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Inertia Emulation Control Strategy for VSC-HVDC Transmission Systems

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DOI: 10.1109/TPWRS.2012.2213101

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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 2, MAY 2013 1277

Inertia Emulation Control Strategy for

VSC-HVDC Transmission Systems
Jiebei Zhu, Campbell D. Booth, Grain P. Adam, Andrew J. Roscoe, and Chris G. Bright

Abstract—There is concern that the levels of inertia in power sys- With such an increased power in-feed loss limit, if a large power
tems may decrease in the future, due to increased levels of energy plant trips, the system frequency is at greater risk of falling to an
being provided from renewable sources, which typically have little unacceptable level before frequency response control systems
or no inertia. Voltage source converters (VSC) used in high voltage
direct current (HVDC) transmission applications are often deliber- can mitigate the situation. Large system inertia can help stabi-
ately controlled in order to de-couple transients to prevent propa- lize frequency and give ample opportunity for control systems
gation of instability between interconnected systems. However, this to act.
can deny much needed support during transients that would oth- At present, many renewable generators are connected via
erwise be available from system inertia provided by rotating plant. power electronics, especially DC sources such as PV. Power
This paper proposes a novel VSC-HVDC control system
termed “INEC” (INertia Emulation Control) which enables a
electronics effectively decouples the generators from the
VSC-HVDC system to provide support that emulates the inertia of system and prevents the kinetic energy in the inertia of the
a synchronous generator (SG). The energy to do so comes from the renewable power sources from mitigating system transients.
capacitance of the HVDC connection, which may be augmented There is evidence of a decrease in system inertia on the eastern
by the installation of additional capacitance. This paper indicates interconnector in the United States during a period of more
that the proposed INEC system allows a VSC-HVDC system with
than 10 years [5] and this is believed to be due to the increasing
a fixed capacitance to emulate a wide range of inertia constants
(H) by specifying the amount of permissible DC voltage variation. connection of renewable energy sources. Inevitably, reduced
The proposed INEC scheme has been demonstrated through inertia presents a greater risk of instability requiring mitigation
simulations, and its performance is evaluated for transients that such as changes to control systems, greater amounts of spinning
include faults and also changes in load. reserve, and more frequent starting of generation installed to
Index Terms—Frequency response, HVDC converters, HVDC support the system.
transmission control, inertia emulation, synthetic inertia, voltage In an attempt to address this issue, several inertia emulation
source converter. control strategies for wind power generators have been pro-
posed [3], [4], [6], [8]. These strategies enable wind power gen-
erators to contribute inertia during AC grid disturbances. The
I. INTRODUCTION
authors in [3] studied the dynamic contribution of doubly-fed in-

T HERE is now an intensive focus on renewable energy

development as a solution to the world’s energy needs
and to reduce carbon emissions. The 2009 European Union Re-
duction generators (DFIG) to provide an inertial response. How-
ever, the authors stated that DFIG turbines may stall if excessive
energy is drawn from the rotor. Reference [4] proposes a control
newable Energy Directive, has a target of generating over 32% scheme for fully rated, converter-interfaced, permanent magnet
total power from renewable by 2030, with a target of 100% by synchronous generator (PMSG) wind generators that can pro-
2050 [1]. In order to facilitate renewable generation connection, vide frequency support/control capability. This is achieved by
the U.K. transmission system operators are recommending that controlling the inverter output power according to the rate of
after 2014, there should be an increase in the power in-feed loss change in grid frequency. The disadvantage with this scheme is
limit (i.e., the amount of generation can be lost in a single event that the recovery of the rotor speed can be difficult after a de-
without causing undue system disturbances) from 1320 MW to celeration of the machine rotor.
1800 MW. This will cater for larger capacity units and instal- HVDC transmission systems are accepted as the solution for
lations, without significantly affecting AC system stability [2]. connecting distant offshore wind farms [7]. However, existing
HVDC converters also decouple the kinetic energy that may be
Manuscript received January 25, 2012; revised May 26, 2012; accepted July available “beyond” the terminals of the DC system. The authors
11, 2012. Date of publication October 02, 2012; date of current version April in [6] propose a coordinated control strategy for wind farms
18, 2013. This work was supported in part by the U.K. Engineering and Phys- connected via line-commutated-converter (LCC) HVDC links.
ical Sciences Research Council and Rolls-Royce plc. under the grant Dorothy
Hodgkin Postgraduate Award. Paper no. TPWRS-00077-2012.
This strategy allows such wind farms to participate in inertial
J. Zhu, C. D. Booth, G. P. Adam, and A. J. Roscoe are with the Institute for response and primary frequency control. The control strategy
Energy and Environment, Department of Electronic and Electrical Engineering, uses the time derivative of the grid frequency to adjust the de-
University of Strathclyde, Glasgow, G1 1XW, U.K. (e-mail: zhu.jiebei@eee.
strath.ac.uk; [email protected]; [email protected]; andrew.
livered power from the wind farm via the LCC-HVDC. This in
[email protected]). turn adjusts the blade angles of the wind turbines to increase or
C. G. Bright is with Rolls-Royce Strategic Research Centre, Derby, U.K. decrease the power captured from the wind. Nevertheless, this
(e-mail: [email protected]).
Color versions of one or more of the figures in this paper are available online
disadvantage is considered to be similar to the problems associ-
at http://ieeexplore.ieee.org. ated with [3], [4], [8], i.e., the risk of stalling wind turbines and
Digital Object Identifier 10.1109/TPWRS.2012.2213101 the consequent difficulty of recovering rotor speed.

