j xs
and transient stability control strategy is based on Control
Lyapunov Functions (CLF) [7]. The input signal relies on the
frequencies at Bus i and Bus j.
Pi + j Qi P j + j Qj Thus, based on CLF:
Plosses

ΔPCLF = kd (θ̇i − θ̇j ) = kd (fi − fj ) = kd fij (1)

Fig. 3. Mathematical model VSC-HVdc
III. C ONTROL OF VSC-HV DC
The control of the VSC-HVdc basically considers three
main actions: damping and transient stability control, voltage
control, and power flow control. The control determines the
mode of operation according to the input signals.
A. Reactive Power Control
This control is based on measurements of the voltage at
the nodes where the VSC-HVdc is connected. The measured
voltage is compared with a specified set value and the differ-
ence between these values, ΔU , is the input of the voltage
controller, which is basically a PI-controller. The output of
the controller is defined as reactive power, ΔQ, which is
capacitive or inductive depending on the sign of ΔU . The
new Q produced or consumed by the converter is the sum of
the initial value of reactive power, Q0, and ΔQ. Fig. 4 shows
the block diagram of the voltage control.
ki
Uset ΔU 1 +
+-
1+TfS
1
Umes
TiS
Fig. 4. Block diagram of Voltage Control
B. Active Power Control
1) Power Flow Control: The control of power flow obeys a
desired change in the amount of transfer of power through the
VSC-HVdc, ordered by the operator. The new value of active
where kd is a positive gain.
Damping is effectively achieved by modulating the active
power according to signal ΔPCLF , but ΔPCLF can also be
an input to the voltage control. In that case the reactive power
may improve the damping of the power oscillations, although
not as effectively as active power. This alternative might be
used when the dc cable is not available, but the converters
are. The lower part of Fig. 5 corresponds to the control of the
damping signal. A filter is included, modeling the processing
time of the signal.
The formulated signal (1) is applicable for both small and
large disturbances. The improvement of transient stability
when large disturbances occurs in the system is achieved by
increasing the gain kd . Different gain-zones may be defined
according to the magnitude of fij .
The rating limits of the HVdc give priority to the active
power. If during the transient period there is some capacity
available for reactive power, once the new active power has
been calculated, the VSC-HVdc can apply voltage control,
otherwise the MW transmitted through the converter will be
equal to the MVA rating.
IV. S IMULATION S TUDY
ΔQ New Q
The test system is based on the topology network and tech-
+
+ +
nical data of generators of [8]; see Fig. 6. The power system
Q0
includes AVR, turbines, governors and PSS in all machines.
The study consists of analyzing the behavior and stability
improvement of the power system when either a third ac line
or VSC-HVdc link is connected between Bus 7 and Bus 9.
The same initial conditions are set for all cases simulated,
i.e. loads, generation and principally identical values for the
magnitude of the voltage at Bus 7 and Bus 9 (0.9975 pu at
Bus 7 and Bus 9).
1 5 6 7 8 9 10 11 3
P

power is set in the control. The difference between the actual Gen1 Gen3

transmitted active power and the new set value, ΔPP F C , is

the input of a PI-controller. The upper part of Fig. 5 shows HVDC

Gen2 Gen4.1
the block diagram of the power flow. 2 4
Gen4.2

Load 1 Load 2 Load 3

kj
ΔPPFC + ΔP’PFC
Pset +- + Fig. 6. Power System. VSC-HVdc and ac transmission line between Bus 7
1 and Bus 9 are not connected at the same time
TjS
++
P0
+ New P
The ratings of the VSC-HVdc are: Sn = 300 MVA and
fi +- kd
ΔPCLF 1 ΔP’CLF U dc = ±150 kV. Base values of the ac network are: Sb =
1+TfS
fj 100 MVA and U b = 230 kV.
Four cases are studied, namely: 1) Disconnection of 10%
Fig. 5. Block diagram Active Power Control of load at Bus 9 for 100 ms; 2) a three phase short circuit at
Bus 9 during 100 ms, followed by the disconnection of one
 3

Voltage Bus 9
of the lines Bus 8 - Bus 9; 3) a trip of generator 4.1; and 4) a 1.04
trip of generator 4.1 and 60 s later a trip of one of the lines Third ac line
1.03 HVdc
Bus 7 - Bus 8. In order to clarify the difference of the results
between a third ac line and HVdc link, curves are shown in 1.02
the same plot for each variable of interest.
1.01

[ pu ]
1
A. Temporary Disconnection of Load (case 1)
The load at Bus 9 was split into two parts, 90% and 10%. 0.99

For 100 ms the smaller part is disconnected, which means a 0.98

small disturbance in the system. As was expected, both ac
0.97
system and ac/dc system are stable. However, the system has
a much better damping with VSC-HVdc. Fig. 7 shows the 0.96
0 5 10 15
variation of P indicated in Fig. 6. Fig. 8 and Fig. 9 show the [s]

voltages at Bus 7 and Bus 9, respectively. Their oscillations

Fig. 9. Voltage profile at Bus 9 (case 1)
are very small.

