International Journal of Engineering Research & Science (IJOER)

ISSN: [2395-6992]

[Vol-2, Issue-3 March- 2016]

Modeling, Control and Steady State Analysis of Back To Back

M-Tech in Power System & Power Electronics, ITER, Bhubaneswar

Abstract This paper proposes a dynamic model of a VSC (voltage source converter) based Back to Back HVDC system
and its control technique. From the system model, the corresponding relationship between the controlling and the controlled
variables of the VSC is determined. The vector control technique is used to control the working of converters. The control
structure consists of outer control loop and inner control loop. The outer loop controller controls the active and reactive
power separately. The inner loop controller which is a fast working controller provides the reference d- axis and q- axis
voltages which are required by the PWM for generating the triggering pulse. The validity of the model and the feasibility of
the control method have been proved by the simulation results. In this paper the system performance is studied under steady
state condition.
Keywords Inner loops Controller, outer loops Controller, Vector Control, VSC HVDC.

I.

INTRODUCTION

Due to advancement of high power switching devices VSC HVDC system outperform the CSC HVDC system. VSC HVDC
transmission system, a newly developed technology, is based on VSC technology. The VSC HVDC is capable of supplying
power to both active and passive electrical systems operating conditions it is capable of supplying or absorbing reactive
power [6, 7 and 8]. Using VSC and PWM makes possible fast and better control of power flow. And also mitigates
harmonics in AC current and AC voltage effectively and improves power factors of the connected AC systems. For
construction of VSC fully controlled semiconductor switch is used (e.g. IGBTs). The switching of VSC HVDC is controlled
by Pulse Width Modulation (PWM). In this paper, a brief analysis is conducted of the operation principles and control
patterns of VSC HVDC.
The paper is organized as follows:

Section II provides an introduction to the topologies of VSC and the operating principle. A single line diagram of the
VSC HVDC system is provided with detailed explanation of each element associated with the system.

Section III provides the operating principle of VSC HVDC.

Section IV presents the vector control method for VSC HVDC.

Section V presents the modeling of VSC HVDC system.

Section VI provides the simulation results of the proposed system. The steady-state condition is established and
operational performance and stability of the system is studied.

II.

COMPONENTS OF VSC HVDC SYSTEM

The single line diagram as shown in Fig. 1 is the representation of a VSC HVDC system which interconnects two AC
networks of same operating frequency for power transmission. The system consists of many equipment such as shunt
connected C type high pass filters, converter transformers, reactors, VSCs and their control systems, three level DC
capacitors and DC lines. In the following subsection there is description of some important components of VSC HVDC
system and there functions.

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International Journal of Engineering Research & Science (IJOER)

ISSN: [2395-6992]

[Vol-2, Issue-3 March- 2016]

FIG. 1 BLOCK DIAGRAM OF VSC HVDC SYSTEM

Converters

Converters are the main building blocks of HVDC transmission. Converters are made up of power electronic switches. In this
paper, voltage source converter (VSC) is used. The voltage source converter is equipped with self-commutated insulated gate
bipolar transistor (IGBT). VSC technology can control active as well as reactive power without affecting each other. At each
terminal of the converters, the reactive power can also be controlled independent of the dc transmission voltage. Unlike
conventional HVDC transmission, the converters themselves have no reactive power demand and can actually control their
reactive power to regulate ac system voltage just like a generator.
2.2

Shunt C Type High Pass Filters

Three phase harmonic filters having shunt capacitor are used in power system to decrease the distortion in voltage and to
correct the power factor as at fundamental frequency harmonic filter provides reactive power support. Harmonic currents or
harmonic voltages are generated by nonlinear power electronic converters, which are injected into power system and the
order of harmonics generated is directly related to the PWM switching frequency of the semi-conductor switches. The current
which is distorted produces harmonic voltage distortion when flow through system impedance. The distortion is reduced by
harmonic filter by diverting harmonic currents in paths which having low impedance. Harmonic filters are designed in such
way that they behave as capacitor at fundamental frequency, so that they are also used for producing reactive power required
by converters and for power factor correction. To avoid parallel resonances C-type high-pass filter is used, it filtered low
order harmonics and keep zero losses at fundamental frequency.
2.3

Three Level DC Capacitor Station

In VSC HVDC system two series connected three level DC capacitor station are employed across the DC terminals of
converter with grounded midpoint. The PWM switching of high-power high-frequency switches generates the harmonics in
the DC current flows in the transmission line. This generates the harmonics in the DC voltage which is strongly related to the
converter AC voltage. The value of DC capacitor used can be small which may result in a faster converter response. The
energy stored in the capacitor is released during transients which will help to stabilize the power flow on the DC transmission
system.
2.4

PWM for VSC

To reduce the harmonics in the output voltage waveform Pulse-width modulation (PWM) is the most accepted switching
technique.PWM is the basis for control in power electronics. In this paper uni-polar sinusoidal PWM is used.

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International Journal of Engineering Research & Science (IJOER)

III.

