Electrical Engineering

https://doi.org/10.1007/s00202-018-00752-y

ORIGINAL PAPER

The hybrid model of VSC HVDC

Ruslan Ufa1 · Mikhail Andreev1 · Nikolay Ruban1 · Aleksey Suvorov1 · Alexander Gusev1 · Igor Razzhivin1 ·
Alisher Askarov1 · Yuly Bay1 · Anton Kievets1 · Natalya Lozinova2 · Olga Suslova2

Received: 16 April 2018 / Accepted: 12 December 2018

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Abstract
The trend in semiconductor developments has made the high-voltage direct current (HVDC) technologies based on voltage
source converters feasible. This type of convertor has a number of potential advantages compared with “classic” HVDC, but
deep analysis should be carried out before its integration in electric power system. In this paper, the results of realization
of the VSC HVDC model based on a concept of hybrid simulation of electric power system are presented. Hybrid concept
combines three approaches of simulation: analog, digital and physical, combination of which allows to achieve a maximum
efficiency. The obtained simulation results have confirmed an adequacy of the model and possibility to integrate it to the
hybrid real-time simulator for carrying out various researches and analyses of the operation of large electric power system,
including HVDC technologies, in real time without any decompositions and limitations.

Keywords Power system simulation · Real-time systems · Hybrid approach · VSC HVDC

1 Introduction • The ability to connect to weak alternative current system,

etc.
Nowadays, with the growing complexity of electric power
systems (EPS) and achieved progress in power electronics However, a number of deep researches and analyses should
the HVDC (high-voltage direct current) technologies and be carried out before integration of HVDC technologies and
FACTS (flexible alternating current transmission system) FACTS devices in EPS [6–8], in particular:
devices play a more important role in EPS development.
Such technologies allow converting mostly passive EPS in • The research of the cross-impact influence of the men-
an active-adaptive network and dramatically improving their tioned technologies and the EPS, especially in transient
robustness, stability and controllability [1–4]. modes;
Besides, using a new type of the voltage source convertor • The design and testing of the local and centralized relay
(VSC), based on high-speed fully controlled switches (IGBT, protection and automatic control systems.
GTO), provides [5, 6]:
The efficiency of solving of these tasks will depend on the
• The independent control of active and reactive power used simulation tools. The specific operation of HVDC tech-
(operation in four quadrants); nologies and FACTS devices (continuous work in normal and
• The provision of reverse of the power flow without chang- emergency operation modes of EPS; phase-to-phase opera-
ing the polarity of the voltage; tion of convertors; etc.) determines to use the full and detailed
EPS model including power equipment (generator, trans-
B Ruslan Ufa former, line, load, HVDC technologies and FACTS devices)
[email protected] and automatic control and protection systems.
Currently, the digital simulators are widely used for EPS
1 Department of Power Grids and Electrical Engineering, analysis [9–11]. Due to numerical issue [12, 13] these simu-
School of Energy and Power Engineering, Tomsk Polytechnic
University, Lenin Avenue 30, Tomsk, Russia 634050 lators have some simplifications and limitations:
2 JSC High Voltage Direct Current Power Transmission
Research Institute, Kurchatov Str, 1/39, St.-Petersburg, • The decomposition of a single continuous spectrum of
Russia 194233 quasi-steady and transient processes in EPS (assumes the

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separation of the quasi-steady state and different stages of Server / Client

Ethernet
transient processes, calculated using various mathematical
models and methods);
• The simplification of mathematical models of power Specialized hybrid processor
(SHP) of power equipment
equipment and EPS in a whole, especially electric grid,
usually represented by static models;
• The model of convertor of HVDC technologies and
FACTS devices is represented as a controlled source (PV
or PQ nodes);
• The use of single-line calculation schemes and the method SPH of B2B HVDC system
of symmetric components. Closed-loop testing Real equipment
Amplifier

Thus, most of the softwares (EUROSTAG, PSASP, etc.)

are used to simulate only electromechanical transient pro- +/-200 A
cess without electromagnetic part, that does not allow to +/-10V +/-200 V
simulate the dynamic characteristics of HVDC technolo- 0….1kHz