0885-8950/$31.00 © 2012 IEEE

1278 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 2, MAY 2013

Fig. 1. Single-line diagram of VSC-HVDC transmission system, with the conventional control system.

This paper presents an inertia emulation control (INEC) Equation (1) indicates that for a certain power imbalance
strategy that uses the energy stored in the DC link capacitors between generation and load, the aggregate inertia of a
of the VSC-HVDC systems to emulate inertia. This supports power system determines the mean change in network angular
the AC network during and following disturbances, with min- speed (i.e., acceleration or deceleration). A higher aggregate in-
imal impact on the systems connected beyond the terminals ertia reduces the rate of change in angular speed, leading to an
of the HVDC system. This can be realized by modifying the increase in the overall stability of the power system.
HVDC control systems. The proposed strategy is capable of
emulating a wide range of inertia time constants using III. VSC-HVDC SYSTEM AND CONTROL
relatively small constant capacitances connected to the DC
circuit. Additionally, the proposed strategy does not rely on Fig. 1 illustrates a point-to-point VSC-HVDC system with
measurement, unlike the methods reported in [3], [4], converter station regulating DC voltage and reactive
and [6]. Therefore it will be less sensitive to any potential power, with controlling active and reactive power.
noise amplification caused by measurement, which in is connected to a weak offshore grid through interfacing
turn may cause control system instability. Moreover, the INEC reactors, AC side filters and a coupling transformer. The
acts to isolate one AC power system from the consequences VSC-HVDC system offers a degree of control freedom by
of frequency disturbance on another AC power system by allowing independent control of active and reactive power. As
only using the electro-static energy in the DC link capacitors shown in Fig. 1, the active power can be controlled either di-
plus and the comparatively smaller capacitance of the DC rectly using a power set-point or indirectly by regulating the DC
circuit. Simulations using a point-to-point VSC-HVDC system voltage. The reactive power is controlled either directly using a
connecting two AC networks have demonstrated the proposed reactive power set-point, or by regulating the AC voltage mag-
INEC strategy. The model comprises a relatively weak power nitude at the point of common coupling (PCC). The choice of
system with a DC connection to an offshore wind farm using control mode depends on the nature of the specific application.
DFIGs. However, at least one of the VSC stations must be assigned to
control the DC voltage. The details of the inner current control
loop and various outer controllers for VSC-HVDC, as shown
II. SYNCHRONOUS MACHINE INERTIA in Fig. 1, are described in the following subsections.
In power systems, a difference between generation and de-
mand will result in changes in system frequency which will be A. Inner Current Controller
counteracted initially by the mechanical inertia and then by the Fig. 2 shows a schematic diagram of a three-phase VSC con-
governor action of prime movers. Reference [9] defines a ficti- nected to an AC grid with three-phase voltage at the PCC.
tious “inertial center” for a large-scale power system, which has represents the three-phase voltage generated at the con-
a mean angular speed for all electrical machines in the system, verter terminals. The AC-side dynamics of the converter can be
and [9] derives the following equation: expressed by the following equation:

(1) (2)
ZHU et al.: INERTIA EMULATION CONTROL STRATEGY FOR VSC-HVDC TRANSMISSION SYSTEMS 1279

In (9) and (10), the decoupled control of active and reac-

tive powers is achieved. During steady state, active and reactive
powers are proportional to and , respectively.