ISSN: [2395-6992]

[Vol-2, Issue-3 March- 2016]

OPERATING PRINCIPLE OF VSC-HVDC

In VSC HVDC, by using vector control method the active and reactive power can be controlled independently. The reactive
power is controlled in each converter by the required AC voltage. The active power flow is controlled by the DC voltage.
The active power at VSC1 end and VSC2 end is given by

P1 VS1 VC1 sin1

V
P2

S2

sin

C2

XT 2
VS1 2

Q1
Q2

XT1

VS1 VC1 cos1

VS 2 VC 2 cos 2 V 2
XS 2
XT 2
T2

(1)
(2)

(3)

(4)

Where
P1 -VSC1 side active power,
P2- VSC2 side active power,
Q1- VSC1 side reactive power,
Q2- VSC2 side reactive power,
VS1,VC1- VSC1 side bus voltage,
VS2,VC2- VSC2 side bus voltage,
XT- Transformer reactance,
1- Load angle in VSC1 side,
2- Load angle in VSC2 side.
The amplitude, phase angle and frequency of fundamental component of converter output AC voltage V C1 and VC2 are
controlled using the SPWM technique. If the voltage at the DC side of the converter is V DC which is assumed to be constant
then the fundamental frequency component of converter output AC voltage can be derived from the following equation

VC (t) VDC M i sin(t )

(5)

Where
VDC - voltage on DC side,
- angular frequency,
Mi -modulation index and
- phase angle between the converter output AC voltage and the AC bus voltage.

IV.

CONTROL OF VSC HVDC SYSTEM

The VSC HVDC control system is typically consists of a vector controller. The vector controller is the inner control loop and
the outer control loop. The outer control loop includes the DC voltage controller, the AC voltage controller, the active power
controller, the reactive power controller. In this paper vector control method is used for better control of the parameters.
Active power and reactive power controlled quantities of VSC-HVDC are coupled to each other in such a manner that any
change in one of the quantity affects the other and by using the vector control method the coupling between these quantities
can be removed so that we have an independent control of each quantity. The vector control strategy consists of a cascade
control system with faster inner controllers. The vector controller is accomplished by additional outer current controller
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International Journal of Engineering Research & Science (IJOER)

ISSN: [2395-6992]

[Vol-2, Issue-3 March- 2016]

which provides the reference values for inner controller. The outer controllers include active power controller, reactive power
controller, AC voltage controller, DC voltage controller.

V.
5.1

MODELING OF VSC HVDC SYSTEM

Power System Modeling

The power system components such as transformers, filters, VSC, DC capacitors and DC overhead cables are integrated in
VSC HVDC model.
5.2

Modeling of AC Networks

Two, 230 kV (RMS phase-phase), 100 MVA AC networks are connected through a VSC HVDC link. The weak AC systems
connected here are balanced 3-phase sources at a fixed frequency of 50 Hz.
5.3

Modeling of Converter Transformer

The converter transformer works as a necessary element for power transfer between AC and DC systems. The transformer
configuration used in the Simulink model is a Star ground- Delta which avoids the phase shifting between primary and
secondary voltages. The rating of the converter transformer is 115 MVA, 230 kV primary voltage and 49 kV secondary
voltage, 50 Hz.
5.4

Control System Modeling

The controller comprises of measurement devices by which various parameters are measured including voltage, current,
active power, reactive power, DC voltage and DC current at both ends of the DC system. In this VSC HVDC model four
different controllers, two at each end of VSC HVDC link are implemented. The inner current control blocks which provides
the reference voltage to the outer control blocks are shown in the following diagrams.

FIG. 2 VSC 1 SIDE INNER CURRENT CONTROL BLOCK OF PROPOSED VSC HVDC MODEL

FIG. 3 VSC-2 SIDE INNER CURRENT CONTROL BLOCK OF PROPOSED VSC HVDC MODEL
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International Journal of Engineering Research & Science (IJOER)

VI.

ISSN: [2395-6992]

[Vol-2, Issue-3 March- 2016]

SIMULATION RESULTS AND ANALYSIS

In the Simulink model of VSC-HVDC system its control system use sinusoidal PWM method of frequency 1.35kHz, the
model is simulated with a time of 7.406s. By using a small time step it is possible to observe the system performance in
detail during system start-up, steady state conditions. The steady state operational performance assessment of the VSC
HVDC system comprises of vector control technique is investigated by considering various operating conditions and
reference values of system quantities.
In the operation the DC link voltage is maintained at 1 pu. There is a active power of 0.46 pu flows from VSC 1 side to VSC
2 side.

FIG. 4 0.46 pu ACTIVE POWER FLOW FROM

FIG. 5 DC VOLTAGE OF 1 pu IN DC LINK

From the Fig. 4 it is clear that the active power reaches its steady state value within 0.15 sec. Active power reach steady state
value after initial negative and positive transients along the steady state value.
The Fig. 5 shows the voltage in pu between neutral and DC link and also it is clear from the above figure that the DC link
reaches its reference voltage value within 0.15 sec.

FIG. 6 DC LINK CURRENT

VII.

CONCLUSION

The development of VSC in last decade generated more research interest in its power system applications. The vector control
method of the VSC HVDC is investigated and the performance is tested in steady state conditions. The vector control
strategy which control active power, reactive power and DC voltage, are presented and evaluated for the VSC HVDC
transmission system which connects two AC grids. From the results, it is concluded that the system is responding in a faster
way, a better quality of AC parameters can be obtained and the reactive and active power can be controlled effectively.
Vector control technique implements the feed forward closed loop control technique so that the coupling between electrical
quantities is removed.

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International Journal of Engineering Research & Science (IJOER)

ISSN: [2395-6992]

[Vol-2, Issue-3 March- 2016]

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