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European Journal of Electrical Engineering: Received: 1 July 2020 Accepted: 12 November 2020
European Journal of Electrical Engineering: Received: 1 July 2020 Accepted: 12 November 2020
State Space Modeling and Stability Analysis of a VSC-HVDC System for Exchange of
Energy
Asma Rekik*, Ghada Boukettaya
https://doi.org/10.18280/ejee.220603 ABSTRACT
Received: 1 July 2020 Nowadays, relevant actors are searching for solutions to produce energy with a low impact
Accepted: 12 November 2020 on the environment. Indeed, transmitting power via large distances with maintaining low
losses is one of the main challenges. To improve electricity communication between
Keywords: countries and offshore wind, a new interconnections line must be built. Therefore, Voltage
VSC-HVDC transmission, energy, linearized, Source Converter High Voltage Direct Current (VSC-HVDC) transmission is incoming as
state space modeling, small signal stability, the exceptive technology in order to address the challenges related to the integration of
eigenvalue future offshore wind power plants. In spite of its many advantages, VSC-based HVDC
transmission systems can experience unexpected instability and interaction phenomena:
Small disturbances that occur continually in VSC-HVDC transmission systems due to the
complex VSC based interconnections and an important number of components with non-
linear nature that may cause failure. Thus, before installing the HVDC system, there is a
significant need for studying a hybrid AC-DC system to guarantee the reliable and stable
operation. This paper deals with the stability of a VSC-HVDC system by the use of a small
signal stability method; such procedure enables to study the stability of a linearized VSC-
HVDC system through state-space modeling and eigenvalue-based stability analysis.
413
With the aim of studying the linear system stability, the HVDC network. The fundamental ingredient of the converter
eigenvalues evaluation method is the more used one [8]. For is a permanent switch which is adapted to turn on or off a
the non-linear system, the complexity of analysing the VSC- current [20]. The asymmetric structure of IGBT (Insulated
HVDC system stability shows the way to make a linearized Gate Bipolar Transistor) used in this VSC-HVDC system,
model around an operating point for this system. enables lower on-state voltage droop and higher brazen
Small-signal stability analysis (SSSA) with power voltage blocking capability at the expense of reverse voltage
electronics has been studied while researchers specified the blocking capability efficiency reduced [21].
stability problems due to the control of the LCC. The VSC-HVDC scheme is shown in Figure 1. A DC cable
The integration of non-conventional power sources to the is made as connection between the two VSC stations. On the
grid is enabled by the converters. Owing to the complexity of DC side, capacitors permit to conserve the DC voltage and the
the power electronics converter, various instability and phase reactors filter injected grid currents. On the AC side, the
interaction phenomena have been noted in these types of converter is connected to an AC network or a wind turbine
systems. Indeed, small disturbances occur continually in the with a transformer in order to insulate the station from the AC
case of wind turbines and HVDC systems due to the source and provides the appropriate AC voltage. The phase
continuous variation of the loads and generations. reactors associated with the transformer filter injected grid
Modern works have investigated SSSA of VSC-HVDC currents. Optional AC filters are exploited to supply the
system and have analysed the control strategy of a VSC- reactive power and also to filter Pulse-Width Modulation
HVDC chain connected to weak AC grids [10]. They have (PWM) harmonics.
investigated control strategies of VSC-HVDC transmission in
order to upgrade damping of electromechanical modes of AC
systems [9]. In recent years, researchers are focused on
studying the stability of power system equipped with power
electronics using the eigenvalue method [11-13] or the
impedance based method [14, 15]. Indeed, the impedance
based method is utilized in the aim of regulating the converters
of the VSC-HVDC system that assures the stability of the
system and minimizing the interaction phenomena. But, the
drawback of this method is the limited observability of some
states considering its dependence on the definition of local
source-load subsystems which insures the necessity of Figure 1. VSC-HVDC transmission system
investigating the stability at different subsystems.
