1

A Nonlinear Controller with Modulation Signal for HVDC to Improve Power System Stability
Xiaojiang Guo, Guangquan Bu, Shiying Ma
power system. Due to the rectifier and inverter terminals usually located widely, the control system of HVDC is designed as the hierarchical structure to achieve multi-object control and provide efficient and stable operation and maximizing flexibility of power control. In general, pole control level (PCL), including constant current (CC) and constant extinguish angle (CEA) and constant voltage (CV) and so on, performs an important function in HVDC dynamic characteristics. These controllers only use local measurable variables and can not directly communicate with each other to meet real time control requests. The responsibility of coordination and communication between both terminals is set in upper control level [2]. There is no difficulty to reach the hierarchical control target in linear control strategy. On account of nonlinear characteristics of HVDC system [3], linear control methods can not entirely satisfy the transient control requests. Nonlinear control methods are introduced to study HVDC system, such as the differential geometric method, the direct feedback linearization (DFL) method and inverse system method. However, these methods usually put the HVDC and generators together to design centralized controllers, which result in some immeasurable and remote variables introduced into the nonlinear controller, and destroy the hierarchical control structure of HVDC system applied in practical projects [4-6]. To eliminate the shortage of nonlinear control methods mentioned above, this paper presents a nonlinear control method that accomplishes decoupled control for the PCL controllers of rectifier and inverter terminals and meets the hierarchical control requirements of HVDC system. In addition, the modulation control is introduced into the nonlinear control system to compose a multi-object controller to improve stability of AC/DC system and validate the adaptability in practical control system. Finally, the simulation of a simplified AC/DC parallel power system, originated from a practical power system in south of China, verifies that the nonlinear control method proposed can effectively improve the stability of the HVDC system as well as the whole system. III. NONLINEAR MODEL OF HVDC In electromechanical simulation, T-type equivalent circuit model shown in Fig. 1 is used to simulate DC line.

Abstract--Based on inverse system method, a nonlinear control strategy for HVDC system is presented in this paper, only using local measurable variables as the feedback and complying with the hierarchical structure, to solve the application difficulties. In order to improve the dynamic performance of AC/DC system, the modulation signal is introduced into the nonlinear controller to achieve multi-object control. The simulation results of the simplified Tian-Guang AC/DC parallel system verify that the nonlinear control strategy can effectively improve the stability of the AC/DC system, and can be conveniently applied into the practical HVDC control system. Index Terms--Hierarchical control, nonlinear control control, HVDC, modulation

I. NOMENCLATURE The nomenclature in this paper is listed below.

Idr: direct current at the rectifier side. Idi: direct current at the inverter side. UC: voltage of the equivalent capacitor of DC line. Udr: direct voltage at the rectifier side. Udi: direct voltage at the inverter side. Uar: AC bus voltage at rectifier side. Uai: AC bus voltage at inverter side. Ldr: smoothing reactors at rectifier side. Ldi: smoothing reactors at inverter side. Ld: 1/2 equivalent inductance of DC line. Rd: 1/2 equivalent resistance of DC line. Xr: equivalent commutating resistance at rectifier side. Xi: equivalent commutating resistance at inverter side. C: equivalent capacitor of DC lines. Ldr: sum of the Ldr and Ld. Ldi: sum of the Ldi and Ld. II. INTRODUCTION

: ignition delay angle of the rectifier. : ignition advance angle of the inverter.

VDC system has been a fully developed technique, and playing an important role in not only power transmission, but also system stability [1]. As is well known that thyristor valve converters can modify rapidly in a wide range, how to exert their dynamic ability to improve the stability of the AC/DC system becomes an attractive field in

Xiaojiang Guo, Guangquan Bu and Shiying Ma are with Power System Research Center, China Electric Power Research Institute (CEPRI), Beijing 100192, China. (e-mail: guoxiaojiang@epri.ac.cn, bugquan@epri.ac.cn, and mashiy@epri.ac.cn).

