2004 Intemstional Conference on

-
Power System Technology POWERCON 2004
Slngapore, 21-24 November 2004

Power Flow Calculation of Power Systems

Incorporating VSC-HVDC
Li Gengyin, Member, IEEE, Zhou Ming, Student Member, IEEE, He Jie, Li Guaagkai, Liang Haifeng

asynchronous electrical power systems, improving power

Abstrrrct-Voltage Source Converter (VSC) based HVDC quality and so on [3]. Researchers ftom different countries
WSC-HVDC) technology is a kind of newly developed HVDC have made great achievements in the study of operation
transmission technotogy. This paper makes detailed analysis to mechanics and control pattems of VSC-HVDC. But the study
the basic principie and the structure of VSC-HVDC, and sets up
the steady-stnte mathematical model of VSC-FNDC, mder fixed
of power flow calculation of power systems incorporating
control parameters and fixed power flow control objectives VSC-HVDC is not accessible in articles so far.
respectively. Then a novel algorithm for power flow calculation Power flow calculation of power systems incorporating
bnsed on equivaleni i n j d o n power is deduced. A power flow VSC-HVDC is indispensable to the analysis of steady state
calculation program of power systems, incorporating VSC- characteristics of VSC-HVDC, to the planning, design,
HYDC transmission lines md multi-terminal VSC-HMC
networks, is developed based on the User Programming Interface
operation, management of VSC-HVDC systems, and relevant
(WPI) of Power System Analysis Software Package, PSASPIITPI. control strategy studies. Also, it contributes to VSC-HVDC
Numerical examples of EPRI 7-bus test system with a 2- transient characteristics study and relevant protection
terminal VSC-Hwc line and a test system with 3-terminal equipment development.
VSC-HVDC network are given. The results show that the Power flow calculation of conventional HVDC system has
proposed steady-state model of VSC-BVDC and corresponding been so well developed as to be widely used in large scale
power flow calculation based on PSASP is correct and effective. AC-DC power flow calculation software [4-71. As VSC-
This software packnge provides a powerful tool for planaing,
design, operation, management, and relative control strategy
HVDC is essentially different from its traditional counterpart
studies of VSC-HvI)C systems. due to the introduction of PWM, the calculation methods for
power flow of conventional HVDC systems are not suitable
I d e x Term --
Power now calculation; VSC-HTBC; with VSC-HVDC any more. Therefore, the analysis and study
steady-state model; equivalent bus power injection of power flow calculation incorporating VSC-HVDC is not
unnecessary.
I. hTRODUCTION In the paper, firstly, a brief analysis is conducted of the
OLTAGE Sourced Converter (VSC) based HVDC
V (VSC-HVDC), a newly developed technology on power
transmission [l-21, features VSC whose kernel is Insulated
operation principles and control patterns of VSC-HVDC.
Then, the steady state models of VSC-HVDC are derived for
the cases in which control parameters and power flow control
Gate Bipolar Transistors (IGBTs). VSC-HVDC, controlled by objective are given respectively. Also, a power flow
Pulse Width Modulation (PWM), is capable of supplying calculation method, based on equivalent power injection [SI,
power to both active and passive electrical systems. Therefore, is put forward. On the platform of PSASPAJPI 6.1, power
the introduction of' VSC and PWM makes possible fast and system d y s i s software package developed by China Electric
flexible control of power flow and more convenient operation Power Research Institute, a user program (UP) has been
of power systems. Besides, this advancement, compared with developed using dynamic link library technique for power
conventional HVDC, mitigates harmonics in AC current and flow calculation incorporating VSC-HVDC. The validity and
AC voltage greatly and improves power factors of the effectiveness of the proposed models and calculation method
connected AC systems. is proved by numerical examples.
VSC-HVDC, in recent years, has been successfully
commercially commissioned in such fields as supplying power n. vsc-mc STRUCTUREAND CONTROL PATTERNS
to remote isolated loads, empowering urban centers, There are three basic control patterns for VSC-INDC [9-
connecting distributed generation sources, linking two 101, namely, a) Constant DC Voltage Control (CdcVC), in
which the DC bus voltage and the reactive power sent to the
This work was supl~lrtedin part by The Research Fund for the Doctoral AC system are regulated; b) Constant DC Current Control
Program o f Higher Education, the State Education Ministry of China (No. (CdcCC), in which the DC current and the reactive power sent
20010079001).
Li Gengyin, Zhou Mhg, He Jie, Li Guangkai, and Liang Haifeng are with to the AC system are regulated; c) Constant AC Voltage
the School of Electrical Engineeriag, North China Electric Power University, Control (CacVC), in which only the AC bus voltage is
Bacdiig 071003, Hebei, P.R.China (e-mail: ligy@!ucepu,edu.cn, regulated. Control pattems a) and b) often apply to connecting
[email protected]:n, [email protected]. [email protected])