Power Oscillations
1.6 provided by the VSC-HVdc allows the elimination of the
Third ac line
HVdc oscillations about 5 s after the fault is applied. Once the
1.55
transient period ends, the active power through the VSC-HVdc
1.5 returns to the set value. See Fig. 10.
Fig. 11 and Fig. 12 show the voltage profile at Bus 7 and
1.45
Bus 9, respectively. In the ac system, the voltage drops some
[ pu ]

1.4
volts, at both busses. Meanwhile in the ac/dc system, due to
the voltage control, the voltage is back to the initial value.
1.35 The steady state power transfer through ac line Bus 7 - Bus 8
is lower in the ac system because of the voltage drop. In the
1.3
ac/dc system the power is the same as before the fault.
1.25
0 5 10 15
[s] Power Oscillations
1.8

Fig. 7. Variation of P vs. time (case 1) 1.6

1.4

1.2
Voltage Bus 7
1.025
1
[ pu ]

Third ac line
1.02 HVdc
0.8
1.015
0.6
1.01
0.4
1.005
[ pu ]

0.2 Third ac line

1
HVdc
0
0 5 10 15
0.995 [s]

0.99
Fig. 10. Variation of P vs. time (case 2)
0.985

0.98
0 5 10
[s]
Fig. 8. Voltage profile at Bus 7 (case 1)
B. Short circuit and trip of line (case 2)
A solid three phase short circuit is applied at Bus 9 for a
time of 100 ms. The fault is cleared by opening one of the ac
transmission lines between Bus 8 and Bus 9.
Although this fault results in large power oscillations
(around 100 MW peak to peak value in the first oscillation),
the system is stable for both ac and ac/dc system. The damping
15
C. Trip of Generator (case 3)
The production of active power at Bus 4 is divided into two
synchronous machines. In this fault one of the machines is
tripped, which means a loss of 350 MW.
Fig. 13 illustrates the comparison of variation of P between
ac and ac/dc systems. The poor damping in the ac system is
clear and although the oscillations are becoming larger with
the time in the plotted window time, the system is stable. In
the ac/dc system, after 8 s the oscillations are vanished. The
higher amount of transfer of power with respect to the ac
system is due to the voltage control.
 4

Voltage Bus 7 Voltage Bus 7

1.1 1
Third ac line
1.08 HVdc 0.99
1.06
0.98
1.04
0.97
1.02

[ pu ]
[ pu ]

1 0.96

0.98 0.95
0.96
0.94
0.94
0.93 Third ac line
0.92
HVdc
0.9 0.92
0 5 10 15 0 5 10 15
[s] [s]

Fig. 11. Voltage profile at Bus 7 (case 2) Fig. 14. Voltage profile at Bus 7 (case 3)

Voltage Bus 9 Voltage Bus 9

1
1.06
Third ac line
HVdc
0.99
1.04

0.98
1.02

[ pu ]
[ pu ]

0.97
1

0.96
0.98

0.95
0.96 Third ac line
HVdc
0.94
0 5 10 15
0 5 10 15 [s]
[s]

Fig. 15. Voltage profile at Bus 9 (case 3)

Fig. 12. Voltage profile at Bus 9 (case 2)

D. Trip of Generator and Posterior Trip of Line (case 4)

Fig. 14 shows the behavior of the voltage at Bus 7 and
Fig. 15 at Bus 9. It is possible to see the response of the voltage In this simulation, again a synchronous machine at Bus 4 is
control. Voltage at Bus 7 initially drops to about 0.976 pu, but tripped, but additionally, 60 s later, one of the transmission
the voltage control dictates a change in the reactive power of lines between Bus 7 and Bus 8 is also disconnected. The
the VSC-HVdc in order to increase the voltage up to the initial results of the first part of the fault have already been shown
value. Bus 7 requires a higher action of the control compared in the previous simulation.
to Bus 9. When the ac line is tripped, the ac system becomes unstable.
However the ac/dc system is stable and also the number and
Power Oscillations size of the power oscillations are minimal. At 85 s the system
2.8
Third ac line reaches the steady state. Fig. 16, Fig. 17 and Fig 18 show the
2.6
HVdc results.
Voltages at Bus 7 and Bus 9 are highly stressed. After
2.4 the first fault, the voltage level again reaches the pre-fault
magnitude. However when the line is tripped the demand for
2.2
reactive power exceeds the rating power of the converters
[ pu ]

