Journal of ELECTRICAL ENGINEERING, VOL. 61, NO.

1, 2010, 29–36

DYNAMIC PERFORMANCE OF A BACK–TO–BACK HVDC

STATION BASED ON VOLTAGE SOURCE CONVERTERS
Mohamed Khatir — Sid-Ahmed Zidi
∗
Samir Hadjeri — Mohammed-Karim Fellah

The recent developments in semiconductors and control equipment have made the voltage source converter based high
voltage direct current (VSC-HVDC) feasible. This new DC transmission is known as “HVDC Light or “HVDC Plus by
leading vendors. Due to the use of VSC technology and pulse width modulation (PWM) the VSC-HVDC has a number of
potential advantages as compared with classic HVDC. In this paper, the scenario of back-to-back VSC-HVDC link connecting
two adjacent asynchronous AC networks is studied. Control strategy is implemented and its dynamic performances during
disturbances are investigated in MATLAB/Simulink program. The simulation results have shown good performance of the
proposed system under balanced and unbalanced fault conditions.
K e y w o r d s: HVDC, voltage source converter (VSC), IGBT, SPWM, control design

1 NOMENCLATURE are: the STATCOM, the SSSC, the UPFC, and the volt-
age source converter based HVDC transmission (VSC-
UL the sinusoidal AC voltage in the AC network HVDC) [2, 3].
UV (1) the fundamental line to line voltage (valve The VSC-HVDC system is the most recent HVDC
side) technology. It consists of two VSC, one of which oper-
XL the leakage reactance of the transformer ates as a rectifier and the other as an inverter. The two
δ phase shift between UL and UV (1) converters are connected either back-to-back or joined by
IV source current a DC cable, depending on the application. Its main func-
L, R phase reactor inductance and resistance
tion is to transmit a constant DC power from the rectifier
C DC side capacitance
station to the inverter station, with high controllability.
ω source voltage angular frequency
m modulation index The VSC-HVDC has several main advantages against the
P, Q AC active, reactive power inputs conventional HVDC based on thyristors. They are [4, 5]:
Ud , Id , Pd DC side voltage, current, power 1. Independent control of the active and reactive power
α, β stationary α – β axis output from each terminal.
d, q synchronous d– q axis 2. Reduced requirements for harmonic filters.
p, n positive, negative components
∗ reference value for controller 3. Improvements of the power quality and system stabil-
ity.
4. Elimination of the requirement for a local power gen-
eration.
2 INTRODUCTION
These features make the VSC-HVDC attractive for con-
nection of weak AC system, island networks, and renew-
The availability of the modern semiconductor devices able energy sources, which may be located in remote area,
such as the Insulated Gate Bipolar Transistor (IGBT) [1] to a main grid.
has led to the development of a new generation of power
electric converters. These devices, unlike the conventional This paper presents the elements of back-to-back VSC-
thyristors which have no intrinsic turn-off ability, are of HVDC where the converter stations are located at the
the fully controlled type. The most common convert- same site and transmission line or cable is not needed.
ers, which employ the self commutating, high voltage, The paper wills first give a brief description about the
high current, and high switching frequency power elec- VSC-HVDC transmission system and its terminal control
tronic devices, are the Voltage Source Converters (VSC). functions. Following that, typical operating contingency
A number of FACTS controllers which use VSC as their scenarios are simulated in order to evaluate transient per-
basic building block have been already in operation in formance. The simulation results confirm that the control
various parts of the world. The most popular controllers strategy has fast response and strong stability.

∗ Electrical Engineering Department Intelligent Control & Electrical Power Systems Laboratory (ICEPS) Djillali Liabes University, Sidi
Bel-Abbes, 22000, Algeria, med [email protected], [email protected], [email protected], [email protected]

c 2010 FEI STU

ISSN 1335-3632
30 M. Khatir — S.A. Zidi — S. Hadjeri — M.K. Fellah: DYNAMIC PERFORMANCE OF A BACK-TO-BACK HVDC STATION . . .

