3,
August 1991
1147
S.
Arabi
D.Y. WOnQ
G.J. Roqers
Senior Member, IEEE
Ontario Hydro
700 University Ave
Toronto, Ontario
M5G 1x6
Canada
Abstract - HVdc transmission links and SVCs have
controllable characteristics with
potential
for
affecting system stability. To study these effects
and to design their controllers for improving system
stability, there is a need for their representation in
small signal stability programs as well as time
simulation programs.
In this paper, we address the
formulation of dc link and SVC models and their
controllers for small signal stability.
Several examples are studied to show the capability
and application of the small signal dc link and SVC
models. The small signal results are verified by time
domain simulation results of the same study cases.
Key Words:
HVdc Transmission, Static VAr Compensator,
Signal Stability, Eigenvalues, Modal Analysis.
Small
INTRODUCTION
High voltage direct current links are being used
extensively
in
interconnected
power
systems
worldwide.
They are used both to transfer power,
economically, over long distances, and to transfer
power between two systems which do not run in
synchronism. In North America the total capacity Of
HVdc links in 1987 was over 14, 000 MW [l] with
increases planned.
The real power flow through HVdc links, and the
reactive power absorbed by them, may be controlled by
varying the firing angles of their ac/dc converters.
Besides providing a means of power transmission, HVdc
links can also be used for controlling the damping of
the oscillations between
synchronous generators,
inherent in power systems.
Because of the fast controllability and high power
capacity of HVdc links, incorrectly designed controls
may degrade the performance of the system.
It is
important to be able to apply systematic design
techniques to HVdc controls. It is also important to
be able to use sufficiently detailed power system
models, so that both local and global effects of the
dc link controls can be studied.
Models of HVdc links have been available, for use in
time domain simulation programs, for some time. The
most extensive treatment of dc modelling in this type
of simulation is that developed under EPRI Project
RP1964-4 [2]. The use of transient stability programs
P Kundur
Fellow, IEEE
M.G. Lauby
Senior Member, IEEE
EPRI
3412 Hillview Ave.
Palo Alto, CA 94303
U.S.A.
1148
form of any device model in SSSP [ 3 ] isr
dxldt
A x + B S A v T +B, A V ,
A iT
= Cx-Y,AvT
-Y, AV,
where,
E
.
.
INPUTS
Bs is
between
cotrmas
a matrix
describing
the
interaction
the ac terminal voltage changes AV,
.._.._.........
.....
~
=!!?E
m
B,
is
a matrix describing the interaction
between the changes in remote bus voltages AVr
and the states,
AiT
is the vector of ac
changes at the ac terminals,
current
WEFITER
CoNlRoLS
injection
effective
self
admittance
of
the
FIGURE1
in
A i,
= AKx&+YYdcOL\EO
+AK,
Aa
(4)
where,
AK
The
HVdc
model
uses
the
normal
continuous
approximation to the dc converter [ 5 ] , linearized
about an
initial condition determined from an
initiating load flow. The dc line is modelled as a
"T" circuit and includes the resistance and inductance
of smoothing inductors.
The line charging may be
ignored if required, but the inductive component of
the line must be represented. The full line model
requires three states, the currents at the two
converters and the capacitor voltage.
The line model neglecting charging requires only a
single state, the dc line current.
Two separate
controllers are provided, one for the rectifier and
one for the inverter. The outputs of the controllers
are the respective converter firing angles.
The HVdc model of SSSP with user-defined controls is
shown in Figure 1. The program has also a standard
model option for use in initial planning studies or
when data or more specific controls are not available.
Idt = A,$&+
B d c ~ E O+ B, A a
(3)
where,
Xdc is a vector of dc network state variables,
Adc is the dc network state matrix, and
Bdc
and
Ba
are
matrices
describing
the
interaction between
the
commutation
voltage
changes AEo and converter firing angle changes
Aa respectively and the rate of change of xdc*
The converters are modelled using their well-known
steady-state algebraic equations
[ 5 ] , which may be
stated in matrix form as:
and
AKa
are
matrices
describing
the
influence of the dc network states and converter
firing angle changes respectively on the converter
ac current changes Aiac, and,
A E,
AVa:
+Z, A i,
1149
= AcxctBcAVb
= AKc~yb+BKc~u,
Aa
A U,
= CGx,+BG,Ai,+BG,av,+BG,av,t
(6)
(7)
AUb
(8)
CKCayb
(9)
BG,Aa
(10)
where,
xc is a vector of controllers state variables,
AC is the controllers state matrix,
BC
is a matrix describing
the
interaction
between the control block input changes Aub,
and the controllers states,
Cc
and
Dc
are
matrices
describing
the
influence of the controllers states and control
block input changes respectively on the control
block output changes Ayb,
AKc
and
BKc
are
matrices
describing
the
influence of the control block output changes and
controllers input changes Auo respectively on
the control block input changes,
CKc is a matrix describing the influence of the
control block output changes on the converter
firing angle changes,
CG is a matrix describing the influence of the dc
network states on the controllers input changes,
BG1
and
BG,
are
matrices
describing
the
influence of the converter ac current changes and
converter firing angle changes respectively on the
controllers input changes, and
BG2
and
BG3
are
matrices
describing
the
influence of the converter ac LT bus voltage
and
remote
bus
voltage
changes
changes AV
Avr
respectively on
the
controllers
input
changes.
Finally, the general form of the model is obtained by
AE~,
Aa,
dub,
Ayb,
and
eliminating
Auo in Equations (3) through (lo),
and combining
Xdc and xc into one array.
svc
= csvc A
%VC+
ysvc A vsvc
where,
CSVC is an array describing the influence of the
SVC
susceptance
on
the
SVC
current
change vector Aisvc,
YSVC
is
the
matrix, and,
effective
AVSVC is
vector.