B. Outer Controllers
The outer controllers are shown at the left hand side of the
cascaded control system in Fig. 1. In order to ensure stability,
they must be slower-acting than the inner current control loops
Fig. 2. Three-phase VSC equivalent model. introduced in the previous section [10].
The active power controller produces the -axis current ref-
erence for the inner current controller according to the active
In (2), represents the three-phase currents flowing power reference :
through interfacing reactor and coupling transformer, and L
and R are the equivalent combined inductance and resistance (11)
of the phase reactor and transformer.
A synchronous reference approach is conventionally In a similar way, the reactive power controller calculates the
employed to facilitate VSC-HVDC control [10], [11]. The pos- -axis current reference from the reactive power reference
itive-sequence three-phase voltages and currents mea- according to
sured at the PCC are transformed to components and
via the Park Transformation [12]: (12)

(3) Assuming the VSC is lossless, the active powers of the AC

and DC sides are obtained by the following:
(4)
(13)
A phase-locked-loop (PLL) block is used to synchronize the
HVDC converter to the grid voltage at the PCC and to align where and refer to the DC side voltage and current.
the voltage vector of the grid with the d-axis (when the network The charging and discharging of the DC capacitor in Fig. 2
voltage at the PCC remains constant and balanced, ). In can be expressed using
the synchronous d-q reference frame, the dynamics of the VSC
station in (4) can be expressed as (14)

(5) The combination of (13) and (14) gives the -axis current
reference , which represents the output of the DC voltage
(6) controller:

where and are the d-axis and q-axis converter side (15)
voltage vectors.
In order to track the reference currents and , the inner For the control of the AC voltage amplitude at the PCC, the
current control uses proportional-integral (PI) controllers with magnitude of the voltage drop across the reactor and transformer
feedback to regulate the current vectors and . Therefore, the impedance is approximated as
VSC voltage vector references and for VSC are com-
puted as follows:
(16)
(7)
where and .
(8) In the reactor and the transformer, » , thus the voltage
amplitude drop only depends on the reactive power flow .
The voltage vector references and are transformed to The reactive component -axis current is thus calculated in
a three-phase value for pulse width modulation (PWM) to the AC voltage amplitude controller, from the error between the
produce the desired converter three-phase voltage. PCC voltage amplitude set point and the actual voltage
The active and reactive powers that the VSC-HVDC inject amplitude .
into the AC system are expressed in the dq-axis as With PI controllers, the equations of active power, reactive
power, DC voltage and AC voltage controllers in the s-domain
(9) are as follows:

(10) (17)
1280 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 2, MAY 2013

(18) B. Capacitor DC Voltage and Emulated Inertia Time Constant

The equation of the machine angular motion is given in (23):
(19)
(23)
(20)
where H is the inertia time constant in sec, is the nominal
VSC-HVDC converters do not normally possess any over- frequency in Hz, is the mechanical power in pu, is the
load capability [10]. Severe network disturbances such as AC electrical power in pu and is the kinetic power absorbed
system faults will stress the converter switches with overcur- by or released from the inertia of the machine during a speed
rent. Therefore, current limitation must be included in both the change (in pu).
outer controllers and the inner current control schemes to pro- In order to equate the available power of the DC capacitors to
tect against overcurrent. that of an electrical machine, the capacitor dynamics (in terms
of DC voltage and output power) are presented in (24):
IV. VSC-HVDC INERTIA EMULATION CONTROL
(24)
The proposed INEC uses stored energy in the HVDC DC ca-
pacitors to provide an inertial response, which can not only sup- In (24), represents the total number of capacitors (two in
port frequency stability but also contribute to primary frequency this case), represents the VSC rated power capability in
control of the supplied AC network. Energy for the INEC is pro- watts, is VSC power input to the two capacitors in pu,
vided solely from DC link capacitors by using the converters to is the VSC power output in pu, and is the dynamic electro-
control the DC link voltage. The INEC algorithm contains the static power stored or released across both capacitors in pu.
following four steps: Equation (24) indicates that any variation in DC voltage
1) machine inertia time constant versus capacitor time changes the stored energy in the capacitors. This energy is
constant; charged or discharged by varying the DC voltage according to
2) capacitor DC voltage and emulated inertia time constant; the DC voltage controller as discussed in Section III. Due to
3) VSC-HVDC INEC design loop; the low resistance of the DC cables, the DC voltage difference
4) frequency change versus DC voltage change. between the rectifier and inverter is negligible. For this reason,
the DC voltages at the rectifier and inverter are assumed to be
A. Machine Inertia Time Constant versus Capacitor Time
the same for the purposes of this analysis.
Constant
A further task is to assign a specific emulated “inertia” con-
The inertia constant H, which determines the response of SG stant to the HVDC system. Equating the SG power vari-
angular speed to any changes in input power, can be expressed ation in (23) with capacitor power in (24) yields
by
(25)
(21)
Integrating both sides of (25) yields (26) below. This process
where represents kinetic energy stored in the rotating mass cancels and on the two sides into (27):
of the machine (MVA sec), refers to the moment of inertia
(kg m ) and is the generator rating (MVA). (26)
Capacitors are used in VSCs for DC voltage stability and fil-
tering [10]. The size of the DC capacitors is characterized by a
(27)
capacitor time constant , given in (22):