3 PRINCIPLE OF VSC OPERATION 4 SYSTEM UNDER STUDY

The fundamentals of VSC transmission operation may A 200 MW (±100 kV DC) asynchronous interconnec-
be explained by considering each terminal as a voltage tion is used to transmit power from a 230 kV, 2000 MVA,
source connected to the AC transmission network via a 60 Hz network having a SCR of 10 to 230 kV, 1000 MVA,
three-phase reactor. The two terminals are interconnected 50 Hz network having a SCR of 5. As shown in Fig. 2, it
either back-to-back or through a DC link, as schemati- consists of DC capacitors, two converters, passive high-
cally shown in Fig. 1. pass filters, phase reactors, and transformers.

4.1 The AC systems

The AC networks, both at the rectifier and inverter
end, are modeled as infinite sources separated from their
respective commutating buses by system impedances.
The impedances are represented as L–R/L networks hav-
ing the same damping at the fundamental and the third
harmonic frequencies. The impedance angles of the re-
Fig. 1. Basic VSC transmission ceiving end and the sending end systems are selected to
be 80 degrees. This is likely to be more representative in
The VSC converter can be represented as a variable the case of resonance at low frequencies [6].
AC voltage source where the amplitude, the phase and
the frequency can be controlled independently of each 4.2 The Converters
other. It means that the VSC bridge can be seen as a The converters are VSC employing IGBT power semi-
very fast controllable synchronous machine with the in- conductors, one operating as a rectifier and the other
stantaneous phase voltage (UV in Fig. 1), as described as an inverter. The rectifier and the inverter are three-
by the following equation level Neutral Point Clamped (NPC) VSC converters us-
ing close IGBT/Diodes. The two converters are connected
1 either back-to-back connection (no DC cable).
UV = Ud m sin(ωt + δ) + harmonic terms. (1)
2
4.3 The transformers and phase reactors
Variables m and δ can be adjusted independently by A 200 MVA converter transformer (Yg /∆) is used to
the VSC controller to give any combination of voltage permit the optimal voltage transformation. The 0.15 pu
magnitude and phase shift in relation to the fundamental phase reactor with the 0.15 pu transformer leakage reac-
frequency voltage in the AC system. As a result, the tance permits the VSC output voltage to shift in phase
voltage drop (∆V shown in Fig. 1) across the reactor and amplitude with respect to the AC system Point of
(XL shown in Fig. 1) can be varied to control the active Common Coupling (PCC) and allows control of converter
and reactive power flows. active and reactive power output. The tap position is
rather at a fixed position determined by a multiplication
The active power flow between the converter and the factor applied to the primary nominal voltage of the con-
network can be controlled by changing the phase angle verter transformers. The multiplication factors are chosen
(δ ) between the fundamental frequency voltage generated to have a modulation index around 0.85 (transformer ra-
by the converter (UV (1) ) and the voltage (UL ) on the tios of 0.915 on the rectifier side and 1.015 on the inverter
bus. The power is calculated according to equation (2) side).
assuming a lossless reactor (XL ).
4.4 AC filters
UL UV (1) To meet AC system harmonic specifications, AC fil-
P = sin δ . (2)
XL ters form an essential part of the scheme. They can be
connected as shunt elements on the AC system side or
The reactive power flow is determined by the amplitude the converter side of the converter transformer. Since
of UV (1) which is controlled by the width of the pulses there are only high frequency harmonics, shunt filtering
from the converter bridge. The reactive power is calcu- is therefore relatively small compared to the converter
lated according to equation (3). The maximum funda- rating. The 40 Mvar shunt AC filters are 27th and 54th
mental voltage out from the converter depends on the high-pass tuned around the two dominating harmonics.
DC voltage.
4.5 DC capacitors
UL (UL − UV (1) cos δ) On the DC side there are two capacitor stacks of the
Q= . (3) same size (70 µF). The objective for the DC capacitor is
XL
primarily to provide a low inductive path for the turned-
off current and energy storage to be able to control the
 Journal of ELECTRICAL ENGINEERING 61, NO. 1, 2010 31

Fig. 2. Asynchronous back to back HVDC link

transformations block. In steady state, sin(Θ) is in phase

with the fundamental (positive sequence) of the α com-
ponent and phase A of the point of common coupling
voltage (Uabc ).

