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Prieto Araujo2016
Prieto Araujo2016
Prieto Araujo2016
STATE-SPACE REPRESENTATION
OF HVDC GRIDS
Eduardo Prieto-Araujo1 and Fernando Bianchi2
1
Research Group CITCEA, Electrical Engineering Department, Technical University of
Catalonia (UPC), Barcelona, Spain
2
Research Group Wind Energy, Electrical Engineering Department, Catalonia Institute
for Energy Research (IREC), Barcelona, Spain
16.1 INTRODUCTION
HVDC Grids: For Offshore and Supergrid of the Future, First Edition. By Dirk Van Hertem, Oriol Gomis-Bellmunt, and Jun Liang.
© 2016 The Institute of Electrical and Electronics Engineers, Inc. Published 2016 by John Wiley & Sons, Inc.
333
334 CHAPTER 16 STATE-SPACE REPRESENTATION OF HVDC GRIDS
IDC Ua
IDC
q1 q2 q3
Ub
Uabc
Uc
q4 q5 q6
Figure 16.3 Equivalent representation of the wind farm and the AC grid converters for a
DC grid analysis.
where Pk is the incoming power and Ek is the DC voltage at the node k. It will
be assumed that the voltage Ek remains close to the nominal values E0 . Under this
assumption, the current ik can be assumed proportional to the power Pk .
16.2.3 Branches
Transmission lines interconnecting the different grid nodes are modeled by 𝜋-
equivalent circuits [3]; see Figure 16.4. When several lines are connected to the
same node, only one equivalent capacitor Ck is used to represent it, in order to reduce
the number of the model variables.
∑
l
Ck = Ci (16.2)
i=1
Offshore Onshore
AC WFVSC DC L1 iL R1 AC GSVSC DC
1
i m+p+1
Wind Grid
farm i1 E1 C1 iC i Cm+p+1 C m+p+1 connection
1
1 E m+p+1 1
R2 Pm+p+1
P1 iL2
AC WFVSC DC L2 L3 iL3 AC GSVSC DC
R3
Wind i m+p+2
C2 iC i Cm+p+2 Grid
farm i2 E2 2
Cm+p+2 connection
2 2
E m+p+2
P2 Pm+p+2
iLr-4 iLr-1
AC WFVSC DC Rr-4 L r-4 Rr-1Lr-1 AC GSVSC DC
Intermediate
Cm+p+n-1 im+p+n-1
Wind connection Grid
im-1 Em-1 C m-1 iC iC connection
farm m-1 m+p+n-1
m-1 Em+p+n-1 n-1
Cm+p
R r-3 Em+p
Pm-1 iL iL Pm+p+n-1
r-3 r-2 iL
AC WFVSC DC L r-3 r
AC GSVSC DC
Rr-2 Lr-2 Rr Lr
Cm+p+n im+p+n
Wind
im E m Cm iC iC Grid
farm m m+p+n connection
m Em+p+n n
Pm Pm+p+n
matrices Gz𝑤 and Gy𝑤 connect the current not used in the control with the controlled
and nondirectly controlled voltages, respectively. Figure 16.6 shows the DC multi-
terminal matrix transfer function diagram representation, relating the controlled and
non controlled inputs and outputs of the system. The existing relation between the
system variables is again described schematically in Table 16.1.
Non-controlled
w
Outputs
Line resistance R1
Line resistance R2
Line resistance R3
Line inductance L1
Line inductance L2
Line inductance L3
Capacitances Ck
Rated line current irtd
L
Rated input current irtd
k
Converter rated power Pk
Rated DC voltage Ek
Reference voltage E0
voltages that must be controlled. Table 16.2 summarizes the nomenclature used to
represent the multi-terminal DC grid variables used in the model.
dE1 1 dE2 1
= iC1 , = i (16.6)
dt C1 dt C2 C2
dE3 1 dE4 1
= i , = i (16.7)
dt C3 C3 dt C4 C4
diL1 1
= (−R1 iL1 + E1 − E3 ) (16.8)
dt L1
diL2 1
= (−R2 iL2 + E1 − E2 ) (16.9)
dt L2
diL3 1
= (−R3 iL3 + E2 − E4 ) (16.10)
dt L3
There are four capacitors and three inductors; therefore, the variables E1 , E2 , E3 , E4 ,
iL1 , iL2 , and iL3 are sufficient to completely define the state of this system, that is,
As the WFCs are injecting all available power into the grid and in the GSCs are
regulating the DC voltages, the input and output result divided into
𝑤 = [i1 i2 ]T , u = [i3 i4 ]T
z = [E1 E2 ]T , y = [E3 E4 ]T
The purpose of the droop voltage control applied on the right side of the four-terminal
grid in Figure 16.7 is to maintain the DC voltage stable when the currents coming
from the wind farm converters WFC1 and WFC2 change. Therefore, the vector of
these currents is the disturbance 𝑤 and the control input u is the vector of the currents
of the GSCs i3 and i4 . The voltages measured and fed back to the controller are the
voltages E3 and E4 whereas the voltages E1 and E2 are not available for the controller,
but it is desirable to maintain them close to the rated value.