State-space modeling and the eigenvalue study is a well- The various control methods developed in view of
established method which is used to study the stability of controlling the VSC-HVDC system can operate suitably in
HVDC systems [11, 12]. case of a communication failure. Specially the Master-Slave
In the literature, amount of papers treat the primary control method and the Voltage Droop method [22]. The Voltage
strategy of a VSC-HVDC system [16, 17]. However, rare of Droop method is typically used when more than one converter
them which look to the impact of these controls on the stability is controlling the DC voltage at the same time. On the other
of the HVDC system [18, 19]. Though, a state space system hand, the Master-Slave method is a simple control method
linearized model of the VSC-HVDC system is analysed in adapted to command the VSC-HVDC system. Indeed, there is
view of evaluating the stability. only one converter called Master one. It controls the DC bus
In this context, the work presented in this paper attempts to voltage to keep it in a certain range. While the other converters
check the effectiveness of the system control used and to which are called Slave, control their power by injecting or
analyse the dynamic stability of a point to point VSC-HVDC extracting the power to from the DC grid. For point to point
transmission system by the use of its state space model and the HVDC structure the Master Slave control method is usually
analyse of the root locus. The eigenvalues of the system are sufficient [22].
retrieved and the root places are analysed after getting linear The dq rotating structure used for the modelling and
state equations. This is a simple procedure used for the sake of controlling of an AC system is employed with the aim of
studying VSC-HVDC system stability. attaining stationary electrical equations. To pathway the AC
The three main sections of the rest of this paper are outlined grid voltage frequency and the phase angle, a Phase Lock Loop
as follows: The architecture of the studied VSC-HVDC system, (PLL) is applicated. In such a case, the q-axis voltage is null
the control strategy applied, the linearization of the total and the d-axis is synchronized with the grid voltage vector and
system and a comparison between the linearized and non- has similar amplitude as the point of common coupling voltage
linearized HVDC system are described in Section 2. The state vector. Thus, the active and reactive powers are separately
space model of the total chain HVDC is then studied. Finally, controlled by current constituent [9].
in Section 3, the root locus analysis of the total system is As shown in Figure 2 which presents a VSC substation
detailed and the main conclusions are drawn in Section 4. controlled in dq synchronous frame, the control system is
divided into two parts: the inner control loop is used to control
the currents (isd and isq) by adjusting d and q coordinates of
2. A BASIC CONTROLLED POINT TO POINT VSC-
modulated voltages (Vmd and Vmq) in the Park frame, and the
HVDC SYSTEM FROM AVERAGE TO LINEARIZED
outer control loop is used to achieve precise functions: The d-
MODEL
axis current reference (isd-ref) can be generated by an active
2.1 Study of two terminals VSC-HVDC controlled system power or DC voltage controller. The q-axis current reference
(isq-ref) can be obtained by a reactive power or AC voltage
The converter is outlined as a fundamental part of the VSC- controller.
414
Figure 2. Point to-point controlled VSC-HVDC link
415
A current controller linear model expression of the d-axis current control loop transfer function
The model of the VSC-HVDC system associated to its is expressed by:
current control loop as given in Figure 2 is the basic structure
for such VSC system connected to grid. Disregarding the K pi
switching losses, power at both sides of the converter is the 1+p
isd Kii
same: Assumptions are made with the aim of simplifying the ( p) = (7)
complexity of the system and making the AC side of the VSC isd −ref K + Rs L
not to impact the DC system. With this assumption and
1 + pi p + s p2
Kii Kii
referring to Figure 2, we can assume that:
The formulations of Kpi and Kii deduced from the pole
Vmdiisdi + Vmdiisqi = U si imi = Pmi (4) placement method, are:
Eq. (4) is not linear. So, with the aim of evaluating its K pv = 2 wnCs and K ii = Ls wn 2 (8)
stability, we should linearize the system around an operating
point. Each quantity is prescribed by an operating point where: 𝜁 is the damping ratio.
denoted by capital letter and the subscript 0, and a small 3
variation denoted by the Greek symbol. After linearization, Eq. 𝑤𝑛 is the natural frequency [rad/s].