5.2 Outer active and reactive power and DC

voltage loop

The active power (at station 1) or the DC voltage (at

station 2) is controlled by the control of δ and the reactive
power is controlled by the control of the modulation index
(m). The instantaneous active and reactive power of the
inverter on the valve side can be expressed in terms of
the dq component of the current and the voltage on the
valve side as follows
3 3
Re udq
∗dq


p= L iv = uLd ivd + uLq ivq , (4)
2 2
3 3
p = Im udq
∗dq


L iv = −uLdivq + uLq ivd . (5)
2 2
If the reference of the dq -frame is selected such that
Fig. 3. Asynchronous back to back HVDC link the quadrature component of the voltage is being very
small and negligible (uLq ≈ 0 ) then the equations (4)
and (5) indicate that the active and the reactive power
power flow. The capacitor also reduces the voltage ripple are proportional to the d and q component of the cur-
on the DC side. rent respectively. Accordingly, it is possible to control the
active power (or the DC voltage) and the reactive power
(or the AC bus voltage) by control of the current com-
5 CONTROL STRATEGY
ponents ivd and ivq respectively. The active and reactive
power and voltage loop (shown in Fig. 4) contains the
For the convenience of the analysis, we have the follow- outer loop regulators that calculate the reference value of
ing assumption: the station 1 controls both the active and the converter current vector (Idq∗
) which is the input to
reactive power exchanges between the AC system and DC
the inner current loop.
link. The station 2 has the DC voltage and the reactive
power as its control goals [7]. Figure 3 shows an overview
diagram of the VSC control system and its interface with
the main circuit. The converter 1 and converter 2 con-
troller designs are identical. The two controllers are inde-
pendent with no communication between them.

5.1 Phase locked loop

The phase locked loop (PLL) is used to synchronise

the converter control with the line voltage and also to
compute the transformation angle used in the d– q trans-
formation. The PLL block measures the system frequency
and provides the phase synchronous angle Θ for the d– q Fig. 4. Outer active and reactive power and DC voltage loop
32 M. Khatir — S.A. Zidi — S. Hadjeri — M.K. Fellah: DYNAMIC PERFORMANCE OF A BACK-TO-BACK HVDC STATION . . .

and
   R  1
−L ω

0
 
d ivdn ivdn L uvdn
= −
dt ivqn ω −RL
ivqn 0 L1 uvqn
1
0
 
uLdn
+ L 1 . (10)
0 L uLqn

The positive and negative sequence voltages of the

VSC side are obtained from (9) and (10):

d
uvdp = uLdp − Rivdp + ωLivqp − L ivdp , (11)
dt
d
uvqp = uLqp − Rivqp − ωLivdp − L ivqp , (12)
dt

and

d
uvdn = uLdn − Rivdn − ωLivqn − L ivdn , (13)
Fig. 5. Inner Current Controller
dt
d
uvqn = uLqn − Rivqn − ωLivdn − L ivqn . (14)
dt
5.3 Inner current loop
The mean voltages over the sample period k to k + 1
For each of the phases we can write (Fig. 2) are derived by integrating (11), (12), (13) and (14) from
kTs to (k + 1)Ts and dividing by Ts (where Ts is the
div
UL − u v = L + Riv . (6) sampling time).
dt

During unbalanced operation [8] the expression for the uvdp = uLdp − Rivdp +
voltage drop over the reactor (R, L ) holds for positive as L
well as for negative-sequence voltages and currents. The ωLivqp − {ivdp (k + 1) − ivdp (k)}, , (15)
Ts
voltages drops are described by the differential equation
uvqp = uLqp − Rivqp −
  R 
−L 0 0
 
ivaX ivaX L
d  ωLivqp − {ivqp (k + 1) − ivqp (k)} , (16)
ivbX  =  0 −R 0   ivbX  −
 