The constant is the constant of integration which is calcu-

(22)
lated according to the specified values of , total combined
DC capacitance NC, the nominal DC voltage and the con-
where represents the electro-static energy stored in the ca- verter power rating . This is shown in (28):
pacitor, represents the VSC rated power capability, C is
the capacitance of a single DC capacitor and is the total
number of capacitors installed on the DC link (in the example of
Fig. 1, there are two capacitors in total for the three-level neu- (28)
tral-point clamped VSC, therefore ).
To some extent, the electro-static energy stored in DC capac- The full INEC equation can then be expressed in (29):
itors is similar to the mechanical energy stored in the inertia of
SGs, as both the angular speed of the SGs, and DC voltage
of the VSC-HVDC capacitors are squared in (21) and (22),
respectively. (29)
ZHU et al.: INERTIA EMULATION CONTROL STRATEGY FOR VSC-HVDC TRANSMISSION SYSTEMS 1281

Fig. 4. Three-dimensional relationship between emulated inertia, frequency,

and DC voltage deviations from rated value (total DC link
mF).
Fig. 3. Proposed inertia emulation control system for VSC-HVDC.

Unlike the proposed inertia emulation control in [3], [4], and

Equation (29) can also be written in another format, shown [6], the implementation of INEC in (33) avoids the processing of
in (32), that can be used to evaluate the influence of DC voltage frequency differential terms with the consequent risk of
change on the VSC-HVDC emulated inertia time con- measurement noise threatening stability especially in response
stant for a given change of network frequency : to step transients [13].
The INEC strategy has the potential for implementation in
(30) multi-terminal HVDC (MTDC) systems. In (33), is the total
number of capacitors present in the MTDC network. With the
INEC strategy, the converter terminal with DC voltage con-
(31)
troller is able to make an inertial contribution to its connected
AC grid. For power systems that are coupled via HVDC links,
the possibility of INEC implementation is dictated by converter
(32) control that varies the DC voltage to make the energy from
the DC link capacitance available to the AC system(s). In an
HVDC link connecting two AC systems, it is not recommended
Equation (32) implies that to emulate a specific inertia time that both terminals of the link employ INEC, as if both are at-
constant , the DC voltage level in VSC-HVDC link must tempting to dictate the DC voltage simultaneously, there is the
vary according to the AC network frequency, although the vari- potential for deterioration of DC voltage stability and DC link
ation will be nonlinear. A large value of will require a power flow control.
correspondingly large variation in DC voltage and this must be
considered in the design of the VSC-HVDC system. D. Frequency Change versus DC Voltage Change
It is clear from the previous discussions that VSC-HVDC has
C. VSC-HVDC Inertia Emulation Control Loop
the potential to emulate a wide range of inertia time constants,
As already stated, the DC voltage of the VSC-HVDC must if its DC voltage is allowed to vary by a wide margin. A range
vary according to AC network frequency. Equation (27) is trans- of inertia constants from 0 s to 4 s along with the associated
formed to (33) to facilitate DC voltage control: resultant DC voltage changes for specific frequency changes is
plotted in Fig. 4. The maximum inertia time constant that can be
provided will depend on the degree of permissible DC voltage
(33)
variations, the value of DC link capacitors as shown in (32) and
the converter’s active power limit.
where . Equation (31) presents the relationship between the square of
Fig. 3 illustrates the design of the INEC. The DC voltage DC voltage variation and DC capacitance, which is inversely
reference varies with AC network frequency . The pre- proportional in nature. Relatively large capacitors (e.g., 7.5 mF
vailing AC network frequency, which is estimated by the PLL, is in this paper) are used in order to lower DC voltage variations.
used to compute the DC voltage reference through the gains and Large DC capacitors will obviously require DC link protec-
square root operations based on (33). Other variables, including tion; smaller values of DC capacitance could be used, with in-
the initial integration state factor , the VSC rated power ca- ertial responses being provided using larger DC voltage varia-
pability and specified inertia time constant are all tions—see Section V for examples of the use of different capac-
included in the INEC loops. itor values. It is important to emphasize that the scheme reported
The DC voltage reference should be limited within upper and in this paper is intended to provide an “instantaneous” inertial
lower constraints, for example % of nominal DC voltage response, and would obviously be required to be backed up by a
although the exact figures would depend on insulation require- longer term controlled response for events involving major loss
ments, current ratings and PWM functionality. of generation/transmission capacity in the supplied AC system.
1282 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 2, MAY 2013

TABLE I
PARAMETERS FOR THE VSC-HVDC LINK

Fig. 5. Single-line diagram of the simulated test system.