gies and FACTS devices, and its influence to EPS. Other Fig. 1 Structure and view of the developed HRTSim
offline simulation complexes (PSCAD, PowerFactory, MAT-
LAB Simulink, etc.) allow to simulate dynamic process of
EPS and therefore are able to be analyzed in detail. However, 2 Description of hybrid model of VSC HVDC
the system solving speed depends on available computation
power and the system’s mathematical model complexity. There are basic principles of hybrid simulation concept and
Again, the hardware simulators (RTDS, HYPERSIM, development hybrid model of VSC HVDC [17–19]:
ADPSS, etc.) are developed for large-scale simulation of
electromechanical and electromagnetic transients, as well as • In order to avoid a methodological error of differential
in real time. Some of them used several numerical meth- equations solution and to eliminate the simplification of the
ods—dual time-step approach, when one subsystem (for EPS model, all mathematical models of power equipment
example VSC HVDC) is simulated using small time-step are solved by continuous implicit integration method (in
(1–10 µs) and the other components are simulated in large analog way);
time-step (50 µs). However, based on numerical methods • The digital level provides visualization of simulation and
these compliances have some issues [14–16]: flexible, accurate control of model parameters (coefficients
of differential equations of corresponding mathematical
• The exchange of information between the two subsystems models of power equipment);
is carried out with time longer than the small time-step; • The physical level makes possible nature interaction of
• The separation of the EPS model requires applying a model the models of power equipment via converting mathemat-
of a line with distributed parameters for linking the compo- ical values into physical model voltages (via appropriate
nents. The limitation on the application of this solution is voltage–current converters), additionally minimizing an
the requirement for the length of the simulated line, since amount of digital information exchange.
the propagation time of the wave along the line must be
greater than or equal to the integration step, which is not Besides, the use of integrated microelectronic digitally con-
always achievable at small line lengths or using the equiv- trolled analog switches (DCAS) for commutation of modeled
alents of several parallel lines. power equipment allows increasing the adequacy of commu-
tation equipment simulation and commutation processes in
Another type of hybridization is presented in hybrid real-time general.
simulator (HRTSim), which means the combination of ana-
log, digital and physical simulation levels (Fig. 1) [17–19]. 2.1 The hybrid model of VSC HVDC
The rest of this paper is organized as follows: Sect. 2 intro-
duces the developed VSC HVDC model, based on hybrid According to the structure of specialized hybrid pro-
simulation concept. Section 3 presents the static and dynamic cessor (SHP) of VSC HVDC, presented in Fig. 2, the
characteristics of the model, and the comparison of the solution of mathematical model of converter transform-
obtained simulation results with models, released in MAT- ers, smoothing reactors, filters and direct current circuit
LAB Simulink. Conclusions are stated in Sect. 4. is carried out via the hybrid coprocessors (HCPs), since

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SHP of B2B HVDC link

LAN MPU
DAC(i)
Server of HRTSim
P_ADC HCP T(1,2), F(1,2),
of HPC R(1,2), DC

P_ADC
CPU of CS
CAN PC of PM of
UART DCAS(n)
SSC SSC(n)
Low-level analog voltage signal
PC of PM of
Serial Peripheral Interface bus DCAS(m)
VSC VSC(1,2)
Parallel logic bus for DCAS control

Fig. 2 Structure and appearance of the developed HRTSim of EPS: of analog-to-digital converter of control system; PM of VSC—physical
MPU—microprocessor unit; CPU—central processing unit; P_ADC model of VSC topology; PM of SSC—physical model of series and
of HCPs—processor of analog-to-digital converter of hybrid coproces- shunt commutators; PC of SSC—commutation processors of PM of
sors; HCPs—hybrid coprocessors of transformer (T), smoothing reactor SSC; PC of VSC—commutation processors of PM of VSC; DAC and
(R), filter (F) and direct current (DC) circuit; P_ADC of CS—processor ADC—digital-to-analog converter and analog-to-digital converter

