1500 MW

500 MW
C1

C1

A1

155kVRMSLL /_0

380kVRMSLL /_0

A1
C2

C2

155kVRMSLL /_0

500 MW

D1

D1

155kVRMSLL /_0

1000 MW
B4
B1
380kVRMSLL /_0

E1

B1

B5

E1

155kVRMSLL /_0

Vdc control
100 MW

B2

B6
B3

F1
F1

B2

B3

155kVRMSLL /_0

1500 MW

1500 MW

500 MW

DC grid modeling with EMTP-RV

Sbastien Dennetire Rte / National Center for Grid Expertise

EMTP-RV User Group Meeting

April 3, 2012

PRESENTATION LAYOUT
01. HVDC Grid Context & Requirements
02. Available models in EMTP-RV
03. Next step : HVDC Grid CIGRE Benchmark

EMTP-RV User Group Meeting - April 3, 2012

01
HVDC Grids
Context and requirements

EMTP-RV User Group Meeting - April 3, 2012

HVDC Grids
Context
New contraints

Increase in renewable power generation

Increase in power trade across national borders
Impossible to get permission to build new overhead lines

Technologies opportunities

VSC HVDC Transmission well suited to DC Grid : change of power direction does not
require a change of polarity
Smaller footprint of VSC well suited to offshore platform

Organisations to support the development of DC grids :

Friends of SuperGrid
MedGrid
TWENTIES

EMTP-RV User Group Meeting - April 3, 2012

HVDC Grids
Concepts

EMTP-RV User Group Meeting - April 3, 2012

HVDC Grids
Main challenges
Power flow control

Each converter can control on DC side : P or Vdc

Which converters will act as a slack bus (Vdc control) ?
Global dispatcher is required

Very fast protections system and DC Circuit Breakers

Models for phasor domain

studies : load-flow and
transient stability

Detailed models for EMT

studies

DC fault currents : higher magnitudes and steeper derivatives (only R)

Initial transient mainly consists of capacitive discharging very high amplitude
Fast detection and tripping with DC CB(< 5ms)

Need for standardisation and functional specifications

Detailed and protected

models for offline and realtime EMT studies

DC grids will grow organically

Converters from different manufacturers
Functional specifications :
DC fault withstand requirements
Insulation co-ordination on DC side
DC Grid master control
Dynamic Performance Studies with control systems of every manufacturers
6

EMTP-RV User Group Meeting - April 3, 2012

DC Grids modeling
Rte involvement
TWENTIES : European R&D project

http://www.twenties-project.eu
Rte proposed and developed in EMTP-RV a HVDC grid model
A scale-down HVDC grid prototype will be built in 2012 and connected to a real-time
simulator

CIGRE B4 Study Committee :

In 2009 WG B4-52 HVDC Grid Feasibility Study
In 2011 :
B4-56: Guidelines for the preparation of Grid Codes for HVDC Grids
B4-57: Guide for the development of models for HVDC converters in a HVDC grid
B4-58: Load flow control and direct voltage control in a meshed HVDC Grid
B4-59: Protection of HVDC Grids
B4-60: Designing HVDC Grids for Optimal Reliability and Availability performance.

EMTP-RV User Group Meeting - April 3, 2012

02
Available models

EMTP-RV User Group Meeting - April 3, 2012

HVDC Grid
Test System Description
Station_1

SYS1

BKR1

BKI

CBL_100km

Station_2

Detailed model (DM)

MMC 801Levels

BKIp

p
n
BKIIp

AC

WindFarm1

R1P

p
n
BKIV

S2
+ VM
?v

S1
+ VM
?v

Detailed model (DM)

MMC 801Levels

CBL_50km

CBL_75km

600 MW

Station_4

BKR2

CBL_25km

Detailed model (DM)

MMC 801Levels

BKII

SYS2

BKIVp

Station_3

Detailed model (DM)

MMC 801Levels

p
n

S3
+ VM
?v

S4
+ VM
?v

Station_5
S5

Detailed model (DM)

MMC 801Levels

+ VM
?v

WindFarm3

BKIII

p
n

1000 MW

EMTP-RV User Group Meeting - April 3, 2012

AC

400 MW
CBL_100km

1000 MW

WindFarm2

BKB

p
n
BKIIIp

AC

R1N

1000 MW

AC

SW1
+
-1|1E15|0

AC

5-node test system

Model description
Converters

MMC 801 levels (400 Submodules / valves)

Upper level control system : standard VSC control
Low level control system :
Circulating Current Suppressing control,
Modulation techniques (Nearest level control),
Capacitor Balancing Control.

Cables

Frequency dependant cable models (phase domain)

Wind Farms and AC grid

Models based on Thevenin equivalent
Detailed models (DFIG and Full converter) will be included in 2012

10

EMTP-RV User Group Meeting - April 3, 2012

Available Converters Models

2 EMTP-RV models

First model : Full detailed model (reference model)