Two scenarios are considered:

— Sudden load changes using in System 1
— AC network side faults at busbar in System 1

TABLE II A. Sudden Load Changes

PARAMETERS FOR SYNCHRONOUS GENERATOR
Figs. 6 and 7 show the obtained results for a load increase and
decrease, respectively. The switchable load at in Fig. 5 which
represents 5% of the pre-transient existing load is introduced
and then switched in and out to simulate changes in load.
Figs. 6 presents the response to a total load increase. It is ob-
served in Fig. 6(a) that with an increased emulated inertia time
constant (from the VSC-HVDC), the rate of change of the SG
rotor speed is damped, demonstrating that the emulated inertia
supplied by the VSC-HVDC improves system stability. The ini-
tial SG load angle perturbation, as illustrated in Fig. 6(b), is re-
duced in magnitude as greater amounts of emulated inertia are
supplied. The behavior of the SG load angle also shows the sta-
bility of the test power system as it settles at a new value fol-
lowing the load increase. Fig. 6(c) illustrates that progressively
larger values of emulated inertia result in greater variations of
the DC link voltage.
DC links and controllers could also be used for this purpose, Fig. 6(d) shows the active power output from the converter
with excess energy being delivered and sourced from other AC during a load increase. The specified inertia constant
systems and/or wind farms (if available and permissible). determines the magnitude and shape of the converter’s
inertial response. More active power is provided by for
V. PERFORMANCE EVALUATION higher values of . This shows how the INEC can pro-
The evaluation scenario as illustrated in Fig. 5 is simulated vide frequency support. From Fig. 6(d) and (e), it is clear that
by SimpowerSystems in Matlab. A point-to-point VSC-HVDC the briefly increases its active power output, until the
link comprises three-phase converters and , with SG increases its active power to cope with the power mis-
parameters as presented in Table I. , which is connected match in System 1. Once stable conditions are restored, the
to the wind farm, regulates the active and reactive power by converter restores its active power to the original value. There-
controlling offshore grid frequency and AC voltage amplitude fore, the INEC enables the VSC-HVDC system to react fast
in System 2. supplies power to System 1 at which rep- enough to support the primary frequency control. This also re-
resents a relatively weak system consisting of one synchronous duces the magnitude of the initial transient increase in output
generator and associated loads. The fixed load is power demanded from the SG. Fig. 6(f) illustrates the network
400 MW MVar, whereas the load can be frequency at ’s PCC of and shows an increase in
switched in or out and is MVar. The loads in System the emulated inertia reduces the frequency transients. This is
1 are therefore being supplied by both the synchronous gener- a potentially very useful benefit of the scheme, and this may
ator in System 1 and by System 2 via the HVDC system. become more important if renewable energy replaces conven-
The synchronous generator (SG) is modeled using a sev- tional generation and especially if significant renewable energy
enth-order model with IEEE parameters [14], [15] as shown is connected via power electronics.
in Table II, where the electromagnetic transients and mechan- Figs. 7 presents the case of a sudden load reduction, which
ical dynamics are incorporated. To illustrate the effectiveness is simulated by switching out . It is evident that the
of the proposed INEC strategy, the simulations comprise INEC scheme successfully damps the rotor speed deviation
three different situations: emulated inertia time constants as presented in Fig. 7(a). The magnitude of initial SG load
(conventional VSC-HVDC control), s angle perturbations is also significantly reduced due to the
and s, which are specified individually in the INEC action of the INEC scheme, as shown in Fig. 7(b). The INEC
design in Fig. 3. acts to increase DC link voltage as shown in Fig. 7(c), with
ZHU et al.: INERTIA EMULATION CONTROL STRATEGY FOR VSC-HVDC TRANSMISSION SYSTEMS 1283

Fig. 6. INEC response for 5% load increase: (a) SG rotor speed; (b) SG load Fig. 7. INEC response for 5% load increase: (a) SG rotor speed; (b) SG load
angle; (c) HVDC DC link voltage; (d) VSC1 active power; (e) SG active power; angle; (c) HVDC DC link voltage; (d) VSC1 active power; (e) SG active power;
(f) Network frequency. (f) Network frequency.