physical model (PM) is used to simulate the VSC topol- ij1 uj1 ijL RjL Lj
uj2 ij2
ogy and series and shunt commutators (SSC) via inte-
grated microelectronic digitally controlled analog switches ij1C ij2C
(DCAS). Cj1 Cj2
The CPU carries out the interconnection with server of
HRTSim and other processors of MPU (P_ADC of HCP,
Rj1C uN Rj2C
P_ADC of CS, PC of SSC and PC of VSC), synchroniza-
tion of their operation and programming the processors, as
well as receiving from server the values of parameters of
modeled power equipment and setting them into DACs of Fig. 3 Equivalent circuit of a pole of the DC circuit: j—a negative
HCPs of power equipment, transferring the solution of math- or positive pole; RjL and L j —the active resistance and inductance of
ematical models (calculated electrical parameters) of power the smoothing reactor; Rj1C , Rj2C and C j1 , C j2 —active resistances and
capacitances of capacitor banks; un—neutral voltage
equipment to the server. The P_ADC of HCP provides an
analog-to-digital conversion, reading and processing of sim-
ulation data, as well as functional control, including dynamic,
2.2 Mathematical models development
of the parameters of the simulated equipment via the DACs
of HCPs. The P_ADC of CS is used for functional process-
According to the concept the mathematical models of trans-
ing of simulation data required for control system of VSC
formers, smoothing reactor, filter and direct current (DC)
HVDC: transformation, formation of the control actions for
circuit are realized at analog simulation level via structural
the pulse-width modulation (PWM), etc. The implementa-
scheme of HCP providing a continuous implicit integration
tion of PWM and real-time control of DCAS status of the
of differential equations of modeled power equipment.
PM of VSC, as well as modeling of high-speed relay pro-
In particular, for modeling the DC circuit (Fig. 3),
tection systems of the VSC HVDC are carried out by the
described by a system of Eq. (1), the structural scheme of
PC of VSC. The PC of VSC provides real-time control
HCP DC has been developed (Fig. 4).
of DCAS status of the PM of SSC, including the switch-
ing at a certain time. The HCPs carry out the solution of ⎧ 1   du j1C 1
mathematical models of power equipment of VSC HVDC. ⎪
⎪ i j1C  · u j1 − u j1C − u N ;  · i j1C ;
⎪
⎪
The result of solution is transmitted to the CPU via the ⎪
⎪
R j1C dt C j1
⎪
⎪
⎪ di j L
⎪ 1  
P_ADC of HCP and P_ADC of CS to provide required ⎨  u j1 − u j2 − R j L · i j L ;
function: visualization of a simulation process, real-time dt Lj
⎪
⎪
control of parameters of the modeled power equipment via ⎪
⎪ i j1  i j L + i j1C ; i j2  i j L − i j2C ;
⎪
⎪
⎪
⎪   du j2C
DACs of HCP, and DCAS status of the PM of SSC and ⎪
⎪ 1 1
⎩ i j2C  · u j2 − u j2C − u N ;  · i j2C ;
PM of VSC via the PC of SSC and PC of VSC, respec- R j2C dt C j2
tively. (1)

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Fig. 4 Structural scheme of jth pole of HCP DC: u0—reference voltage, used for controlled formation of neutral voltage neutral (un),
u/i—voltage–current converters

iC (t )
Voltage [pu], Current [pu]

where uj1C and uj2C are voltages on the reactance of the U C (t )

capacitor banks. 15

In Fig. 4 the DACs are used to set and control the dynamic
parameters of the mathematical model, while integrated 0 10 20 30 40 50 60 70 80 90 100
microelectronic voltage–current converters (u/i) are applied
for mutual conversion of the simulation results of mathemat- -1 -5
Time [ms]
ical models to model physical values.
The waveform of current and voltage, as well as frequency (a)
U L (t )
Voltage [pu], Current [pu]

response characteristics of the capacitor bank and smooth- iL (t )

0,1 5
ing reactor models of the DC circuit, illustrates the response
characteristics, obtained for various possible parameters of 0
10 20 30 40 50 60 70 80 90 100
these models and the adequacy of the HCP DC as a whole
(Figs. 5, 6). -5
-0,1
The obtained simulation results of the developed struc- Time [ms]
tural scheme, realized in software Multisim 11.0, confirm (b)
its adequacy. Similar structural scheme of HCP has been
Fig. 5 Waveform of current and voltage of capacitor bank and smooth-
developed for model of transformers, smoothing reactors and
ing reactor of HCP DC
filters.

2.3 Physical models development

It was mentioned that different commutations are realized The obtained waveforms of the voltage and frequency
at physical simulation level via DCAS [17–19]. The corre- properties completely determine the adequacy of the devel-
sponding structural schemes of PM of VSC and scheme of oped PC of VSC, including at the switching frequency of the
IGBT commutation process are presented in Figs. 7, 8. pulse-width modulation f  1050 (Hz) (Figs. 9, 10).

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Electrical Engineering

Fig. 6 Bode gain–frequency and φ( f ) 50

phase–frequency characteristics 80
of the capacitor bank (a) and 70 Theoretical 30 K( f )

Magnitude [dB]
smoothing reactor (b) of HCP 60
50 10
DC (experimental) and obtained 10-1 -10
0
40 102 103 104 105 106

Phase [deg]
Experimental 10
by calculation (theoretical) 30
20 K( f ) Theoretical
10 -30 Experimental
-1
10 0 10 102 103 104 105 106 -50
-10 φ( f )
-20 -70 Theoretical
-30 Experimental Theoretical
-40 -90
-50 Experimental
-60 -110
Frequency [Hz] Frequency [Hz]

(a) (b)

MPU 100ns
PM of VSC UDCAS
PC of
+ 10
SSC
A N HCP Control pulse
- DC 6

Voltage [V]
К1
2
A К2 К5 0
0,02
HCP B К3 К6 B C -2 0,005 0,01 0,015

R(1,2) C К4 -6

-10
Time [s]
Fig. 7 Structural schemes of PM of VSC
Fig. 9 Oscillogram of the phase (a) and phase-to-phase voltages of the
PM of VSC
K(i)
RS
IGBT D 8
Cs 7
CPU 6
Voltage [V]

