HVDC Principle

HVDC Principle
„ 6-pulse bridge HVDC

Smoothing DC line Smoothing

reactor reactor

power Id power

Vdr power Vdi

Reactive
Id Reactive
power power
DC line

The HVDC comprises two converters connected in anti-parallel through

smoothing reactors and DC lines. One converter is operated in rectifier mode
to transmit power from the AC network to the other side whereas the other
side converter is operated in inverter mode to receive power into the (other
side) AC network. 1
 HVDC Principle
„
Rectifier Operation of the 6-pulse bridge
converter
Assume α = 15° and µ = 25°
cos α + cos(α + µ )
cos φ ≈
2
cos 15o + cos(15o + 25o )
≈ = 0.866
2
φ ≈ 30 o
I.cosφ
V
30°
I.sinφ
I
The converter operates in rectifier
mode. It transmits active power
while consumes reactive power.
2
 HVDC Principle

Inverter operation of the 6-pulse bridge

converter
Assume α = 135° and µ = 25°
cos α + cos(α + µ )
cos φ ≈
2
cos135o + cos(135o + 25o )
≈ = 0.823
2
φ ≈ 145o
I.cosφ V
145°

I
I.sinφ
The converter operates in inverter 36

mode. It receives active power while

consumes reactive power.
 HVDC Principle

„ For convenience, the converter operated in inverter mode is

often referred to extinction angle (γ). Thus direct voltage in
inverter mode (Vdi) are expressed as

Vd = Vd 0 cos α + DX , α > 90o Vd = Vd 0 cos γ − DX

3 γ = π −α − µ
DX = ωLk I d
2π

„ Actually, inverter is commonly controlled at constant

extinction angle to prevent commutation failure. Therefore, it
is not only for convenience, but also for converter control
purpose. It is important to note that voltage drop caused by
commutating reactance (Dx) is now negative. 37
 HVDC Principle
HVDC Principle
„ Voltage vs. current (VI) characteristics at steady state

Vd Vd
Vd 0 Slope is DX Vd 0
1.0 1.0
α = 0° α = 0°
Increasing α

Increasing α
Rectifier Rectifier

α is the control
Id variable for rectifier Id
1.0 I dN and γ is the control 1.0 I dN

Increasing γ
variable for inverter.

Inverter Inverter

γ = 0°
-1.0 αmax < 180 ° -1.0
38
 HVDC Principle
HVDC Principle
„ 12-pulse bridge HVDC

Id
Y ∆ Vdr∆ Vdi∆ ∆ Y

Y Y VdrY VdiY Y Y
Id

The 12-pulse converter is required to improve harmonic current on AC sides.

It comprises two 6-pulse converters connected in series. Harmonic current
on AC sides are odd orders starting from 11th, 13th …. whereas even orders
present on the DC side (12th, 14th…). To achieve 12-pulse, phase
displacement of 30° generated by Star (Y) and Delta (∆) connection of 39the
transformers are employed.
 HVDC Principle

Rectifier operation of the

Vd VdY Vd∆ 12-pulse bridge converter
Assume α = 15°

and µ = 25°
IAY
IA∆

Y ∆ Vd∆
IA∆ Vd
IA IA Y Y VdY
IAY

40
 HVDC Principle
2. HVDC Principle
½ Rd
power power

Y ∆ Id ∆ Y
power Vdr Vdi
Y Y Y Y
½ Rd
Reactive power Reactive power
αmin < α voltage γmin < γ
decreasing α
αmin = 5° - 7° γ min = 15° - 17°
Vdr
To ensure all To keep reactive
thyristor valves are Vdi power requirement
enough forward bias on inverter side as
to turn on. low as possible.
Id current

Voltage drop caused by line resistance (Rd) is taken into account

and the VI characteristic presents operating point of the HVDC system. 41
 HVDC Principle
2. HVDC Principle
„ Detail Configuration of the HVDC

42
 HVDC Principle
2. HVDC Principle

„ Alternatives for the implementation of a HVDC power

transmission system

a) Earth Return
ii) Bipolar Configuration

b) Metallic Return

i) Mono-polar Configuration 43
iii) Homo-polar Configuration
 HVDC Principle
2. HVDC Principle

„ Alternatives for the implementation of a HVDC power

transmission system (continued)

44
 Control of
the DC Transmission

„ Can we use manual control for the

rectifier (vary α) and the inverter
(vary γ)?
„ If we can not do that, which side
should be controlled (rectifier or
inverter) or control them both?
„ What is/are the control purpose(s)?
45
 Control of the DC Transmission
„ Typical control strategies used in a HVDC
system consists of:
{ Firing Control
{ {Rectifier} Current Control (CC)
{ {Inverter} Constant Extinction Angle (CEA) Control
{ {Inverter} Current Margin Control (CM)
{ {Inverter} Voltage Control (VC)
{ Voltage Dependent Current Limit (VDCL)
{ Tap change Controls (TCC)
{ Power Reversal

