Control of HVDC Transmission Systems: From Theory to Practice and Back
Authors
Abstract
The problem of modeling and control of multi-terminal high-voltage direct-current transmission systems is addressed in this chapter, which contains three main contributions. First, to propose a unified, physically motivated, modeling framework—based on port-Hamiltonian systems representations—of the various network topologies used in this application. Second, to prove that the system can be globally asymptotically stabilized with a decentralized PI control that exploits its passivity properties. Close connections between the proposed PI and the popular Akagi’s PQ instantaneous power method are also established. Third, to reveal the transient performance limitations of the proposed controller that, interestingly, is shown to be intrinsic to PI passivity-based control. The performances of the controller are verified via simulations on a three-terminal benchmark example.
Keywords
HVDC Transmission; High Voltage Direct Current (HVDC); port-Hamiltonian Model; HVDC System; Zero Dynamics
Citation
- ISBN: 9783319209876
- Publisher: Springer International Publishing
- DOI: 10.1007/978-3-319-20988-3_9
BibTeX
@inbook{Zonetti_2015,
title={{Control of HVDC Transmission Systems: From Theory to Practice and Back}},
ISBN={9783319209883},
ISSN={1610-7411},
DOI={10.1007/978-3-319-20988-3_9},
booktitle={{Mathematical Control Theory I}},
publisher={Springer International Publishing},
author={Zonetti, Daniele and Ortega, Romeo},
year={2015},
pages={153--177}
}
References
- Abbas, A. M. & Lehn, P. W. PWM based VSC-HVDC systems — A review. 2009 IEEE Power & Energy Society General Meeting 1–9 (2009) doi:10.1109/pes.2009.5275751 – 10.1109/pes.2009.5275751
- Akagi, H., Watanabe, E. H. & Aredes, M. Instantaneous Power Theory and Applications to Power Conditioning. (2006) doi:10.1002/0470118938 – 10.1002/0470118938
- Andreasson, M. et al. Distributed Voltage and Current Control of Multi-Terminal High-Voltage Direct Current Transmission Systems. IFAC Proceedings Volumes vol. 47 11910–11916 (2014) – 10.3182/20140824-6-za-1003.02316
- Bucher, M. K., Wiget, R., Andersson, G. & Franck, C. M. Multiterminal HVDC Networks—What is the Preferred Topology? IEEE Transactions on Power Delivery vol. 29 406–413 (2014) – 10.1109/tpwrd.2013.2277552
- Carrasco, J. M. et al. Power-Electronic Systems for the Grid Integration of Renewable Energy Sources: A Survey. IEEE Transactions on Industrial Electronics vol. 53 1002–1016 (2006) – 10.1109/tie.2006.878356
- S. Chatzivasileiadis, D. Ernst, G. Andersson, The global grid. CoRR abs/1207.4096 (2012)
- H. Chen, Z. Xu, F. Zhang, Nonlinear control for VSC based HVDC system. in Power Engineering Society General Meeting. IEEE, p. 5, 2006
- Chen, Y., Dai, J., Damm, G. & Lamnabhi-Lagarrigue, F. Nonlinear control design for a multi-terminal VSC-HVDC system. 2013 European Control Conference (ECC) 3536–3541 (2013) doi:10.23919/ecc.2013.6669665 – 10.23919/ecc.2013.6669665
- Escobar, G., van der Schaft, A. J. & Ortega, R. A Hamiltonian viewpoint in the modeling of switching power converters. Automatica vol. 35 445–452 (1999) – 10.1016/s0005-1098(98)00196-4
- Fiaz, S., Zonetti, D., Ortega, R., Scherpen, J. M. A. & van der Schaft, A. J. A port-Hamiltonian approach to power network modeling and analysis. European Journal of Control vol. 19 477–485 (2013) – 10.1016/j.ejcon.2013.09.002
- Flourentzou, N., Agelidis, V. G. & Demetriades, G. D. VSC-Based HVDC Power Transmission Systems: An Overview. IEEE Transactions on Power Electronics vol. 24 592–602 (2009) – 10.1109/tpel.2008.2008441
- Francis, B. & Zames, G. On H<sup>∞</sup>-optimal sensitivity theory for SISO feedback systems. IEEE Transactions on Automatic Control vol. 29 9–16 (1984) – 10.1109/tac.1984.1103357
- Gomis-Bellmunt, O., Liang, J., Ekanayake, J., King, R. & Jenkins, N. Topologies of multiterminal HVDC-VSC transmission for large offshore wind farms. Electric Power Systems Research vol. 81 271–281 (2011) – 10.1016/j.epsr.2010.09.006
- T.M. Haileselassie, T. Undeland, K. Uhlen, Multiterminal HVDC for offshore windfarms control strategy. European Power Electronics and Drives Association, 2009
- Hernandez-Gomez, M., Ortega, R., Lamnabhi-Lagarrigue, F. & Escobar, G. Adaptive PI Stabilization of Switched Power Converters. IEEE Transactions on Control Systems Technology vol. 18 688–698 (2010) – 10.1109/tcst.2009.2023669