𝑇𝑟
(4) becomes: To create the new state space current controller, we choose
new state variables ∆𝑍1𝑖 and ∆𝑍2𝑖 such as:
Vmdi I sd 0 + isdiVmd 0 + Vmqi I sq 0
(5)
+isqiVmq 0 = U si I m 0 + imiU s 0 d (Z1i )
dt = isdi − ref − isdi
(9)
The i index refers to the station number which is in this case
d (Z 2i ) = i
ϵ{1, 2}. sqi − ref − isqi
dt
Thus, the linearized current controller of a VSC is presented
in Figure 3.
The vectors and the following matrices represent the new
The steady state error between the reference and the output
linearized current controller state space representation
current ought to be avoided by the integration of a PI controller
according to the system (2).
in the current controller. The corrector gain of the current
controller PI corrector is defined by:
isdi
i isdi
K pi p + Kii sqi isdi − ref
PI = (6) ; Y ' = isqi
p X ' = U si U ' = i (10)
sqi − ref U
Z1i si
With: p presents Laplace Coefficient. The transfer function Z
(TF) of the current control is the same for the two axes. The 2i
− Rs 1
0 0 0
Ls Ls
− Rs 1
0
L
0 0
L
A' =
s s
416
0 0
0 0
1 0 0 0 0 0 0
; ;
B ' = 0 0 C ' = 0 1 0 0 0 D ' = 0 0
0 0 1 0 0 0 0
1 0
0 1
where, The i index ϵ {1, 2}, it means the station number and d Z ai
𝑧′1 , 𝑧′2 , 𝑧′3 , 𝑧′4 , and 𝑧′5 , are constant values. dt = Pgi − ref − isdiVgd 0 − Vgdi I sd 0
(17)
d Z ri = Q
A Power controller Linear model gi − ref − isqiVgd 0 − Vgdi I sq 0
dt
Pgi − ref
isdi − ref ; ;
X ' = U ' = isdi Y ' = isdi − ref (18)
ai
Z
Vgdi
0 0 0 0 0 1
A' = ; B' = ; C ' = 0
0 0 1 −V gd 0 − I sd 0 Vgd 0
(19)
Figure 4. Linearized block diagram of the active power and D ' = 1 I
0 − sd 0
controller
Vgd 0 Vgd 0
417
K pv p + Kiv d X a1 X a1 U a1
PI = (24) = Aa + Ba
p dt X a 2 X a2 U a 2
A = (30)
Ya1 = C X a1 + D U a1
The linearized model of the DC voltage controller is Y a a
a 2 X a2 U a 2
illustrated in Figure 5.
The index 'b' is an auxiliary subscribe identifying ⅀B. The
state space representation of ⅀B is defined by:
d X b1 X b1 U b1
= Ab + Ba
dt X b 2 X b 2 U b 2
B = (31)
Y b1 X b1 U b1
= Cb + Db
Y b 2 X b 2 U b 2
In the whole system, the transfer matrix Tab links the inputs
Figure 5. Block diagram of the linearized DC voltage of subsystem ⅀A to the outputs of subsystem ∑ 𝐵:
controller
U si − ref Presuming that the state variables of the total system are a
isdi − ref ; juxtaposition of subsystems state variables in order to build the
X ' = U ' = V vgdi
; Y ' = isdi − ref system ⅀ based to [28]. As well, a combination of subsystem
Z vi (28)
inputs constitutes the inputs of the total system. To retrieve the
U si
state variables of subsystems within the total system,
i li subsystems are arranged in the order in the total system.