the capacitors absorbing the excess energy. This results in an Fig. 8 shows the active power inputs by from the Power
instant decrease of the active power output from as System 2 for both cases of the load increase and decrease re-
shown in Fig. 7(d), with the response of the SG shown in main unchanged. It is clear that offshore active power
Fig. 7(e). Fig. 7(f) shows that increasing the value of input is not affected by the active power output varia-
reduces the AC network frequency transients. In all cases, tions and the DC capacitor voltage variations. Therefore, the
the DC link voltage is maintained within 5% (15 kV) of the INEC still provides the attractive HVDC attribute of decoupling
nominal voltage level of 300 kV. Increasing the permissible Systems 1 and 2, avoiding transients in one system propagating
limits on DC voltage (and possibly capacitor ratings) could through to another system(s). This feature will become more im-
offer higher emulated inertia. portant because of the continuing trend for AC power systems
1284 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 2, MAY 2013

In order to illustrate the impact of DC link capacitor sizing on

the INEC performance, difference capacitances for DC capaci-
tors, namely, mF (for the base case), 4 mF and 2 mF are
used to synthesize the same inertia time constant s
for the case of 5% load increase, as seen in Fig. 9. These results
have shown no differences in the system response for different
values of DC link capacitances as evident from SG rotor speed
Fig. 8. VSC active power injected by the offshore wind farm. behavior in Fig. 9(a), SG load angle in Fig. 9(b), active
power output in Fig. 9(d), SG active power in Fig. 9(e), and
network frequency in Fig. 9(f). However, it is noticeable that
this performance is achieved at the expense of increased DC
link voltage variation of the converter as the DC link ca-
pacitance reduces. These results indicate that to ensure proper
system operation when INEC is implemented in one or more ter-
minals, the DC link capacitance must to be sized taken into ac-
count the maximum permissible DC link voltage variation from
the rated voltage.

B. AC Faults
Figs. 10 and 11 compare the INEC performance for electrical
close and remote faults. In both cases, three-phase faults are
initiated at s and cleared at s.
As shown in the zoomed Fig. 10(a) the fault results in a AC
voltage amplitude drop of 75% at busbar . Generator rotor
speed, with emulated inertia s, recovers more slowly
than for cases with lower values of from the speed in-
crease due to the fault, with relatively lower first and subsequent
swing magnitudes, as observed in Fig. 10(b). This actually ex-
hibits the electro-mechanical effect of system inertia. Fig. 10(c)
illustrates the load angle of SG for different values of emulated
inertia in the post-fault period. Fig. 10(e) presents the
active power output with and without INEC, which influences
behavior throughout each of the three simulation cases. This is
directly reflected in Fig. 10(f), where the SG active power output
with larger inertia s changes less than for cases where
s and without INEC. During the fault the ’s
current is saturated due to the significant undervoltage therefore
the active powers for s, 1 s and 0 remain the same
during this time. It is interesting to see post the fault ’s
active power with larger inertia s holds the active
power on when the fault is cleared. This can be interpreted by
the equal area criterion for SG that the kinetic energy collected
by the SG during the fault must be released after the fault, and
the reduction on ’s active power actually facilitates this
process. This is important with respect to the first swing sta-
bility of a power system. The network frequency at is shown
in Fig. 10(g), which obviously has a similar trend to SG rotor
speed.
The effectiveness of INEC strategy in enhancing system
stability for distant faults is more obvious, as shown in Fig. 11.
The distant fault is represented by a resistive fault applied at
leading to a voltage drop of 25% as shown in zoomed
Fig. 9. Comparison of different capacitance for the INEC: (a) SG rotor speed; Fig. 11(a). ’s current output is not saturated due to
(b) SG load angle; (c) HVDC DC link voltage; (d) VSC active power; (e) SG the relatively smaller voltage drop. It is clear, in the circled
active power; (f) Network frequency. region of Fig. 11(e), that during the fault (from s
to 1.14 s) effectively interacts with the network with
to interconnect via HVDC especially if sub-sea interconnection different active power outputs for different emulated inertia
is used. time constants. This leads to different SG load angle and
ZHU et al.: INERTIA EMULATION CONTROL STRATEGY FOR VSC-HVDC TRANSMISSION SYSTEMS 1285