2 and it is not possible to keep the same voltage level. The

steady state voltage registers a lower value than the pre-fault
1.8
magnitude, but it still remains in the range of operation.
1.6

V. C ONCLUSIONS
1.4
0 5 10 15
[s] An adaptive control was developed for VSC-HVdc operat-
ing in parallel with ac transmission lines. The control was able
Fig. 13. Variation of P vs. time (case 3) to define the mode of operation according to the local signals
at the buses where the HVdc link was connected.
 5

Power Oscillations
5
VI. F UTURE W ORK
4.5 Future steps on the analysis of the adaptive control include:
4
control strategy for first swing oscillation based on CLF; a
3.5
modal analysis of the electric power system for studying small
signal stability; implementation of the adaptive control in a
3
detailed model of VSC-HVdc; and use of more complex power
[ pu ]

2.5
system, which demands a co-ordination with other control
2 devices present in the network.
1.5

1 R EFERENCES
0.5 Third ac line
HVdc [1] www.abb.com/hvdc
0 [2] S. G. Johansson, L. Carlsson and G. Russberg, “Explore the Power of
60 65 70 75 80 85 90 95 100
[s] HVDC Light - a web based System Interaction Tutorial,” presented at
Power Systems Conference and Exposition, IEEE PES, 2004.
[3] S. G. Johansson, G. Asplund, E. Jansson and R. Rudervall, “Power System
Fig. 16. Variation of P vs. time (case 4) Stability Benefits with dc-Transmission Systems,” presented at CIGRE,
Session 2004.
Voltage Bus 7 [4] H. Zhaoqing, M. Chengxiong and L. Jiming “Improvement of Transient
1.05 Stability in ac Systems by HVdc Light,” presented at IEEE PES Trans-
mission and Distribution Conference and Exhibition, Dalian, China, 2005.
1 [5] A. Castro, R. Ellström, Y. J. Häfner and C. Liljegren, “Co-ordination of
0.95
Parallel ac-dc Systems for Optimum Performance,” presented at Power
Delivery Conference, Madrid, Spain, 1999
0.9 [6] H. R. Frankhauser, T. Adielsson, K. Aneros, A. A. Edris, L. Lindkvist and
S. Torseng:“SIMPOW - a Digital Power System Simulator,” ABB Review
0.85
[ pu ]

No. 7, 1990
0.8 [7] M. Ghandhari, G. Andersson and I. A. Hiskens, “Control Lyapunov
Functions for Controllable Series Devices,” IEEE Transactions on Power
0.75 Systems, vol. 16, no. 4, Nov. 2001.
[8] P. Kundur, “Power System Stability and Control,” New York: McGraw-
0.7
Hill, 1994, pp 813
0.65 Third ac line
HVdc
0.6
60 65 70 75 80 85 90 95 100
B IOGRAPHIES
[s]
Héctor F. Latorre received the M.Sc. degree in Electrical Engineering from
Royal Institute of Technology, Stockholm, Sweden, in 2002. He was employed
Fig. 17. Voltage profile at Bus 7 (case 4)
by Interconexión Eléctrica S.A. -ISA-, Colombia, in the area of design of
substations for 9 years. He is currently Ph.D. student at the Royal Institute
Voltage Bus 9 of Technology (KTH).
1.1
Mehrdad Ghandhari received the M.Sc., Tech. Lic. and Ph.D. degrees
in Electrical Engineering from Royal Institute of Technology, Stockholm,
1 Sweden, in 1995, 1997, and 2000, respectively. He is currently Assistant
Professor at the Royal Institute of Technology (KTH).
0.9
Lennart H. Söder (M 91) was born in Solna, Sweden in 1956. He received his
M.Sc. and Ph.D. degrees in Electrical Engineering from the Royal Institute
[ pu ]

0.8 of Technology, Stockholm, Sweden in 1982 and 1988 respectively. He is

currently a professor in Electric Power Systems at the Royal Institute of
0.7
Technology. He also works with projects concerning deregulated electricity
markets, distribution systems, risk analysis and integration of wind power.

0.6
Third ac line
HVdc
0.5
60 65 70 75 80 85 90 95 100
[s]

Fig. 18. Voltage profile at Bus 9 (case 4)

Simulations of different faults allowed the confirmation

of the benefits of VSC-HVdc supporting voltage, providing
damping and transient stability.
It was demonstrated that damping based on Control Lya-
punov Functions worked satisfactorily for large and small
disturbances
The use of one single local signal, frequency, was sufficient
to provide damping and improve transient stability.