2
I dr Ldr Ld Rd Rd Ld Ldi I di

derivative of control output y till the functions explicitly containing control inputs u.
AC system

AC system

U dr

UC

U di

 , I , I , ,U ,U  ,u ) y1 = f1 ( I  dr dr di ar ar    2 = f 2 ( I di , I di , ,U ai ,U ai , u ) y

(3)

Fig. 1. The Equivalent Circuit of HVDC Transmission System

According to the circuit, the quasi-steady-state model of HVDC system in reference [7] considers the smoothing reactor and DC line equivalent reactor as one element to simulate the dynamic performance. The firing pulse generation process for HVDC converters at both sides is simplified as one-order inertia model respectively to describe the time delay of ignition angles. The differential function of HVDC system is shown as (1).
 1 3 2 3 ( Rd I dr U C + U ar cos X r I dr ) I dr = L dr 1 3 2 3  = I ( Rd I di + U C U ai cos X i I di ) di Ldi 1  U C = ( I dr I di ) C K 1 = ( + 0 ) + u T T  1 K ( + 0 ) + u = T T
T

(1)

In (1), x=[Idr, Idi, UC, , ]T is the state variables, and u=[u, u] is the control input. [K , K] and [T, T] are the magnification ratio and time constant of one order inertia models, respectively. IV. NONLINEAR DECENTRALIZED CONTROL BASED ON INVERSE
SYSTEM METHOD

In references [4-6], the dynamic functions of HVDC and generators are put together to design nonlinear controller, and the quasi-steady-state model of HVDC system is simplified to some extent. These methods not only use remote or immeasurable variable as feedback information, but also destroy the hierarchical control structure of HVDC system, which is difficult to make application in practical power system and consider more detailed model of HVDC further. In this section, inverse system theorem is selected as nonlinear linearization method to design controllers [8], and a new nonlinear control strategy for HVDC system is presented in different control modes to overcome the shortages. A. Constant Current Constant Extinction Angle With CC-CEA control mode, the output equations can be written as (2). y1 = I dr (2) 2Xi y I = = arccos(cos + ) di 2 U ai At first, invertibility of the system is analyzed. According to equations (1) and (2), the direct relationship between output variables and state variables can be built up by calculating the

Equation (3) includes the control input u explicitly and some local measurable variables. Therefore, the determinant of Jacobian matrix of the partial derivative of (3) to control input u is shown in (4).  1 y y   1 (4) 3 2 K K U ar sin sin u u det = y  2 y 2 2Xi LdrT T 1 (cos + I di ) 2 u u U ai When HVDC and other parts of system are operated in normal control range, there exists (min, /2) and (min, /2). The determinant of the Jacobian matrix is unequal to zero. According to the implicit function theorem, the HVDC system with CC-CEA control mode is invertible, and the control input u can be exactly solved from (3). Due to space limited, the simplified format is given in (5), which is the inverse system of controlled system. 1   ,I  , I , I , ,U ,U  ) u = f1 ( I dr dr dr di ar ar (5) 1    u f ( I , I , , U , U ) = 2 di di ai ai According to (5), it is found that the control input functions are composed of measurable variables. However, the first function in (5) contains the variable Idi at the inverter side as one of the feedback variables to the rectifier control input. If the control input is directly used to construct nonlinear controller, the original hierarchical structure of HVDC control system will be destroyed. Fortunately, since the DC currents at both sides are almost the same in practical system, it is reasonable that the current at rectifier side can be substituted for the current at inverter side in the first function of (5). Thus, the control inputs for both sides can be described only by local measurable variables, and the HVDC control structure is maintained. The controlled system can be linearized and decoupled into two SISO pseudo-linear systems by cascading the inverse system with it. The linearization structure is shown in Fig. 2.
AC SYSTEM
 ar , U  ai U ar ,U ai ,U

Pseudo-linear Systems  Idr

S 1 S 1

I dr Idr  I

I dr

 I dr
Linearization

dr


Inversion System

f1 () 1 f 2 ()
1

S 2

I dr

HVDC System

u
di , I di , , I

Fig. 2. The Linearization Structure of HVDC

The pseudo-linear systems can be expressed by function (6). G1 ( s ) = 1 / s 2 (6) G ( s ) = 1 / s 2 To obtain good dynamic performance after the disturbance to system, the traditional linear control method is used to design controllers for the pseudo-linear systems. The

nonlinear closed loop control structure based on inverse system theorem is shown in Fig. 3.
AC SYSTEM  ,U  U ar ,U ai ,U ar ai
I dr 0 u I dr