342 CHAPTER 16 STATE-SPACE REPRESENTATION OF HVDC GRIDS
⎡0 0 0 0 − C1 − C1 0 ⎤
⎢ 1
1
1 ⎥
⎢0 0 0 0 0 C2
− C1 ⎥
⎢ 1
2⎥
⎢0 0 0 0 C3
0 0 ⎥
⎢ 1 ⎥
A=⎢0 0 0 0 0 0 C4 ⎥
⎢1 0 − L1 0
R
− L1 0 0 ⎥⎥
⎢ L1 1 1
⎢1 − L1 0 0 0
R
− L2 0 ⎥
⎢ L2 2 2 ⎥
⎢0 1
0 − L1 0 0 − L3 ⎥
R
⎣ L3 3 3⎦
1
⎡ C1
0 ⎤ ⎡ 0 0 ⎤
⎢ 1 ⎥ ⎢ 0 0 ⎥
⎢ 0 C2 ⎥ ⎢ ⎥
⎢ 0 0 ⎥ ⎢− 1 0 ⎥
⎢ ⎥ ⎢ C3 ⎥
B𝑤 = ⎢ 0 0 ⎥, Bu =⎢ 0 − C1 ⎥
⎢ ⎥ ⎢ 4
⎥
⎢ 0 0 ⎥ ⎢ 0 0 ⎥
⎢ 0 0 ⎥ ⎢ 0 0 ⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 ⎦ ⎣ 0 0 ⎦
[ ]
1 0 0 0 0 0 0
Cz =
0 1 0 0 0 0 0
[ ]
0 0 1 0 0 0 0
Cy =
0 0 0 1 0 0 0
𝑤 = [i3 i4 ]T , u = [i1 i2 ]T
On the other hand, the measured variables are the wind farm side voltages and the
nondirectly controlled variables are the grid side voltages, that is,
z = [E1 E2 ]T , y = [E3 E4 ]T
REFERENCES 343
The state-space model have the same matrix A but the input and output matrices are
now given by
1
⎡ 0 0 ⎤ ⎡C 0 ⎤
⎢ 0 0 ⎥ ⎢ 1 1 ⎥
⎢ ⎥ ⎢ 0 C2 ⎥
⎢− 1
0 ⎥ ⎢ 0 0 ⎥
⎢ C3 1 ⎥ ⎢ ⎥
B𝑤 = ⎢ 0 − C ⎥, Bu = ⎢ 0 0 ⎥
⎢ 4
⎥ ⎢ ⎥
⎢ 0 0 ⎥ ⎢ 0 0 ⎥
⎢ 0 0 ⎥ ⎢ 0 0 ⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 ⎦ ⎣ 0 0 ⎦
[ ]
0 0 1 0 0 0 0
Cz =
0 0 0 1 0 0 0
[ ]
1 0 0 0 0 0 0
Cy =
0 1 0 0 0 0 0
16.4 CONCLUSIONS
REFERENCES
1. J. Reeve, “Multiterminal HVDC power systems,” IEEE Transactions on Power Apparatus and Systems,
vol. PAS 99, no. 2, pp. 729–737, 1980.
2. G. Zhang, Z. Xu, and Y. Cai, “An equivalent model for simulating VSC based HVDC,” in Proceedings
of the IEEE/PES Transmission and Distribution Conference and Exposition, vol. 1, 2001, pp. 20–24.
3. P. Kundur, Power System Stability and Control. New York: McGraw-Hill Professional, 1994.
4. K. Ogata, Modern Control Engineering, ser. Instrumentation and controls series. Prentice Hall, 2010
[Online]. Available: http://books.google.es/books?id=Wu5GpNAelzkC
5. S. Skogestad and I. Postlethwaite, Multivariable Feedback Control, Analysis and Design, Hoboken,
NJ: John Wiley & Sons, 2007.
6. E. Prieto-Araujo, F. Bianchi, A. Junyent-Ferre, and O. Gomis-Bellmunt, “Methodology for droop
control dynamic analysis of multiterminal VSC–HVDC grids for offshore wind farms,” Power Delivery,
IEEE Transactions on, vol. 26, no. 4, pp. 2476–2485, Oct. 2011.