L Ts
dt
ivcX 0 0 −R ivcX
L
1
0 0
  1
0 0
  and
L uvaX L uLaX
 0 1 0   uvbX  +  0 1 0   uLbX  . (7)
L L
0 0 L1 uvcX 0 0 L1 uLcX uvdn = uLdn − Rivdn −
L
Where X = (p) for positive sequence and (n) for negative ωLivqn − {ivdn (k + 1) − ivdn (k)} , (17)
Ts
sequence. Equation (7) can be transformed to the α β -
uvqn = uLqn − Rivqn +
frame. This gives for the voltages and currents:
L
   R   1   ωLivqn − {ivqn (k + 1) − ivqn (k)} , (18)
d ivαX −L 0 ivαX L 0 uvαX Ts
= −
dt ivβX 0 −RL
ivβX 0 L1 uvβX
1   By assuming linear current and constant network voltage
0 uLαX
+ L 1 . (8) (the network voltage varies very little during a switching
0 L uLβX
time period) during one sample period Ts we obtain from
(15) through (18):
Equation (8) can be further transferred into the rotating
dq -frame:
R
uvdp (k + 1) = uLdp (k) − {ivdp (k + 1) + ivdp (k)}

d ivdp
 
−R ω
 
ivdp
1
0

uvdp
 2
= L − L 1 ωL
dt ivqp ω −RL
ivqp 0 L uvqp + {ivqp (k + 1) + ivqp (k)}
1   2
0 uLdp L
+ L 1 . (9) − {ivdp (k + 1) − ivdp (k)} , (19)
0 L uLqp Ts
 Journal of ELECTRICAL ENGINEERING 61, NO. 1, 2010 33

three level bridge balanced (ie, equal pole voltages) in

steady-state. Small deviations between the pole voltages
may occur at changes of active/reactive converter cur-
rent or due to nonlinearity on lack of precision in the
execution of the pulse width modulated bridge voltage.
Furthermore, deviations between the pole voltages may
be due to inherent unbalance in the circuit components
Fig. 6. DC Voltages and Currents of the Three-Level Bridge impedance. The DC midpoint current Id0 determines the
difference Ud0 between the upper and lower DC voltages
(Fig. 6).
The DC midpoint current determines the difference
between the upper and lower DC voltages, ie

d d
Id0 = −(Id1 + Id2 ) = −2C (Ud1 − Ud2 ) = −2C Ud0 .
dt dt
(23)
By changing the conduction time of the switches in a
pole it is possible to change the average of the DC mid-
point current Id0 and thereby control the difference volt-
age Ud0 . For example, a positive difference (Ud0 ≥ 0 )
can be decreased to zero if the amplitude of the reference
voltage which generates a positive midpoint current is in-
creased at the same time as the amplitude of the reference
voltage which generates a negative DC midpoint current
is decreased. This is done by the addition of an offset com-
Fig. 7. Positive-Sequence impedances of the two AC networks
ponent to the sinusoidal reference voltage. Consequently,
the bridge voltage becomes distorted, and to limit the
distortion effect, the control has to be slow. Finally, for
R
uvqp (k + 1) = uLqp (k) − {ivqp (k + 1) + ivqp (k)} better performance this function should be activated in
2
the station controlling the DC voltage.
ωL
− {ivdp (k + 1) + ivdp (k)}
2
L
− {ivqp (k + 1) − ivqp (k)} , (20) 6 SIMULATIONS RESULTS
Ts

R The dynamic performance of the transmission system

uvdn (k + 1) = uLdn (k) − {ivdn (k + 1) + ivdn (k)}
2 is verified by simulating the frequency response of the two
ωL AC systems and the following types of disturbances:
− {ivqn (k + 1) + ivqn (k)}
2 1. Steps on the regulators references,
L
− {ivdn (k + 1) − ivdn (k)} , (21) 2. Recovery from severe perturbations in the AC system.
Ts