Pmax REC
1 1 + sT f 1

s 1 + sTd 1

1 + T1 s 1 + T2 s

1 + T3 s 1 + T4 s

K1 Pmin

Pmod

Fig. 4. The Frequency Modulation Control Structure

PI PI Inversion System

HVDC System

 ,I ,,I di di

Fig. 3. The Nonlinear Closed Loop Control Structure of HVDC

B. Constant Current & Constant Voltage To illuminate flexibility of the nonlinear control method, the CC-CV control mode is selected to design the nonlinear controller for HVDC system. The output function can be described by (7). y1 = I dr (7) y2 = U di In the same vein, the derivative function of control output y explicitly containing the control inputs can be deduced and written as (8).  , I , I , ,U ,U  ,u ) 1 = f 1 ( I y  dr dr di ar ar (8)    = ( , , , , ) y f I U U u 2 di ai ai 2 It is easily proved that the determinant of Jacobian matrix of the partial derivative (8) to control input u is unequal to zero. And the inverse system of HVDC system in the CC-CV control mode can be written as (9). 1   ,I  , I , I , ,U ,U  ) u = f1 ( I dr dr dr di ar ar (9) 1    u f ( I , , U , U U ) = 2 di ai ai di The current at rectifier side still can be substituted for the current at inverter side in the first function of (9). So, the inverse system can be conveniently used to design HVDC nonlinear controller for different control mode, and the controllers in PCL strictly use measurable and local variables as the feedback information. The control method proposed can be embedded in normal HVDC hierarchical structure. V. MODULATION SIGNAL APPLLIED IN NONLINEAR
CONTROLLER

In the Fig. 4, Tf1 is the time constant of the measure block; and T1, T2, T3, T4 are the time constant of the lead-lag blocks; Pmax and Pmin are the values of power output limiter. The two lead-lag blocks increase phase residue of system. In general, the CC-CEA and CC-CV mentioned in section belong to the PCL, and the modulation output of HVDC is as the supplementary input introduced into the master controller, which is located at the upper control level in the hierarchical structure. The nonlinear control structure in CCCEA control mode with frequency modulation is shown in Fig. 5.
Pmax Pmod Frequency Modulation Controller Pmin Pdc set REC

1 1 + T0 s

U dc

AC SYSTEM
 ,U  U ar , U ai ,U ar ai u I dr

I dr 0

PI PI

Inversion System

HVDC System

 ,I , , I di di

Fig. 5. The Nonlinear Controller with Modulation Control for HVDC

In Fig. 5, the nonlinear controller with modulation controller can achieve multi-object control for AC/DC system. Similar controller can be accomplished in CC-CV control mode, and more complex control structure considering switch among different control modes with the modulation control can be easily constructed. VI. SIMULATION STUDY
G1

Section gives a nonlinear control method for HVDC system in different control modes. As the power transmitted by HVDC can be quickly modified, the modulation control methods for HVDC are usually introduced to improve the system stability, such as power modulation, frequency modulation and ignition angle modulation, etc. These methods are mostly based on the linear control strategies. In this paper, the modulation control with the nonlinear controllers is studied to improve the system dynamic performance, and prove the nonlinear control method presented above can be fit for different control scenarios. Due to the space limited, frequency modulation is only considered as the example. Usually, the frequency modulation is used to improve damping of AC/DC system after disturbance. The control structure of the frequency modulation is given in Fig. 4.

500kV/220kV

DC line

220kV/500kV

G5

G2 G3 G4

Fig. 6. The Network of Tian-Guang AC/DC Parallel System

In this paper, Tian-Guang AC/DC parallel system in China South grid in [9] is employed as the study object to test the validity of the nonlinear control method with modulation control proposed. To be simulated conveniently, the system is

simplified as a power system consisted of AC/DC parallel system and five equivalent machines shown in Fig. 6.
Power Angle of G2 (Deg.)

95
Linear Control Nonlinear Control without Modulation

TABLE I PARAMETERS IN TIAN-GUANG AC/DC PARALLEL SYSTEM Parameters of generators xd Xq X d Ra Td0 H Value 2.0 1.889 0.333 0.0028 8.0s 6.5 Parameters of HVDC model Value (/36, /3) (/9, /2) 0.05s 0.05s 1.0 1.0

90

Nonlinear Control with Modulation

85

80

T T K K

75

70

65 0 10 20 30 40 50

Time (s)