The form of the state space matrices A, B, C and D of the
0 0 0 0 0 0 U global system which are resulted from the associations of state
A' = ; B' = ; C ' = 0 − s 0
− space matrices of each subsystem are defined by [28]:
0 0 1 0 1 0 Vgd 0
(29)
and D ' = 0 − I sd 0 I m0 U s0
A= A1 B T C B = [0]
1 12 2 B T D ; 1 12 2
418
the state space model of the current controller as presented in controller with the state space model of the reactive power
Figure 6. controller is done. The reached model is deduced directly from
First, a development of the state space model of the voltage the state space model of each subsystem, so, we obtain:
U s1− ref
isd 1− ref 0 0 0 0 isd 1− ref 0 0 0 0 0 0 Vgd 1
Z
p p6 0 0 Z v 1 0 −1
0 0 0 U s1
d v = 5 +
dt isq1− ref 0 0 0 0 isq1− ref 0 0 0 0 0 0 il1
Z r1 0 0 p3 p4 Z r1 0 I sq 0 0 0 1 Vgd 0 Qg1− ref
U
isq1
(36)
U s1− ref
i V
0 gd 1
U I Im0 U s0
0 − s0 0 0 sd 1− ref 0 − sd 0 0
d isd 1− ref
Z v + U s1
Vgd 0 V Vgd 0 Vgd 0
=
gd 0
dt sq1− ref 0
i 1 isq1− ref I 1 i
0 0 − 0 −
sq 0
0 0 − 0 l1
Z r1
Vgd 0 V gd 0 Vgd 0 g1− ref
Q
U
isq1
The transfer matrix 𝑇𝑎𝑏1 given in Eq. (38), links the inputs
of the voltage controller model with the reactive power
controller model and the output of the current controller model.
Figure 6. Global model of station1
isd 1− ref 1 0 isd 1− ref
Then, to have the state space model of station1, we T = = (38)
isq1− ref 0 1 isq1− ref
ba1
determined the transfer matrix 𝑇𝑎𝑏1 between the inputs of
subsystem obtained by the voltage and reactive power
controllers’ models connected together and the output of the So, we deduced the global state space model of station1, as
current controller model. This matrix is defined as: given in system (39):
0 0 0 0 0 0 0 0 0
p
5 p 0 0 0 0 −1 0 0
6
0 0 0 0 0 0 0 0
isd 1− ref 0 0 isd 1− ref
0 0 0 U s1− ref
0 0 0 0 0 0 0
Z 0 0 0 0 0
v 0 0 p3 p4 0 Vgd 0 0 0 0 Z v 0
0 0 0 0 0 0 0 Vgd 1
isq1− ref − Rs 1 isq1− ref
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 U s1
Z r1 Ls Ls Z r1
0 0 0 il1
i
d − Rs 1 isd 1 0 0 0 0 0
= + 0
dt sd 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Qg1− ref
isq1 Ls Ls isq1
− I sd 0 − I m0 −U s 0
a5 U
0 0 0 0 0 isq1
U s1
0 0 0 0 a1 a2 a3 a4
s1 Vgd 0 Vgd 0 Vgd 0 isd 1− ref
Z −U s 0
11 0 V 0 0 0 0 0 0 Z11 − I sq 0 −1
0 0 0 isq1− ref
Z 21 Z 21 0
0 0
gd 0
Vgd 0 Vgd 0
−1 (39)
0 0 0 0 −1 0 0 0
Vgd 0
isd 1− ref
U s1− ref
−U s 0 Z v − I sd 0
0 I m0 U s0
0 0 0 Vgd 1
0 V 0 0 0 0 0 0 0
i
0
i Vgd 0 Vgd 0 Vgd 0
U s1
sd 1− ref
gd 0
sq1− ref
−1 Z r1 − I sq 0
i −1
0 0 0 il1
0
sq1− ref =
0 0 0 0 0 0 0 0 0 0
Vgd 0 isd 1 + Vgd 0 Vgd 0 Q
isd 1 g1− ref
0 0 0 0 1 0 0 0 0 isq1 0 0 0 0 0 0 0 0
isq1
isq1 0 0 0 0
0 0 0 0 1 0 0 0 U s1 0 0 0 0 0
0 0 Z11 0 i
0 0 0 sd 1− ref
0 0 0 0 0 1 0 0 0 0 0
Z 21 isq1− ref
419
Pg 2− ref
isd 2− ref 0 0 0 0 isd 2− ref 0 0 0 0 0