0-7803-8610-81041$20.00 Q 2004 IEEE 1562

active power systems, yet, control pattern c) to supplying Supposingthe available ratio of DC voltage is equal to 1 in
passive system. The paper only relates to the case of active the adoptive PWM scheme, for example, voltage space-vector
systems. P W M ,the relationship between the AC output voltage Ucland
A typical basic structure of a bi-terminal VSC-HVDC is the DC voltage Ud can be expressed as
shown in Fig. I. The left side converter works in CdcVC as a
DC Voltage Regulator (VR), and the right side one in CdcCC U,, = M,U,,, f A. (2)
as a Power Dispatcher @ISP) to control the active power sent According to the basic circuit relationship in Fig.1,we can
to the system by regulating the DC current. In Fig. 1, it is get
assumed that on the VR side, its AC output voltage is UCILOa
and the connected AC system voltage UsL6,; on the DISP U:, = (Ucl + Aut)*+ (m/,)' (3)
side, its AC output voltage is U,LO" and the connected AC
system voltage U , L & . The DC resistance is R d and the
impedances of interface transformers are Rl+jXl and R&X2
respectively. MI and ,442 are the modulation indexes of the two Combining (l), (2) and (3), yields
converters respectively.
Parallel connection mode dominates in multi-terminal - Uf,X,+JU&X: - (R: + X:)A,
Qa 2
(4)
VSC-HVDC systems since the connection in series mode (R: + XI?
needs high insuIation and with large losses and difficulty in
extension. The multi-terminaI VSC-HVDC parallel where A, = (U:,+ PclR,)2 + PEX? - Uf,U,!, .
connection system generally adopts one converter controiling
Moreover, we can get the following expressions easily,
DC voltage, and the others controlling transmission power, to
realize flexible control ofpower flow and connection. P,, = P,, + QA)R,/U51 Y (5)

In. VSC-HVDC STEADYSTATEMODEL QSl = Qc, + + Qk1x1 (6)

A , Basic Assumptions (7)
In power flow calculation of AC-DC interconnectedpower
systems, some assumptions to converters are as foIlows.
a) Three-phase AC voltage of converter bus is symmebical
sinusoid.
b) The converters operate in balance and symmetrical mode.
c) The internal losses of converters are neglected.
d) The value of converting reactance in per unit is around
0.1 to 0.2 with the rated capacity of converter as base.
e) Both DC current and DC voltage are straight.
B. Steady Stole Model Under Fired Control Purumeters
Suppose VR side controls DC voltage Ud as the setting
value Udls DISP side controls DC curreat I, as the setting
value Im, and the modulation ratios of two Converters are MI
and M2,respectively. Under these four control parameters are
given, the steady state model of VSC-HVDC is deduced as
follows.
a) VR side
Since Udl=Uasyand I ~ ~ = I & = I & Sthen
,
where A, =(U:, i PczR,)2 -k X i -U & U ~ ,
pcl=udlsIm. (1)

Fig. I . Steady state model of VSC-HVDC system.