SVC
the
self
bus
bus
admittance
voltage
VOLTAGE / P.F.
LOCAL
INPUTS
REGVIATOR
AND
MODULATION/
I
k
self
CCNTR~LS
FIGURE2
WUT
SVC MODELS
cl
CfTloN
change
1150
2x
- 2 a + sin(2x - 2 a )
R
BbVC = A Bm
F( a ) Aa
where,
F( a)
= - 28, (1
- cos 2 a
)/ E
(14)
RGURE 3
TABLE 1
EXAMPLES OF USE
Eigenvalue Analysis
The capabilities and application of the small signal
dc link and SVC models are demonstrated by considering
a small ac/dc system having 10 buses, 6 ac lines, 5
transformers, three detailed generator models, two
classical generator models, one two-terminal dc link,
and one SVC at the inverter bus.
A single line
diagram of the system is shown in Figure 3 .
Four cases have been studied.
The first case
represents the dc link in a form as close to a
functional model as is possible.
This is done by
forcing constant dc current and voltage by large dc
line inductance and capacitance. The changes of the
converter. firing angles are then linearized with
respect to the changes of their respective ac bus
7-7-
7-
1151
TABLE 2
RELATIVE
0.000
- _--
Functional DC
svc Models
svc ~ ~ , j ~
aid
i0.0125
~ t i I ~ 2.5934
~
0.2560
1.4522
I
1
u.uuu
0.1 16
1.000
::
a
W
0
-20.j
-10.
-100.
-1'40.6-180.6-220.
-260.61
-3oo.e
-3'40.0-380.0
Frequency1HZ I
.,
10
1152
Torsional Interactions
E.W.
Kimbark,
Direct
Willey, New York, 1971.
Transmission,
CONCLUSIONS
Because
of
the
controllable
nature
of
HVdc
transmission links and SVCs, and their potential for
affecting system stability, there is a need for their
representation in small signal stability programs as
well as time simulation programs.
Models of both
dc links and SVCs for use in time simulation programs
have been available for some time. In this paper, we
have addressed the formulation of dc links and SVCs
and their controllers for small signal stability.
Such models, with both standard and user-defined
control options, are available in the SSSP package
developed by Ontario Hydro under EPRI RP2447-1.
Current
[ll]
R (pu)
0.0
0.003
0.006
0.003
0.006
XQ (pu)
0.001
0.03
0.06
0.02
0.06
Bc (pu)
0.0
8.0
4.0
2.0
8.0
Transformers
XQ = 0.006 pu for T1 through T3
XQ = 0.004 pu for T4 and T5
ACKNOWLEDGEMENTS
The development of the SSSP package was fundedby EPRI,
under research project RP2447-1.
CaDac ito rs
C1 = 6.0 pu
c2 = 7.4 pu
REFERENCES
"Compendium of HVDC
schemes Throughout the
World", International conference on Large High
Voltage Electric Systems, CIGRE WG 04 of SC 14,
1987.
"Methodology for the Integration of HVDC Links in
Large AC Systems - Phase 2: Advanced Concepts",
EPRI EL-4365 CCM, RP 1964-2 User's Manual,
April 1987.
P. Kundur, G.J. Rogers, D.Y. Wong, L. Wang and
M.G. Lauby, "A Comprehensive Computer Program
for Small Signal Stability Analysis of Power
Systems", 9OWM 007-5, IEEE PES Winter Meeting,
Atlanta, February 1990.
R.A.
DeCarlo, and R.
Saeks, Interconnected
Dynamical Systems, Marcel Dekker, Inc., 1981.
r 7
PU,
Xq=1.91
XQ=o.16 pU,
Ra=O.O,
xd=1.94
x'dz0.29
PU,
~ ' ~ = 0 . 4 6 PUS
p";'*d=o. 19
pus
x"q'o.
19
PUP
T'do=7.3 S,
T'qo=0.7 S I
T"do=0.033 S,
T"qo=0.06 S,
H=3.8 MW.S/MVA,
D=1.0
pu of torque/pu of speed deviation, Based050 MVA.
IEEE Type'DC1 (DC Commutator) Exciter [91:
T*=O.15,
K E = ~ 0,
.
K~=19.0,
AEX=0.000003387,
B~x=2.1972,
K~=0.05,
V R m = 2 . 5 # VRMIN=-2.5, T~=0.06.
T~=0.65,
T~=2.0,
1153
Classical Generators
x'd=0.006 pu, H=40 for CG4 and 60 MW.S/MVA for CG5,
Dz1.0 pu of torque/pu of speed deviation, Base=100 MVA.
HVdc Link
Pdc=1440.0 MW, Vdc=800.0 kV,
Xc=7.6614 O h m s
Rdc=38.0 ohms, Ldc=420.0 mH,
cdc=6.75 PF
Each Smoothinq Inductor =750.0 mH
Static VAR ComDensator
TCR: 100.0 MVAr (linear)
TSC: 165.0 MVAr
Ixiitial BSVC: 50 MVAr Capacitive.
The controller block diagrams of the four study cases
are shown below.
- AVw
yGk
Actz (deg)
at bus #9
AVR, +&
-i+-W
Act, (deg)
at bus #7
5,655 1+1.2s
1+0.04s
Modulation signal
Sl
AldCl(kA)
+-+
l+O.lS
"dC2
*vk(
S1
SI closed
Act2 (deg)
at bus #9
Modulation sign;/