46
 Control of the DC Transmission
„ Firing Control
Function of the firing control is to convert the firing angle
order (α*) demanded fed into the valve group control system.
There might be voltage distortions due to non-characteristic
harmonics, faults and other transient disturbances such as
frequency variation. Thus, phase-locked loop (PLL) based firing
system is generally applied. θ
PI Controller vo Voltage comparator
vA verror
Phase (1 + Ts ) Controlled
vB Detector
K Oscillator comparator
Ts

…
vC

…
uA

…
sin(.) comparator
uB - ⅔π
sin(.)
uC Gate firing
sin(.) α* 47
 Control of the DC Transmission
„ Firing Control (Continued)
uA
vA

0
time

verror

0
time
2π
θ α*
0
α time
Firing pulse of phase A
48
 Control of the DC Transmission
„ Current Control (CC)
The firing angle is controlled with a feedback control
system as shown in figure. The dc voltage of the converter
increases (by decrease α*) or decreases (by increase α*) to adjust the
dc current to its set-point (Id*).
(1 + Ts )
K Id
Ts
Y ∆

Vdr
vA, vB , vC Y Y

αmax
id* - α* Firing 6
PI Control
6 Current
+ αmin measurement
id 49
 Control of the DC Transmission
„ Constant Extinction Angle Control (CEA)
The firing angle of the inverter is controlled at minimum
angle (γmin) to reduce reactive power requirement. This can be
achieved by using Gamma control (γ-control).
Current
measurement

∆ Y
Vdi
Y Y

vA, vB , vC
αmax
Valve voltage 6 Firing α* γ*
-
Control PI
6
+
αmin
γ
γ measurement
50
 Control of the DC Transmission
VI Characteristic of the CC and the CEA
voltage voltage

Vdr
α*
X Vdi Vdi
Vdr
γ* = γmin α*=α min γ* = γmin

AC voltage
decreasing

Id current Id current

VI Characteristic If AC voltage on rectifier side

decreases, CC decreases α* down to
The intersection (X) is the operating
αmin to increase DC current (Id), but
point of the DC transmission line.
there is no operating point (X). This
problem can be solved using CMC. 51
 Control of the DC Transmission
„ Current Margin Control (CMC)
A better way is to use the inverter to control current less
than of the rectifier by an amount of current margin (∆Id) when the
rectifier can not perform CC.

γ*
∆ Y γ - Control
Vdi
Y Y
∆id = 0.1 to 0.15

Minimum
selection
vA, vB , vC
αmax
α* + id*
Firing
Control PI -
Current 6
αmin +
measurement
id
52
 Control of the DC Transmission
VI Characteristic of CC, CEA and CMC
voltage voltage

Vdr CEA
α*
X Vdi Vdi
Vdr
γ* = γmin α*=α min X γ* = γmin
∆Id
CMC
CC AC voltage ∆Id
decreasing

Id current Id current

Combined characteristics If AC voltage on rectifier side

of CC, CEA and CMC decreases, CC decreases α* down to
This method can maintain stable αmin to increase DC current (Id), but
operation when AC voltage of both there is no operating point (X). This
sides are fluctuated. problem can be solved by CMC. 53
 Control of the DC Transmission
What will happen if AC network of the inverter side is too weak!

voltage voltage

More Weak
Vdr
α* X
Weak AC
CEA
Vdr α* γ* = γmin
Vdi X
Vdi
∆Id CEA ∆Id VC
CMC γ* = γmin CMC
γ* > γmin

Id current Id current

In this range the intersection This problem can be solved by

is poorly to define and both adjust VI characteristic of the
current controllers will hunt inverter to voltage control (VC) in
between the operating points. order to avoid hunting between two
54
controllers.
 Control of the DC Transmission
„ Voltage Control (VC)
it is very effective when the inverter is connected to a weak
AC network. The normal operating point X corresponds to a value
of γ higher than the minimum. Thus, the inverter (rectifier as well)
consumes more reactive power compared to inverter with CEA.

∆ Y
Vdi
Y Y γ*
γ - Control

Maximum
selection
vA, vB , vC αmax

Minimum
selection
vdi*
6 Firing α* PI
Control
-
6 αmin +
CMC
vdi
Voltage 55
measurement
 Control of the DC Transmission
„ Voltage Dependent Current Limit (VDCL)
Commutation failures can occur during an AC fault on the
inverter side. It results in continue conduction of a valve beyond
its 120° conduction interval. The CC will regulate the DC current to
its rated value, but in the worst case, two inverter valves may form
DC short circuit and continue conducting for a long time, which
can cause valve damage. To prevent this problem, DC current
must be reduced. One possible to detect the AC side fault is the
lowering of the DC voltage. This voltage is typically chosen at 40%
of the rated voltage.