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 the known quantities are U,, 12,---,1,; Whereas the number of
the unknown is N. Therefore, the DC voltages and DC
currents of each converter can be obtained by solving (19).
Then, following the steps elsborated in parts B and C, the
equivalent power injections of each converter can be worked
out. After adding with external power injections of the
original nodes, the quantities that results will be involved in
the iterative procedures to obtain the solution to the power
#en the control parameters Uds, Z m given, the flow equations.
equivalent injection power to two nodes can be solved fkom
(3, (6),and (13), (I 4), then sum up initial injection power, the w.hfF'LEMENTA'llON OF EQurvALENT POWER mJECTION
newly-formed power enters iterative calculation of power BASEDPOWER R O W CALCULATION
flow, finally the whole power flow distribution with VSC- Power flow calculation of power systems incorporating
HVDC c m be worked out. This model does not change VSC-HVDC can be illustrated as follows:
original admittance matrix's symmetry, so has no influence on
convergence of power flow calculation, and easy to integrate F(X,,X,)=Q (20)
with conventional algorithms and computer program.
G(X,,X,) = 0 (21)
C. The Model Under Fired Power Fluw Control Targets
where X,,=[V, 8J is the state variables in conventional power
As shown in Fig. 1, suppose active power Pel, reactive
flow equations and Xdc the inner state variables of DC system.
power Qcand DC voltage U, in VR side, reactive power Q a
Equation (20) consists of the power flow equations of AC
in DISP side are given.
system and (21) is the power flow equations of DC system.
a) VR side
Both (20) and (21) can be resolved with simultaneous method
From (f), it can he deduced
or reciprocating method. In the former method the
G I = [-(2~clR&?clX*-U;,)t&If2 (16) simultaneous equations, made up of (20) and (21),are directly
solved by Newton approach with a satisfactory converging
where B, = (zP,,R, + 2 & ~ , - L I : , ) ~ speed but inadequate use of the original power flow
calculation program. However, the reciprocating method
-W'CI~,- Q c i 4 l2 + (PciR, + QctX,)'l-
adopts iteration to solve the AC system equation (20)and DC
b) DISP side
system equation (21). The equivalent power injection method
From (1 I), it can be inferred out:
used in the paper is categorized into the reciprocating group.
uf2= [ - ( 2 ~ , , R , + 2 & , , X , ~ , 2 , ) F ~ l f 2 (17) To make the calculation procedure simpler and the
programming more convenient, a VSC-HVDC system, in
where 3= (2Pc,R: + 2Qc2X, - U i z ) 2 equivalent power injection method, is modeled as an
additional active power injection and an additional reactive
- 4[(Pc,X,%$2)Z+ (Pc,4+ QzX,)'.
power injection. Combined with the open environment of the
From (S), it can be deduced: power system analysis software package PSASP/UPl version
6.1, a dynamic link library is established to perform power
pc2 = -(Pc, - e,4 /U:,1 (18) flow calculation incorporating VSC-HVDC.
Substituting (16), (17), (18) into (5), (6) and (14) can solve The solving procedute can be detailed as follows. LF and
out the equivalent injection power, then can iteratively UP are solved in a reciprocating iteration, where LF, the main
compute power flow. program of the PSASP, is used for AC system power flow
calculation; the user program UP holds the onus to calculate
D. Multi-Terminal YSC-WDC Network Model the power flow of VSC-HVDC lines and transmit the
Each converter can be regarded in DC network as a node obtained equivalent power injections to LF through inter€ace.
whose nodal voltage and injected current are the DC voltage After the calculation in LF converges, nodal voltages of
U and the port DC current I respectively. related nodes are transmitted to UP until the whole system
The nodal equa~onof VSC-HWC is given by iteration converges.
As shown in Fig. 2, F1, the data transmitted fiom LF to U p ,
r=qw (19) consists of index of node i, voltage magnitude Vi, phase angle
where U is the DC voltage vector, I the DC current vector and 4,index of node j , voltage magnitude 6, phase angle 4; F2,
4 the indefinite admittance matrix, Y,=A,Yd,', where A, is the data transmitted ftom W to LF, comprises index of nodes
the extended incident matrix and Yb the branch admittance i andj, and corresponding power injections Pi,4, Q,, Qi.In
matrix. the given control parameter case, Up calculate the equivalent
In a parallel-connected multi-terminal VSC-HVDC system, power injections and nodal power injections at nodes i a n d j
one terminal adopts CdcVC and the others use CdcCC. In (1 9), according to the data F1. Then the results are sent to LF in the