R 6.1 Frequency response of the AC systems

uvqn (k + 1) = uLqn (k) − {ivqn (k + 1) + ivqn (k)}
2
ωL Figure 7 demonstrates the magnitude, seen from the
− {ivdn (k + 1) + ivdn (k)} busbar where the filter is connected, of the combined filter
2
L and AC network impedance as a function of frequency.
− {ivqn (k + 1) − ivqn (k)} , (22)
Ts Notice the two minimum impedances on the Z mag-
nitudes of the AC systems, these series resonances are
The control is based on (19), (20), (21) and (22), where
created by the 27th and 54th harmonic filters. They oc-
the voltages and currents at time (k + 1) are thus equal
cur at 1620 Hz and 3240 Hz on the 60 Hz system (1350 Hz
to the reference values at time step (k).
and 2700 Hz on the 50 Hz). The low principal natural fre-
5.4 DC voltage balance control quency, coinciding whit the parallel resonance at 262 Hz
on the rectifier side and 202 Hz on the inverter side, is
The difference between the DC side voltages (positive a determining factor in the development of overvoltages
and negative) are controlled to keep the DC side of the and interaction with the DC system.
34 M. Khatir — S.A. Zidi — S. Hadjeri — M.K. Fellah: DYNAMIC PERFORMANCE OF A BACK-TO-BACK HVDC STATION . . .

Fig. 8. Steps on the regulators references

6.2 Step responses troller. The AC voltages at the filter bus (UL1 and UL2 ),
can be kept constant except for some transients that oc-
In order to test the dynamic responses of the VSC- cur when both the step changes are applied. The active
HVDC regulators, three test cases have been studied: power flow is adjusted to the new setting within 30 ms.
– At t = 1.3 s the reference active power of converter At t = 2.0 s the reactive power step change is applied,
1 (P1∗ ) is changed from −0.5 pu to +0.5 pu, and at this step change cause transients on the DC voltage, but,
t = 2.5 s from +0.5 pu to +1.0 pu as expected, the step change of the active power causes a
– From t = 2.0 s to t = 2.7 s the reference reactive power much higher transient than that with the change in reac-
of converter 1 (Q∗1 ) is changed from 0.0 pu to −0.4 pu. tive power. At t = 2.5 s the active power change to 1 pu,
and later another step is also applied on the reference DC
– At t = 3.0 s the reference DC voltage of converter 2 is
voltage of the inverter at t = 3.0 s. The reactive power
changed from +1.0 pu to +0.095 pu.
and the DC voltage can track the references of the reac-
First the converter 1 active power reference value is tive power and the DC voltage. The active and reactive
changed from from −0.5 pu to +0.5 pu and then set to power responses are decoupled by the control design.
1.0 pu at t = 2.5 s. As can be seen from Fig. 8 the active
power can track the reference of the active power. 6.3 AC side perturbations
The transferred active powers at both sides change the
direction which causes transients on the DC voltage then A remote three phase to ground fault was first applied
returns to the reference value due to the DC voltage con- at t = 1.5 s during 0.12 s (5 cycles on 60 Hz system) at
 Journal of ELECTRICAL ENGINEERING 61, NO. 1, 2010 35