Fig. 10. INEC response for 140-ms three-phase-to-ground close fault: Fig. 11. INEC response for 140-ms three-phase-to-ground distant fault:
(a) zoomed AC voltage amplitude at ; (b) SG rotor speed; (c) zoomed (a) zoomed AC voltage amplitude at ; (b) SG rotor speed; (c) zoomed SG
SG load angle; (d) HVDC DC link voltage; (e) zoomed VSC1 active power; load angle; (d) HVDC DC link voltage; (e) zoomed active power;
(f) zoomed SG active power; (g) Network frequency. (f) zoomed SG active power; (g) Network frequency.

active power output behaviors as shown in Fig. 11(c) and (f). speed and network frequency drops associated with larger
As illustrated in Fig. 11(b) and (g), respectively, the SG rotor emulated inertia s are significantly less than for
1286 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 28, NO. 2, MAY 2013

s. As observed in Fig. 11(d), DC voltage drop [7] P. Bresesti, W. L. Kling, R. L. Hendriks, and R. Vailati, “HVDC
for larger values of emulated inertia is higher in order to connection of offshore wind farms to the transmission system,” IEEE
Trans. Energy Convers., vol. 22, no. 1, pp. 37–43, Mar. 2007.
supply relatively higher values of instantaneous active power [8] K. Clark, N. W. Miller, and J. J. Sanchez-Gasca, 2009, “Modeling of
as shown in Fig. 11(e). It is interesting to see that the network GE wind turbine-generators for grid studies,” Aug. 2011. [Online].
voltage at as shown in Fig. 11(a) is also influenced by Available: http://www.pes-psrc.org/c/C17/GE%20WTG%20Mod-
eling-v4%202.pdf.
different values of emulated inertia due to the interactions [9] P. Anderson and A. A. Fouad, Power System Control and Stability.
between and the SG. Ames, IA: Iowa State Univ. Press, 1977.
The AC fault simulation study clearly shows the INEC [10] C. Du, “VSC-HVDC for industrial power systems,” Ph.D. disserta-
tion, Dept. Energy and Environ., Chalmers Univ. Technol., Göteborg,
strategy for VSC-HVDC systems in increasing system fault Sweden, 2007.
ride-through capability. [11] J. Zhu and C. Booth, “Future multi-terminal HVDC transmission sys-
tems using voltage source converters,” in Proc. Int. Univ. Power Eng.
Conf., Cardiff, U.K., Sep. 2010, pp. 1–6.
VI. CONCLUSION [12] MathWorks MATLAB Simulink SimPowerSystems blockset, May
2011. [Online]. Available: http://www.mathworks.com/.
This paper has proposed and evaluated an INEC system [13] S. Bennett, “Development of the PID controller,” IEEE Trans. Control
for VSC-HVDC transmission systems. INEC employs the Syst., vol. 13, no. 6, pp. 58–62, Dec. 1993, 64-5.
[14] MathWorks, Hydraulic Turbine and Governor, Aug. 2011, [Online].
electro-static energy stored in the DC capacitors to enable Available: http://www.mathworks.com/.
the inverter to provide an inertial response to load and fre- [15] IEEE Working Group on Prime Mover and Energy Supply Models for
System Dynamic Performance Studies, “Hydraulic turbine and turbine
quency changes in the power system, in a similar fashion to control models for dynamic studies,” IEEE Trans. Power Syst., vol. 7,
a synchronous generator. The INEC varies the DC voltage to no. 1, pp. 167–179, Feb. 1992.
exercise the capacitor energy and the amount of energy exer-
cised varies with the magnitude of the inertia time constants
being emulated. INEC possesses the following significant fea-
tures: 1) Inertia time constants can be specified and
varied; 2) DC voltage variations are limited within a spe- Jiebei Zhu received the B.S. degree in microelec-
cific range; 3) The INEC provided at the inverter terminals tronics from Nankai University, Tianjin, China, and
the M.Sc. degree in electronic and electrical engi-
of the HVDC links has no impact on the rectifier-side off- neering from the University of Strathclyde, Glasgow,
shore wind power system. Simulations verify that the INEC U.K., in 2008 and 2009, respectively. He is pursuing
the Ph.D. degree in the Institute of Energy and Envi-
for VSC-HVDC transmission system is capable of interacting ronment at the University of Strathclyde.
with connected generators, counteracting, and damping gen- His research interests involve VSC-HVDC trans-
erator rotor speed (and system frequency) changes. It allows mission technologies, synthetic inertia contribution
by voltage source converters, control of multi-ter-
the VSC-HVDC system to contribute to both the damping of minal DC networks, converter hardware-in-the-loop
low-frequency oscillations, enhancement of the primary fre- for microgrid applications, and power system stability and control.
quency control of the AC networks and consolidation of system
fault ride-through capability. In the future, this is likely to be-
come more important due to the continuing trend of HVDC Campbell D. Booth received the B.Eng. and Ph.D.
interconnection and also the possible replacement of conven- degrees in electronic and electrical engineering from
tional generation by renewable generation with lower inertia the University of Strathclyde, Glasgow, U.K., in 1991
and 1996, respectively.
constants. He is currently a Senior Lecturer with the In-
stitute for Energy and Environment, University of
Strathclyde. His research interests include power
REFERENCES system protection; plant condition monitoring and
[1] EU Energy Policy to 2050, European Wind Energy Asso- intelligent asset management; applications of intelli-
ciation. [Online]. Available: http://www.ewea.org/fileadmin/ gent system techniques to power system monitoring,
ewea_documents/documents/publications/reports/EWEA_EU_En- protection, and control; knowledge management;
ergy_Policy_to_2050.pdf. and decision support systems.
[2] “Largest power infeed loss amendment to GSR007 proposals,” GB
National Electricity Transmission System Security and Quality of
Supply Standard, Aug. 2011, [Online]. Available: http://www.national-
grid.com/NR/rdonlyres/749C9FD8-1651-4059-8219-564940C4678C/ Grain P. Adam received the Ph.D. degree in power
44473/ReporttoAuthorityfinal.pdf. electronics from the University of Strathclyde,
[3] M. Kayikci and J. V. Milanovic, “Dynamic contribution of DFIG-based Glasgow, U.K., in 2007.
wind plants to system frequency disturbances,” IEEE Trans. Power He is a research fellow with the Institute of Energy
Syst., vol. 24, no. 2, pp. 859–867, May 2009. and Environment, University of Strathclyde. His
[4] J. F. Conroy and R. Watson, “Frequency response capability of full research interests are fault tolerant voltage source
converter wind turbine generators in comparison to conventional gen- multilevel converters for HVDC systems, control
eration,” IEEE Trans. Power Syst., vol. 23, no. 2, pp. 649–656, May of HVDC transmission systems and multi-terminal
2008. HVDC networks, voltage source converter based
[5] J. W. Ingleson and E. Allen, “Tracking the eastern interconnection fre- FACTS devices, and grid integration issues of re-
quency governing characteristic,” in Proc. 2010 IEEE Power and En- newable energies. He has authored and co-authored
ergy Society General Meeting, Jul. 25–29, 2010, pp. 1–6. several technical reports, and journal and conference papers in the area of
[6] M. Zhixin, F. Lingling, D. Osborn, and S. Yuvarajan, “Wind farms multilevel converters and HVDC systems, and grid integration of renewable
with HVdc delivery in inertial response and primary frequency con- power.
trol,” IEEE Trans. Energy Convers., vol. 25, no. 4, pp. 1171–1178, Dec. Dr. Adam has contributed in the reviewing process for several IEEE and IET
2010. transactions, journals, and conferences.
ZHU et al.: INERTIA EMULATION CONTROL STRATEGY FOR VSC-HVDC TRANSMISSION SYSTEMS 1287