Id

56
 Control of the DC Transmission
„ Voltage Dependent Current Limit (VDCL)
The VDCL is a limitation imposed by the ability of the AC
system to sustain the DC power flow when the AC voltage at the
rectifier bus is reduced due to some disturbance as well. The
VDCL characteristics is presented below.
voltage voltage
VC VC
Vdr α* Vdr α*
X
X
Vdi Vdi
CMC
VDCL CMC ∆Id VDCL ∆Id
≈ 0.4 ≈ 0.4 VDCL

VDCL Idmax
∆Id VDCL ∆Id
Id-min Idmax current Id-min Id current
57
 Control of the DC Transmission
„ Voltage Dependent Current Limit (VDCL)

id*

Minimum
selection
Vd
vd i CC
v i

v
1
1 + Ts VDCL

vd Voltage
measurement

58
 Control of the DC Transmission
„ Tap Change Control (TCC)
When voltage of the AC system of the rectifier and/or of the
inverter is fluctuated, transformer taps (both side) can adjust to
keep the DC voltage within desired limits or suitable operating
point. Generally, the tap will be changed when the firing angle of
the rectifier/inverter still reach its more than 10-15 minutes to
avoid interaction of other controls.

Example: if the firing angle (α) of the rectifier reaches minimum

limit (αmin) for long time. It means that the AC voltage of the
converter is not appropriate. Thus, AC voltage of the converter
must be reduced by tap changing of the converter transformer to
free the firing angle of the rectifier.

59
 Control of the DC Transmission
„ Power Reversal
The VI characteristic of power reversion is presented below
(VDCL and VC are not included). The station 1 (rectifier) increases firing
angle (α) into the inverter region and the station 2 (inverter) decreases its
firing angle (α) into rectifier region. This can be performed without altering
the direction of current flow.
voltage voltage

V1dr α*
X γ* = γmin
V2di

Id current Id current

V1di

X
γ* = γmin
V2dr α* 60
 Control of the DC Transmission

Y ∆ Id ∆ Y
Vdr Vdi
Y Y Y Y

Vd, Id,α, γ

Max.
Max.

Control
Control

α* α*

Firing
Firing

Min.
Min.

∆id
Master Control
id *
CC VDCL VDCL CC
p*/vd γmin
CAE γmin CAE
po p* Power
VC Vd* Vd* VC
order
∆p
TCC TCC
Modulation Signal 61
 Control of the DC Transmission
„ CIGRE’s HVDC benchmark was simulated on ATP-EMTP with
the typical HVDC control schemes, which the CC mode was
employed at rectifier and VC mode was applied at inverter. All
simulation results are presented in normalized values.

Rectifier Current Control Inverter Voltage Control

Start Up HVDC 62
 Control of the DC Transmission
„ The HVDC started at 0.1 sec. The firing angle of rectifier started at
90° while the extinction angle of inverter started at 90°.

Firing Angle (α) of Rectifier Firing Angle (α) of Inverter

Extinction angle (γ) is also shown
Start Up HVDC 63
 Control of the DC Transmission
„ The HVDC started to reverse power flow direction at 0.5 sec. Firing
angle of the rectifier increased (with a ramp rate) into inverter zone
while firing angle of the inverter decreased (with a ramp rate) into
rectifier zone.

Firing Angle (α) of Rectifier and DC Current

Inverter 64
Power Reversal
 Control of the DC Transmission
„ The power flow direction of the HVDC reversed at 0.9 sec.

Power Reversal 65
 Control of the DC Transmission
„ VDCL performance during 1-phase fault at AC
network of the rectifier station.
Va Vb Vc

1 –phase Fault at AC network of the rectifier station 66

 Control of the DC Transmission
p. u . I REF I d Vdi Degree Alpha _ r (α r ) Alpha_i ( α i )
Id αi
I REF

Vdi αr

Fault at AC network of rectifier station 67

 Control of the DC Transmission
„ VDCL performance during 1-phase fault at AC
network of the inverter station.
Va Vb Vc

1-phase Fault at AC network of the inverter station 68

 Control of the DC Transmission
p. u . I REF I d Vdi Degree Alpha _ r (α r ) Alpha_i (α i )
Id αi
Vdi I REF
αr

Fault at AC network of inverter station 69

 Control of the DC Transmission
„ Modulation signal is employed when a power
system has a special requirement such as frequency
control, power oscillation damping, etc.
„ For example, the addition frequency control loop is
included into HVDC control system to stabilize
frequency of the AC system.

70
Control of the DC Transmission

71
Modulation Function of EGAT-TNB HVDC
Control of the DC Transmission

Power Swing Damping (PSD) Function of EGAT-TNB HVDC

72
 References
1. Ani Gole, “HVDC Transmission Lecture Note”, University of Manitoba, 2000.
2. Jos Arrilaga, “High Voltage Direct Current Transmission”, 2nd , IEE-Press, 1998.
3. Dennis A. Woodford, “HVDC Transmission”, Manitoba HVDC Research Center,
Canada, 1998.
4. Erich Uhlmann, “Power Transmission by Direct Current”, Springer Verlag, 1975.
5. Vijay K. Sood, “HVDC and FACTS Controllers”, Kluwer. 2004.
6. Edward Wilson Kimbark, “Direct Current Transmission” vol.1, Wiley-
Interscience, 1971.
7. IEEE Transmission and Distribution Committee, “IEEE guide for planning DC
links terminating at AC locations having low short-circuit capacities”, IEEE,
1997.

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