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 PSASP LF YP
results of power flow calculation are listed in Table II.
I I F1
TABLE II
&SULTS OF POWER FLOW UNDER FDaD CONTROL-P FOR EPRI 7-
BUS TEST SYSTEM
- m u
Variables Case 1 Case 2
Fig. 2. Relationship of LF and UP
1 1
form of F2 to realize the power flower calculation under the COllhOl 2 -2
condition of given control parameters. When the power flow
Variables 0.9 0.9
control objective is given, UP, according to the data F 1, works
0.9 0.9
out in an iterative way the control variables that meet the
control objective. Then, U p calculates the equivalent power 1.040L24.02~ 0.986L37.03"
injections and nodal power injections at the nodes i and j. 1.011L22.89" 0.996L40.49"
Finally, the calculated nodal power injections are substituted 0.947L-0.68" 0.931L-0.8Io
into the equations of LF to realize the power flow calculation I .016L12.01° 0.949L18.43*
of the system incorporating VSC-HVDC. I.003L30.96° 0.952L44.74'
1.000L30.06" 1.00L47.76"
V. NUMERICAL
EXAMPLES
Results 2.033 -1.966
A. For Bi-Terminal VSC-HJBC System
-1.953 2.047
The EPRI 7-bus system is analyzed and calculated, whose
1.682 1.793
connecting diagram is displayed in Fig. 3. The parameters of
AC lines are listed in Table I. The initial power flow of the 1.443 1.295
system is marked in Fig. 3. In the calculation, G1 is the PQ 29.971 -30.288
node, G2 the PV node, S1 the balancing node, and the -32.663 32.608
VSC-HVDC line is installed between node 2 and node 3. , IterationTmes 3

Case 3 and 4: given power flow control target. It is

assumed that Ums=l, P c I =(Case
~ 3), -2 (Case 4), Q,3=--2,
Qa=2. The results of power flow Calculation are listed in
Table III.
0.953 I 0.918 0.971 I 0.96'- " 1.00
TABLE III
RESULTS OF POWER FLOW UNDER FIXED POWER ROW FOR EPRI 7-bu5
TEST SYSTEM

G2 I+I ! 1 Vmiabtes Case 3 Case 4

2 -2
1 control -2 -2
0.950 0.966
Targets -2 -2

Fig. 3. FPFU 7-bus test system with VSC-HVDC. 1 1

1.018L24.56" 0.959L38.21"
TABLE I
PAWMETERS OF AC LWES I .007L12.11Q 0.963L41.89"
0.955L-0.67' 0.9361-0.81"
Branch Num. zk=rh+jxg Branch Num. zFr,jtjxg
0.979L23.39" 0.935L18.71"
1-2 0.0000+~~.0200 2-6 0.0000+-.0067
0.983L31.79" 0.927L46.35'
1
4 0.0038tj0.0406 3-4 0.0038+~.0406
4-2 I O.W38+jD.o406 I 4-3 I0.0038+$3.0406
0.950L31.17' O.9SOL49.8l0

0 . ~ ~ Q . 0 1 I0 0
Results 2.026 -1.974
1-5 3-SI ~0.00001-~.0047
-1.959 2.043
Parameters of the VSC-HVDC line are as follows. -0.955 4.961
Parameters of the interfacing transformers: RI=R2=0.005, -0.958 -0.873
X,=&=0.2. 19.770 -19.053
Resistance of the VSC-HVDC line: R,&00368. -19.150 21.641
Case 1 and 2: given control parameters. It is assumed that
1
Ud,=l,1&=2 (Case I ) and -2 (Case 2), M,=O.9, M2=D.9. The

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B, For Multi-Tenninnl VSC-HVDC System
Fig. 4 is a 3-teiminal VSC-HVDC system, and the grid VII. REFERENCES