The parameters of generators and HVDC system in study are shown in Table I, and the transfer function of frequency modulation controller is given in (10). 0.5s (1 + 0.125s ) 2 (10) (s) = (1 + 0.15s )(1 + 10 s )(1 + 0.05s ) 2 In simulation, the system operates in the time sequence: (1) in the beginning, the system operates steady state; (2) at 1.0 second, a three-phase symmetrical short-circuit to ground on one of the parallel lines, between the 500kV buses of G2 and G3 in Fig. 6, occurs near the rectifier side; (3) the fault is cleared after 0.1s later, and the AC/DC system restores at the initial operation state. The simulation results are given in Fig. 7 Fig. 9.
2200
Linear Control Nonlinear Control without Modulation

Fig. 9. Power Angle of G2 Equivalent Generator

In the Figures shown above, the system outputs by the nonlinear controller with modulation are compared with the traditional linear controller and nonlinear controller without modulation. It is clearly found that the nonlinear controller with or without frequency modulation can effectively enhance system damping and improve system stability. The oscillation of system can be quickly restrained with the help of the nonlinear controller. Additionally, the nonlinear controller with frequency modulation can further improve AC/DC system dynamic performance. VII. CONCLUSIONS Based on inverse system theorem, this paper gives a nonlinear control strategy for HVDC system in different control mode, such as CC-CEA and CC-CV. To improve AC/DC system dynamic performance further, the modulation signal is introduced into the nonlinear control system. The control strategy, only using local measurable variables as the feedback, complies with the hierarchical structure of traditional HVDC control system, and can be easily applied into the practical system. The simulation results of TianGuang AC/DC parallel system verify the validity of the control strategy proposed in this paper. VIII. REFERENCES
[1] [2] [3] [4] C.W. Taylor, S.Lefebvre, HVDC controls for system dynamic performance, IEEE Transactions on Power Systems, vol. 6, No. 2, pp. 743-752, 1991. P. Kundur, Power system stability and control, New York: McGraw-Hill Inc., 1994, pp. 515. Denis Lee H. A., G. Andersson, Nonlinear dynamics in HVDC systems, IEEE Transactions on Power Delivery, vol. 14, No. 4, pp. 1417-1426, 1999. Chunwen Li, Yanhong Liu, A nonlinear feedback controller for the HVDC system with the inverse system method, Automation of Electric Power Systems, 2000, vol. 24(22), pp. 1- 4. Qiang Lu, Shengwei Mei, Yuanzhang Sun, Nonlinear control of electric power system, Tsinghua University Press, 2008, pp. 385-389. Hongzhi Cai, Zhihua Qu, Deqiang Gan, A nonlinear robust HVDC control for a parallel AC/DC power system, Computers and Electrical Engineering, 2003, vol. 29, pp. 135-150. Naichao Chang, Zhizhong Guo, Bolong Li, A New Modeling Method for Nonlinear Decentralized Robust Control of Power Systems, Proceedings of International Conference on Power System Technology, 2002, pp. 13-17. Kaifeng Zhang, Xianzhong Dai, Strict Decentralized Nonlinear Controller for Synchronous Generator Set, Power India Conference, IEEE, 2006.

2000

Nonlinear Control with Modulation

DC Power (MW)

1800

1600

1400

1200 0 10 20 30 40 50

Time (s)

Fig. 7. The Power Transmitted by HVDC System

2.2
Linear Control Nonlinear Control without Modulation

DC Current at Rectifier Side (kA)

2.0

Nonlinear Control with Modulation

1.8

1.6

1.4

[5] [6]

1.2 0 10 20 30 40 50

Time (s)

[7]

Fig. 8. The DC Current at Rectifier Side [8]

5 [9] Yong Jing, Zhen Ren, Jun Chen, Shiying Ma, Study on operation stability for Tian-Guang AC/DC hybrid system, Electric Power of China, 2002, vol. 35, pp. 46-49.

IX. BIOGRAPHES
Xiaojiang Guo was born in Shanxi province of China, on November 23, 1977. He received the M.S. degree from Southeast University, Nanjing of China, in 2004. Since 2004, he has been an engineer in Power System Research Center, China Electric Power Research Institute (CEPRI), Beijing of China. His current research is in HVDC, FACTS and power system control. Guangquan Bu was born in Jilin province of China in 1962. He received his B.S. degree from Xian Jiaotong University in 1984, China. Professor Bu took part in CEPRI in 1984, and he is the director of Power System Research Center of CEPRI. His current research includes power system control. Shiying Ma was born in Shandong province of China in 1969. He received his B.S. degree from Xian Jiaotong University in 1990 and M.S. degree from CEPRI in 1996. His current research field includes power system voltage stability.