Fig. 9. AC side perturbations

station 1. A second perturbation follows. A single phase ing the fault. All oscillations in voltages and currents at
to ground fault was applied at t = 1.8 s during 0.10 s both systems, means that the phase voltages and cur-
(5 cycles on 50 Hz system) at station 2 in order to in- rents at both systems are unbalanced. During the severe
vestigate the behavior of VSC-HVDC during unbalanced
three-phase fault at station 2 at t = 2.1 s, the AC voltage
faults. Then, a three-phase to ground fault is applied at
station 2 at t = 2.1 s and is cleared at 5 cycles after the at station 2 side is decreased to 0.1 pu during the fault
fault, ie, at t = 2.2 s. Figure 9 presents the simulations and recovers fast and successfully to 1.0 pu voltage after
results. From the simulation, it can be noted that during clearing the fault. The transmitted power flow is reduced
the two first faults (t = 1.5 s at station 1 and t = 1.8 s to very low value during the fault and recovers to 1.0 pu
at station 2), the active power flow is 1.0 pu, transmit- after the fault. The DC voltage, which can be controlled
ted from converter 1 to converter 2, and is kept constant to 1.0 pu during the fault, has some oscillations at the
during the fault. The DC voltage drops and it contains
beginning of the fault and at clearing the fault, and its
an oscillation during the faults.
maximum transient value is about 1.2 pu. On the other
Consequently the transferred DC power contains also
the oscillation. During these two faults the transmitted hand, the phase currents at station 1 side decrease to low
power can be kept constant except a small oscillation dur- values to reduce the power flow.
36 M. Khatir — S.A. Zidi — S. Hadjeri — M.K. Fellah: DYNAMIC PERFORMANCE OF A BACK-TO-BACK HVDC STATION . . .

6 CONCLUSION [2] WEIMERS, L. : New Markets Need New Nechnology, Interna-

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vol. 2, 2000, pp. 873-877.
In this paper, we have presented the steady-state and
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dynamic performances of an asynchronous back-to-back
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[6] GOLE, A. M. : HVDC Course Notes, Manitoba HVDC Research
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fault the transmitted power can be kept constant except
a small oscillation during the fault. However, during a Received 23 April 2009
three-phase fault; the decreased voltage at the converter
terminals strongly reduces the power flow by the DC link. Khatir Mohamed was born in Ain Temouchent, Alge-
When the fault is cleared, normal operation is recovered ria, in 1977. He received the Eng. degree in electro technical
fast. engineering, and the Master degree from the Djillali Liabes
University of Sidi Bel-Abbes (Algeria), in 2002 and 2006 re-
spectively. He is now a PhD Candidate in the Electrical En-
APPENDIX gineering Department of Djillali Liabes University. His main
field of interest includes HVDC and FACTS.
Data for the system model Zidi Sid-Ahmed was born in Sidi Bel Abbes, Algeria. He
received the diploma of Electro technical Engineering degree
from the university of Science and Technology of Oran, Alge-
ria, the Master degree from the University of Djillali Liabes
of Sidi Bel-Abbes, Algeria in 1994, the PhD degree from the
University of Sidi Bel Abbes, Algeria, in 2005. He is currently
interested in the HVDC link, FACTS and transient in power
systems.
Station 1:
Hadjeri Samir received the Master degree in Electrical
The AC system 1 representing a strong system (2000 MVA,
Engineering from the University of Laval, Quebec, Canada, in
SCR = 10 ), consists of one source with an equivalent
1990, the PhD degree from the University of Sidi Bel-Abbes,
impedance of: R = 13.79 Ω, L1 = 31.02 mH, L2 = Algeria, in 2003. Since 1991 he has been a teaching member
62.23 mH. at the Department of Electrical Engineering of Djillali Liabes
Station 2: University. His research is focused on HVDC, FACTS and
The AC system 2 representing a strong system (1000 MVA, power system analysis.
SCR = 5 ), consists of one source with an equivalent Fellah Mohammed-Karim was born in Oran, Algeria,
impedance of: R = 27.58 Ω, L1 = 62.04 mH, L2 = in 1963. He received the Eng. degree in Electrical Engineering
124.46 mH. from the University of Sciences and Technology, Oran, Algeria,
in 1986, and the PhD degree from the National Polytechnic
Institute of Lorraine (Nancy, France) in 1991. Since 1992, he
References has been Professor at the University of Sidi Bel Abbes (Al-
geria) and Director of the Intelligent Control and Electrical
[1] SMITH, D. : Cross Sound HVDC Link Extends IGBT Power, Power Systems Laboratory at this University. His current re-
Modern Power Systems — Transmission & Distribution, Octo- search interest includes power electronics, HVDC links, and
ber 2000, pp. 31–36. drives.