Andrew J. Roscoe received the B.A. and M.A. Chris G. Bright received the B.Sc. degree in elec-
degrees in electrical and information sciences at Pem- trical engineering in 1980 and the M.Phil. degree in
broke College, Cambridge, U.K., in 1991 and 1994, induction motor control in 1987, both from the Uni-
respectively; the M.Sc. degree in the field of “Energy versity of Southampton, Southampton, U.K.
systems and the Environment” from the University He worked for 22 years in the U.K. electricity
of Strathclyde, Glasgow, U.K., in 2004; and the Ph.D. supply industry before joining the Electrical Systems
degree in 2009 for developing new power system and Instrumentation Group, Rolls-Royce Strategic
measurement and microgrid control algorithms. Research Centre, Derby, U.K., where he has worked
He worked for GEC Marconi from 1991 to 1995, as an Electrical Systems Specialist for seven years.
where he was involved in antenna design and cali-
bration, specializing in millimeter wave systems and
solid-state phased-array radars. He worked from 1995 to 2003 with Hewlett
Packard and subsequently Agilent Technologies, in the field of microwave com-
munication systems, specializing in the design of test and measurement systems
for personal mobile and satellite communications. He is currently a lecturer in
Smart Grid Integration at the University of Strathclyde, working on micro-grid
management, power system measurements, marine power systems, laboratory
demonstration with power-hardware-in-the loop capability, connection of off-
shore renewable generation, and inverter control within microgrids.

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