isd 2
d Z a = p1 p2 0 0 Z a + 1 −Vgd 0 − I sd 0 0 0
V
dt i 0 0 0 0 isq 2− ref 0 0 0 0 0 gd 2
sq 2− ref Q
Z r 2 0 0 p3 p4 Z r 2 0 0 I sq 0 1 Vgd 0 g 2− ref
isq 2
(40)
Pg 2− ref
1 i 1 − I sd 0
i 0 0 0 sd 2− ref 0 0 0 isd 2
Z a
Vgd 0 V Vgd 0
sd 1− ref = + gd 0 V
isq1− ref
−1 isq 2− ref − I sq 0 −1 gd 2
0 0 0 0 0 0 Qg 2− ref
Vgd 0 Z
r 2 Vgd 0 Vgd 0
isq 2
B. State Space model of station2 Then, in order to get the state space model of station2, we
In the same way, we determined the state space model of should determine the transfer matrix Tab2 between the inputs
station2, as presented in Figure 7. This station is controlled by of subsystem obtained by the active and reactive power
the following controllers: active power, reactive power, and controllers’ models connected together and the output of the
current controller. current controller model. This matrix is defined as:
P g 2− ref 0 0 0
i sd 2 1 0 0 i sd 2
T ab 2 V gd 2 = 0
= 0 0 i sq 2
(41)
0
Q g 2− ref 0 U s 2
0 0
1 0
i sq 2
The transfer matrix Tab2 given in Eq. (42), links the inputs
Figure 7. Model of station2 of the active power controller model with the reactive power
First, a development of the state space model of the active controller model and the output of the current controller model.
power controller with the state space model of the reactive
power controller is done. The reached model is deduced i sd 2− ref 1 0 i sd 2− ref
directly from the state space model of each subsystem, so, we T = = (42)
i sq 2− ref 0 1 i sq 2− ref
ba 2
obtain:
𝑝𝑗 ; 𝑗 ∈ {1,2,3,4} is a constant value, representing the
elements of the state matrix of the system (40). So we deduced the state space model of station2:
0 0 0 0 0 0 0 0 0
p
p 0 0 −Vgd 0 0 0 0 0
1 2
0 0 0 0 0 0 0 0
isd 2− ref 0 0 isd 2− ref
0 0 0
0 0 0 0 0 0 0
Z 0 0 0 0 0
Pg 2− ref
a 0 0 p3 p4 0 Vgd 0 0 0 0 Z a 0 0 0 0 0 0 0 0
isq 2− ref − Rs 1 isq 2− ref isd 2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Z r 2 Ls Ls Z r 2 Vgd 2
0 0 0 0 0 0 0 0
1 isd 2
d
i = − Rs + 0
Qg 2− ref
dt sd 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0
isq 2 Ls Ls isq 2 isq 2
0 − I sd 0 I m0 I sd 0
a5 U 0 0 0 0
U s 2
0 0 0 0 a1 a2 a3 a4
s2 Vgd 0 Vgd 0 Vgd 0 isd 2− ref
Z −1 isq 2− ref
12 0 V 0 0 −1 0 0 0 0 Z12 − I sq 0 −1
0 0 0
Z 22 Z 22 0
0 0
gd 0
Vgd 0 Vgd 0 (43)
−1
0 0 0 0 −1 0 0 0
Vgd 0
isd 2− ref
1 Z a 0 − I sd 0 I m0 U s0 Pg 2− ref
0 V 0 0 0 0 0 0 0 0 0 0 0
isd 2− ref i i
sd 2
Vgd 0 Vgd 0 Vgd 0
i
gd 0
sq 2− ref
−1 Z − I sq 0 −1 Vgd 2
sq 2− ref 0 0 0 0
isd 2 =
0 0 0 0 0 0 0 r 2 0 0 0
Vgd 0 isd 2 + Vgd 0 Vgd 0 Qg 2− ref
isq 2 0
0 0 0 1 0 0 0 0 isq 2 0 0 0 0 0 0 0 0 isq 2
U
0 U s 2 0 0 0 0 isd 2− ref
0 0 0 0 0 1 0 0 0 0 0 0
s2
0 0 Z12 0
0 0 0 i
0 0 0 0 0 1 0
0 0 0 0
sq 2− ref
Z 22
420
C. State Space model of system reactor and cable 0 0