parameters are BS follows. Kjell Eriksson, Tomas Jonsson, Ove Tollerz, ”Small scale
transmission to AC networks by HVDC Light,” in Proc of The I.?“
Cepsi Conference.Purroyu (Thailand), 1998.
Lars Weimers, “HVDC Light: a new technology for a better
environment,” IEEE Power fingineming Review, vol. 18, no. 8, pp. 19-
20, Aug. 1998.
Li Cenpyin, Lv Pengfei, Li Guangkai, Zhou Ming, ‘The development
and prospect of the HVDC Light transmission technology,”Auromation
of Electric Power syslem,vol. 27, no. 7, pp. 77-8 1, July 2003.
P,Kundnr, Power System Stability and Control, New York: MfGraw-
Hill, 1993
J. Arrillaga, C. P. h o l d , and B. 3. Harker, CompuferModelling of
Electrical Power Systemr, John Wiley & Sons, I990
H . Fuden and C. M. Ong, “A simple and efficient AC-DC load-
flow method for multi-terminal DC systems,” IEEE Trans. on PAS,
vol. 100, 110.7, pp.4389-4396. July 1981
T. Smed, G. Anderson, G. B. Sheble, and L. L. Grigsby, “A new
Fig.4. A 3-t& VSC-HVDC system
approach to ACJDC power flow,” IEEE Trans. on Power System,
vol. 6 , no. 3.pp.1238-1244, Aug. 1991
Equivalent impedance of the converter transformer: t i Gengyin, Xu Chunxia, LY Fangcheng, Chen Zhiye, “Power flow
RA=ReR&.005, &=XF X f i . 2 . calcuIation of flexible ac transmission systems,”Joumal o/Norih Chino
Elwhic Power U n h r s i ~vol., 23. no. 2, pp. 1-7, Apr. 1996.
VSC-HVDC lines: DC resktance R,&2~pR8&.00368. Zhang Guibin, Xu Zheng, Shao Wei, ”R-ch on the control and
Amongst side A is fixed DC voltage, U&=1, for keeping DC simulation of HVDC-VSC,” in Prm of International Confmnce on
voltage of VSC-HVDC system, while sides B and C is fixxed Power System. Wuhnn(Chinu),pp. 371-375.2001.
[lo] Zhang &bin, Xu Z h q , W&gGuangzhu, *Steady-state model and its
DC currents, &5==2, I e l , respectively, for controlling nonlinear con!~olof VSGHVDC system,” Proceedin@ offhe CSEE.
!”mission power from DC subsystem to nodes B and C Vol. 22, no. 1, pp. 17-22. Jan. 2002.
(AC subsystem), the detailed computation results shown in
Table JY. VIII. BIOGRAPHIES
Li Gengyh was born in Hebei Province, Chha, on May 18, 1964. He
TABLE IV received the B.S.,M.S.and Ph.D. degrees, all in Electrical Engineering, h
RESULTS OF POWER FLOW OF THE M U L T I - m A L V s C - m North China Electric Power University (h’CJ9l-J) in 1984, 1987 and 1996,
TRANSMISSION SYSTEM rcspeCtively. Since 1987, Dr.Li has been with the Department of Electrical
Engineering at NCEPU. where he is currently a professor and deputy head of
the D e p h e n t . His research interests include electricity markets, powcr
quality, analysis and control of power systems, and new transmission and
SideA 1.0135 3.059 1.640 41.425
distribution technologies.

SideC 0.951 4.989 I 0.407 I -13.567

Zhoo Ming received the B.S.and M.S.degrees in Electrical Engineering from
North China Elefeic Power University (NCEPU) in 1989 and 1992,
respectively. Now she is p&g Ph.D. degree at NCEPU. Since 1992, Ms.
Zhou has been with the Department of Electrical Engineering at NCEPU,
where she is currently ao associate professor. Her areas of intereat include AI
applications to power systems, electricity markets, and power system
operationand management.

H e Jie was born in Hunan Province, China. He received the B.S. and M.S.
degrees in power system and its automation fiom North china Electric Power
University in 2001 and 2004 respectively. His areas of interest include HVDC
and flexible AC transmission system (FACTS).

Li Gnnngkai was bom in Shandong Province, chinn, He received the B.S.

and M.S.degrees in power system and its automation kom Noah China
Electric Power University in 1997 and 2000 respectively. His fields of interest
include HVDC, power system, power electmnics and flexible AC
transmission system (FACTS).

Liang M e n g was bom in Hebei Province, China, on May 20, 1976. He

received the B.S. degree in power system and its automation from North
China Electric Power University (NCEPU) in 1998 and received the M.S.
degree in power system and its automation from Huazhong University of
Science & Technology in 2001. Since 2001, Mr.Liang has been with the
Department of E l e d c a l Engheenhg at NCEPU.Now, he is a lecturer. His
m a s of interest include AI application to power system, new tmnsmission and
distributiontechnologies, and short-term load forecast.

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