- Isidori, A. Nonlinear Control Systems. Communications and Control Engineering (Springer London, 1995). doi:10.1007/978-1-84628-615-5 – 10.1007/978-1-84628-615-5
- JAGERWALDAU, A. Photovoltaics and renewable energies in Europe. Renewable and Sustainable Energy Reviews vol. 11 1414–1437 (2007) – 10.1016/j.rser.2005.11.001
- Jayawardhana, B., Ortega, R., Garcia-Canseco, E. & Castanos, F. Passivity of Nonlinear Incremental Systems: Application to PI Stabilization of Nonlinear RLC Circuits. Proceedings of the 45th IEEE Conference on Decision and Control 3808–3812 (2006) doi:10.1109/cdc.2006.377132 – 10.1109/cdc.2006.377132
- S.G. Johansson, G. Asplund, E. Jansson, R. Rudervall, Power system stability benefits with VSC DC-transmission systems. In CIGRE Conference, Paris, France (2004)
- MP Kazmierkowski. M.P. Kazmierkowski, R. Krishnan, F. Blaabjerg, J.D. Irwin, Control in Power Electronics: Selected Problems (Academic Press Series in Engineering, Elsevier Science, 2002) (2002)
- Kirby, N. M. HVDC transmission for large offshore windfarms. Seventh International Conference on AC and DC Transmission vol. 2001 162–168 (2001) – 10.1049/cp:20010536
- Tzann-Shin Lee. Input-output linearization and zero-dynamics control of three-phase AC/DC voltage-source converters. IEEE Transactions on Power Electronics vol. 18 11–22 (2003) – 10.1109/tpel.2002.807145
- Lund, H. Large-scale integration of wind power into different energy systems. Energy vol. 30 2402–2412 (2005) – 10.1016/j.energy.2004.11.001
- Perez, M., Ortega, R. & Espinoza, J. Passivity-Based PI Control of Switched Power Converters. IEEE Transactions on Control Systems Technology vol. 12 881–890 (2004) – 10.1109/tcst.2004.833628
- R.T. Pinto, S.F. Rodrigues, P. Bauer, J. Pierik, Comparison of direct voltage control methods of multi-terminal dc (MTDC) networks through modular dynamic models. in Power Electronics and Applications (EPE 2011), Proceedings of the 2011–14th European Conference on, pp. 1–10 (Aug 2011)
- Qiu, L. & Davison, E. J. Performance limitations of non-minimum phase systems in the servomechanism problem. Automatica vol. 29 337–349 (1993) – 10.1016/0005-1098(93)90127-f
- Sanchez, S., Ortega, R., Bergna, G., Molinas, M. & Grino, R. Conditions for existence of equilibrium points of systems with constant power loads. 52nd IEEE Conference on Decision and Control 3641–3646 (2013) doi:10.1109/cdc.2013.6760443 – 10.1109/cdc.2013.6760443
- MM Seron. M.M. Seron, J.H. Braslavsky, G.C. Goodwin, Fundamental Limitations in Filtering and Control, 1st edn. (Springer Publishing Company, Incorporated, 2011) (2011)
- Shah, S., Hassan, R. & Sun, J. HVDC transmission system architectures and control - A review. 2013 IEEE 14th Workshop on Control and Modeling for Power Electronics (COMPEL) 1–8 (2013) doi:10.1109/compel.2013.6626396 – 10.1109/compel.2013.6626396
- D. Shuai, X. Zhang, Input-output linearization and stabilization analysis of internal dynamics of three-phase AC/DC voltage-source converters. In Electrical Machines and Systems (ICEMS), 2010 International Conference on, pp. 329–333, Oct. 2010
- Thomas, J. L. Analysis of a robust DC-bus voltage control system for a VSC transmission scheme. Seventh International Conference on AC and DC Transmission vol. 2001 119–124 (2001) – 10.1049/cp:20010529
- van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7 – 10.1007/978-1-4471-0507-7
- van der Schaft, A. Characterization and partial synthesis of the behavior of resistive circuits at their terminals. Systems & Control Letters vol. 59 423–428 (2010) – 10.1016/j.sysconle.2010.05.005
- van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. (2014) doi:10.1561/9781601987877 – 10.1561/9781601987877
- Yazdani, A. & Iravani, R. Voltage‐Sourced Converters in Power Systems. (2010) doi:10.1002/9780470551578 – 10.1002/9780470551578
- Zonetti, D., Ortega, R. & Benchaib, A. A globally asymptotically stable decentralized PI controller for multi-terminal high-voltage DC transmission systems. 2014 European Control Conference (ECC) 1397–1403 (2014) doi:10.1109/ecc.2014.6862419 – 10.1109/ecc.2014.6862419
- D. Zonetti, R. Ortega, A. Benchaib, Modeling and control of high-voltage direct-current transmission systems: from theory to practice and back. CoRR abs/1406.4392 (2014)