The connection between the improved cable model and the U s1
1 0
smoothing reactor system model is illustrated in Figure 8. U cc1 2 U 1
T ab3 =
0 U 2
(44)
U s 2 0
U cc 2 0
1
2
𝑈
where, 𝑈𝑐𝑐𝑖 = 𝑖
2
The transfer matrix Tab3 given in Eq. (45), links the inputs
of the cable model and the output of the smoothing reactor
model is defined by:
Figure 8. Connection of the cable to the smoothing reactor
i l1 1 0 i l1
To determine the state space model of this association, we T = (45)
i l 2 0 1 i l 2
ba 3
1
p7 p8
Lsr
0 0 0
1
i
p9 p10 0 0 0 i
Lsr
l1
l1
il 2 −1 −Gc −1 il 2
Cs
0 0 0
U Cc Cc U cc1
=
d
dt U cc 2
cc1
−1 −Gc 1 U cc 2
0 0 0
iLc1 Cc Cc Cc iLc1
i
− Lc 2 − Rc1 Lc 2
Lc 2 0 Lc 2 Rc1M c12 i
0 Lc 2 (46)
Lc1 Lc 2 − M c12 2 Lc1 Lc 2 − M c12 2 Lc1 Lc 2 − M c12 2 Lc1 Lc 2 − M c12 2
− M c12 M c12 Rc1M c12 − Rc 2 Lc1
0 0
Lc1 Lc 2 − M c12 2 Lc1 Lc 2 − M c12 2 Lc1 Lc 2 − M c12 2 Lc1 Lc 2 − M c12 2
il1
il1 1 0 0 0 0 0 il 2
i 0 1 0 0 0 0 U cc1
l 2 =
U1 0 0 2 0 0 0 U cc 2
0 iLc1
U 2 0 0 0 2 0
iLc 2
X VSC − HVDC = isd 1−ref Zv isq1−ref Z r1 isd 1 isq1 U s1 Z11 Z 21 isd 2−ref Z a isq 2−ref
T (47)
Z r 2 isd 2 isq 2 U s 2 Z12 Z 22 il1 il 2 U cc1 U cc 2 iLc1 iLc 2
Y = i i i i U i i i i U i i
VSC − HVDC sd 1− ref sq1− ref sd 1 sq1 s1 sd 2 −ref sq 2 −ref sd 2 sq 2 s2 l1 l2
(48)
U U
T
1 2
421
UVSC − HVDC = U s1−ref Vgd 1 U s1 il1 Qg1−ref isq1 isd 1−ref isq1−ref Pg 2−ref isd 2 Vgd 2 Qg 2− ref
T (49)
isq 2 isd 2−ref isq 2−ref il1 il 2 U cc1 U cc 2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
p p6 0 0 0 0 −1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
5
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 p3 p4 0 Vgd 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
− Rs 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Ls Ls
− Rs 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Ls Ls
U s0
0 0 0 0 a1 a2 a3 a4 a5 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Vgd 0
0 U s0
0 0 −1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Vgd 0
0 −1
0 0 0 −1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Vgd 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 p1 p2 0 0 −Vgd 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 p3 p4 0 Vgd 0 0 0 0 0 0 0 0 0 0
− Rs 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
A VSC − HVDC = Ls Ls
− Rs 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Ls Ls
0 0 0 0 0 0 0 0 0 0 0 0 0 a1 a2 a3 a4 a5 0 0 0 0 0 0
1
0 0 0 0 0 0 0 0 0 0 0 0 −1 0 0 0 0 0 0 0 0 0 0
Vgd 0
−1
0 0 0 0 0 0 0 0 0 0 0 0 0 −1 0 0 0 0 0 0 0 0 0
Vgd 0
1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 p7 p8 0 0 0
Lsr
1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 p9 p10 0 0 0
Lsr
1 Gc 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 − 0 − 0 − 0
Cc Cc Cc
0 1 Gc 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 − 0 − 0