5
CIGBT DCAS(1) DCAS(2) CD 4
f=1050 Hz
RIGBT RF_D 3

RD 2
RF_IGBT
1

10 20 30 40 50 60 70 80 90 100
Fig. 8 Scheme of IGBT commutation process with the snubber circuit: Harmonic number
CIGBT, RIGBT, RF_IGBT—equivalent capacity, direct and reverse
resistances of IGBT; CD, RD, RF_D—equivalent capacity, direct and Fig. 10 Spectral analysis of phase voltage obtained from the PM of VSC
reverse resistances of bypass diode (D) (1) and MATLAB Simulink model (2)

3 The simulation results

To confirm the adequacy of the hybrid model of VSC HVDC 3.1 Steps on the regulators references
the following test cases are performed:
The step response of the active power with the reference
• Steps on the regulators references; is depicted in Fig. 11. At t 1 the reference of active power
• Severe perturbations in AC network; of VSC1 is changed from (− 0.2) pu to (− 1) pu (7 steps
with time-step of 0.5 s); at t 2 the reference of active power
The simulation results are compared with the VSC HVDC of VSC1 is changed from (− 1) pu to (+ 1) pu. As shown
(detailed model) developed in the environment of MATLAB in Fig. 11 the power reverse is carried out in 0.5 s time,
Simulink [20]. which corresponds to the time given in the literature [21,

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22]. At the same time, the process of regulation and reverse which is controlled by the automatic control system of the
of power flow are accompanied by voltage fluctuations on VSC HVDC.
the capacitor battery of the DC side (Fig. 12), the level of
3.2 Severe perturbations in AC network
1
0,8
According to the scenario the three-phase short circuit is
0,6 applied at t sc1  2.1 s in station 2. The currents at station
Active power [pu]

0,4 2 increased and reached to around 2 pu during the fault, and

0,2
the currents at station 1 reduced to low values to reduce the
0 1 1,5 2 2,5 3
-0,2
3,5 4 4,5 power flow (Fig. 13a, b). During the fault the power trans-
t fer stops and the DC voltage tends to increase up to 1.3 pu
-0,4
-0,6 Pref (Fig. 13c, d), that is limited by a special function (DC Voltage
-0,8 P1 (Simulink model)
P2 (hybrid model) Control Override) in the Active Power Control (in station 1)
-1
Time [s] [20].
The obtained simulation results demonstrate the features
Fig. 11 Step response of active power of the hybrid VSC HVDC model and the compliance to
the MATLAB Simulink model. Some differences in model
of power equipment, setting parameters, etc., are causes of
1,4 Ud(t) minor discrepancies. However, the properties and capabilities
Voltage [pu]

1,2 of the hybrid simulation concept and, as a result, the devel-

1 oped HRTSim, make it possible to use the developed B2B
-1,2
1 1,5 2 2,5 3 3,5 4 HVDC model for modeling of the large-scale EPS, including
in real time and an unlimited time interval to investigate the
Time [s] research of the cross-impact influence of HVDC technolo-
gies and the EPS, especially in transient modes, the design
Fig. 12 Waveform of DC voltage

Fig. 13 AC side perturbations: ua(t),ub(t),uс(t)

ua(t),ub(t),uс(t) 1
waveforms of the voltage and 1
Voltage [pu]

current, active power, DC 0,6

Voltage [pu]

0,5
voltage of Simulink models (a, 0 0,2
0
c) and hybrid (b, d) -0,5 -0,2
-1 -0,6
-1
3 ia(t),ib(t),iс(t)
Current [pu]

2 ia(t),ib(t),iс(t) 2
Current [pu]

1 1
0
0
-1
-1 -2
-2
2,08 2,1 2,12 2,14 2,16 2,18 2,2 2,08 2,1 2,12 2,14 2,16 2,18 2,2
Time [s] Time [s]
(a) (b)
Active power [pu]
Voltage [pu] Active power [pu]

p(t)
0 0,6
0,2 p(t)
-0,4 0
-0,2
-0,8 -0,6
-1
-1,2

ud(t)
Voltage [pu]

1,2 ud(t)
1,2
1 1
0,8
0,8
2,1 2,14 2,18 2,22 2,26 2,1 2,12 2,14 2,16 2,18 2,2 2,22 2,24 2,26 2,30
Time [s]
Time [s]
(c) (d)

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Acknowledgements This work was supported by the Russian Science
Proceedings of 11th international conference on electrical power
Foundation under the governmental Grant No. 18-79-10006 “Investiga-
quality and utilisation Lisbon, Portugal, 17–19 October 2011, pp
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