Cc Cc Cc
0 Lc 2 Lc 2 Rc1 Lc 2 Rc 2 M c12
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 − −
Lc1 Lc 2 − M c212 Lc1 Lc 2 − M c212 Lc1 Lc 2 − M c212 Lc1 Lc 2 − M c212
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 −
M c12 M c12 Rc1M c12
−
Rc 2 Lc1
2
Lc1 Lc 2 − M c212 Lc1 Lc 2 − M c212 Lc1 Lc 2 − M c212 Lc1 Lc 2 − M c12
422
−𝑉𝑚𝑑0 −𝑖𝑠𝑞0 𝐿𝑠 𝑤 𝑧1′ −𝑉𝑚𝑞0 −𝑖𝑠𝑞0 𝐿𝑠 𝑤 𝑧2′ The evolution of the powers transmitted through the two
where, 𝑎1 = + ; 𝑎2 = + ;
𝐶𝑠 𝑈𝑠0 𝐶𝑠 𝐶𝑠 𝑈𝑠0 𝐶𝑠 converters of the VSC system is given in Figure 11. In
𝑖𝑚0 𝑧3′ −𝑖 𝑧4′ −𝑖𝑠𝑞0 𝑧5′
𝑎3 = + ; 𝑎4 = 𝑠𝑑0 + ; 𝑎5 = + . accordance with this figure, the complementarity of the
𝐶𝑠 𝑈𝑠0 𝐶𝑠 𝐶𝑠 𝑈𝑠0 𝐶𝑠 𝐶𝑠 𝑈𝑠0 𝐶𝑠
waveforms of powers transmitted through the two stations
during time simulation is assured. The DC link was
transferring 50 [MW] from Station 2 which controls the power
3. SIMULATION RESULTS
transfer to station 1 which controls the DC bus voltage.
In addition, it is notable that the evolution of the linearized
All the elements of the VSC-HVDC system are modeled
active power in each station is similar to the evolution of the
separately, then they are gathered to generate the desired
average model. Hence, the linearized active power controller
HVDC system topology. The principle is to place the pre-
model in VSC-HVDC link is proved.
constructed blocks corresponding to each element of the
Whenever station 2 changes its power flow, there is an
system (power sources, VSC converters, lines or nodes), to
excess of the current il2 into the DC cable from the sending
configure the system parameters and to use the various control
station 2 to the receiving station 1. Thus, the negative sign of
techniques detailed previously. The simulation of this HVDC
the current il2 is clarified. While the current il1 flows in the
system was realized by using the MATLAB Simulink software
opposed path.
for 50 MW transferred power and 100 [km] DC transmission
There is no remarkable difference between the waveform of
cable during 10 [s]. We consider that the first converter
the DC bus voltages Us1 and The DC bus voltages Us2, their
performs the role of the master and it adjusts the voltage at 640
curve is constant at 640 [KV] during time simulation as
[kV] and the second converter is the slave, it controls the
presented in Figure 13. In fact, the balance between the power
power flow with power reference submitted into the DC
generated by the station 2 and the power absorbed by the
network equal to 50[Mw]. Results reached by «
station 1 empowers the DC bus voltage to be adjusted to its
Matlab/Simulink »for the HVDC-VSC state space model and
reference value. Thus, this pace shows the effectiveness of the
its average model are compared in Figures 10, 11, 12 and 13.
control loop used.
The evolution of the linearized current controller VSC in
In addition, it is notable that the evolution of the linearized
each station is similar to the evolution of its average model.
DC voltage in each station is similar to the evolution of the
Therefore, the linearized current controller model in VSC-
average model. Hence, the linearized voltage controller model
HVDC link is proved.
in VSC-HVDC link is proved.
The architecture of the point to point VSC-HVDC system
studied is composed of 2 converters. All the currents, voltages
and powers control loops are implemented in the converters
control. The small instability found in the initial period of the
average current is caused by the sizing of the proportional gain
(Kp) of the PI regulators. So, in the start-up, the reverse power
of the converter in the network can lead to instability because
the converter will sometimes inject power and sometimes take
power. This instability was shown during the response of the
different controlled variables of the currents, powers, and
voltage controls loops. Knowing that, the calculation of the
regulators is based on the decoupling and compensation
technique used in the control technique of the linear systems.
As a solution, we can act on the gain (Kp) empirically to
improve it in order to have less significant oscillations.
423
of the VSC-HVDC system will be checked by the eigenvalue-
based Stability analysis.
Eigenvalues of the state matrix are resumed in Table 1.
The number of eigenvalues is equal to the number of states
variables: 10 for the current controller, 2 for the active power
controller, 4 for the reactive power controller, 2 for the voltage
power controller, 2 for the smoothing reactor, and 4 for the DC
cable.
The plot of Figure 14 illustrates the roots referred to the total
VSC-HVDC system, we notice that all the eigenvalues have a
negative real part, the root is clearly oscillating but finally
converges until reaching the abscissa axis. Which prove that
the VSC-HVDC system is asymptotically stable.
4. CONCLUSION
Figure 13. Voltage controller of the VSC-HVDC link state
space model validation Small-signal stability analyses (SSSA) becomes essential in
the design of HVDC controllers in order to enhance their
flexibility to faults, and to boost their aptitude to contribute to
power grid operation.
The stability of two terminal VSC-HVDC system using the
small signal stability technique for a linearized state space
model is studied in this paper. The state space model of each
subsystem was developed then a connection between each
block was made to create a global linear state space model.
The study of eigenvalues associated to the global linearized
state space system is automatically used to improve the
stability of the VSC-HVDC link. This work will help us to
develop a generic method, with a view of providing flexible
models to study the stability of a multi-terminal MTDC grid.
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APPENDIX Table 3. Cable parameters
The control loops characteristics are resumed in this table. Cable 320 kV 2500
mm²
Table 2. VSC control loop characteristics Cable section [mm²] 2500
Nominal current [A] 1800-2700
Response Time [MS] The damping ratio Rc1: Core resistance[mΩ/km] 5.3
Lc1: Core inductance [mH/km] 3.6
Current loop 10 0.7
Lc2: Screen inductance [mH/km] 3.5
Power loop 200 -
Mc12: Core-screen mutual inductance
Voltage loop 100 0.7 3.5
[mH/km]
PLL 1 0.7
Rc2: Screen resistance [mΩ/km] 60.2
Mc12: Core Screen mutual inductance
For a DC transmission, two cables buried beneath the [mH/Km]
0.15
ground, are used. One for the positive pole and the other for GC1, GC2: Core-to-ground conductances
the negative pole (Table 3). 0.06
[μS/km]
Cc1, Cc2: Core to ground Capacitances
0.24
[μF/km]
426