Second model : Detailed equivalent model

Third model : Average value model

11

EMTP-RV User Group Meeting - April 3, 2012

Available models
Full detailed model
Description from converter topologies to semi conductors
p

iub
SM-1

vsua

SM-1

SM-2

SM-400

SM-400

SM-400

va

vsla

12

vc

ic

S2

K2

Vd

0.8

SM-1

SM-1

SM-1

SM-2

SM-2

SM-2

SM-400

ilb

K1

Ls

Ls

SM-400

ila

Ls

vb

Ls

+
vci

SM-2

Ls

ib

S1

SM-1

SM-2

Ls

ia

iuc

SM-400

SubModule

Multivalve
Arm

ilc

EMTP-RV User Group Meeting - April 3, 2012

Voltage (V)

iua

RLC +

Id

0.6

0.4

0.2

0
0

1000

2000

3000
Current (A)

4000

5000

6000

Available models
Detailed equivalent models
A solution to limit electrical nodes in converter
Id

iua

iub

iMV t

iuc
SM-1

SM-1

vSM _ eq t T

SM-1

SM-2

SM-2

SM-400

SM-400

SM-400

Vd

SM-400

ilb

SM-400

Multivalve
Arm

ilc

EMTP-RV User Group Meeting - April 3, 2012

vSM _ 2 t
req _ 2 t

DC_MINUS

vSM _ 4 t
req _ 4 t

req _ 4 t

vSM _ 6 t

req _ 5 t

req _ 2 t

req _ 5 t

AC
c
b
a

req _ 6 t

req _ 3 t

vSM _ 5 t

SM-2

req _ 3 t

req _ 6 t

SM-2

vSM _ 3 t

SM-2

SM-1

req _1 t

SM-1

SubModule

req _1 t

vSM _1 t

SM-1

SM-400

ila

Ls

Ls

DC_PLUS

Ls

vsla

13

vc

ic

vb

ib

va

ia

Ls

Ls

Ls

rSM _ eq t

SM-2

vsua

vSM t

Available models
Average value model
vsuc

vsub

vsua

To get a fast solution only valid on AC side

Id

iua

iub
SM-1

SM-1

SM-2

SM-2

SM-2

vb

vc

SM-400

SM-400

SM-400

SM-1

SM-2

SM-2

SM-2

14

SM-400

SM-400

SubModule

Multivalve
Arm

ilc

EMTP-RV User Group Meeting - April 3, 2012

SM-1

Ic

I loss

SM-1

ilb

vslc

vslb

vsla

on DC side

Vd

Ls

Ls

SM-400

ila

vc

ic

vb

ib

Ls

vsla

Ls

Ls

va

va

Ls

ia

on AC side

SM-1

vsua

iuc

Available models
Same control system for every models
Iv

I
G

VSC-MMC

Idc
+

L
VPCC

Vf

Vac

Vdc
gate signal

I VPCC Iv Vf
PLL

abc

Capa. Balancing
algorithm (CBA)

d-q

Outer P/Q/Vdc et
Inner Control

NLC

SM
vup
_j

Average
Value
Model of
converter
15

d-q
abc

CCSC
d-q
ej

EMTP-RV User Group Meeting - April 3, 2012

et

SM
vlow
_j

Modeled in
Simulink and
connected to the
EMTP-RV model
with the DLL
based interface

Models comparisons
Detailed equivalent model vs full detailed model
Simulation timings for a 3 s simulation (Time step : 40s) :
Detailed equivalent : ~3min
Full detailed : ~500 min

3-phase fault at SYS 1 DC voltage

1.15

Full detailed model

Detailed equivalent model

Voltage (pu)

1.1

1.05

16

1.2

1.4

1.6

1.8
Time (s)

EMTP-RV User Group Meeting - April 3, 2012

2.2

2.4

Vdc control

Simulation results

SYS1

INV1

REC1
100 km

+
-

400 kV, 50 Hz
20000 MVA (SC)

1000 MW

3-phase fault at SYS1

SYS2
+

400 kV, 50 Hz
15000 MVA (SC)

600 MW

75 km

3-phase fault

WindFarm1

+
-

50 km

INV2

REC2
25 km
+
-

WindFarm2

+
-

1000 MW

400 MW

100 km
REC3
WindFarm3

+
-

REC3 REC2 REC1

1000 MW

Active Power (MW)

1000
500
0
-500
-1000
1.9

INV1

17

2.1

2.2

INV2

EMTP-RV User Group Meeting - April 3, 2012

2.3
Time (s)

2.4

2.5

2.6

2.7

Simulation results
DC fault
BKR1

BKIplus

CBL_100km

BKIplus_p

SYS1

INV1

600 MW

75 km

SYS2
+

400 kV, 50 Hz
15000 MVA (SC)

WindFarm1

+
-

1000 MW

CBL_50km

CBL_75km

Pole-to_pole fault

400 kV, 50 Hz
20000 MVA (SC)

BKIIp

BKIminus_p

BKIV

BKIminus

REC1
100 km

+
-

50 km

INV2

REC2
25 km
+
-

WindFarm2

+
-

1000 MW

400 MW

100 km

70

REC3
+
-

60
BKIplus

Current (kA)

50

WindFarm3

1000 MW

40

BKIplus_p

30

DC CB are modeled
by ideal switch

20
10
0
2

18

2.0005

2.001

2.0015

2.002 2.0025
Time (s)

EMTP-RV User Group Meeting - April 3, 2012

2.003

2.0035

2.004

03
Next steps
HVDC Grid CIGRE Benchmark

19

EMTP-RV User Group Meeting - April 3, 2012

HVDC grid CIGRE Benchmark

Defined by CIGRE WG B4-58

Load flow control and direct voltage control in a meshed DC Grid

DC Grid Test System
version 2012, March 5

C1

A0

A1

DC Overhead
DC Cable
AC Overhead
AC Cable

C2

D1

B0

B4

B1
E1
B5

B2
B3

20

B6

EMTP-RV User Group Meeting - April 3, 2012

F1

Will be developed by
WG B4-57 members in
EMTP-RV, PSCAD,
OPAL-RT and Hypersim

HVDC grid CIGRE Benchmark

EMTP-RV preliminary model
1500 MW

500 MW
C1

C1

A1

155kVRMSLL /_0

380kVRMSLL /_0

A1
C2

C2

155kVRMSLL /_0

500 MW

D1

D1

155kVRMSLL /_0

1000 MW
B4
B1
380kVRMSLL /_0

E1

B1

B5

E1

155kVRMSLL /_0

Vdc control
100 MW

B2

B6
B3

F1
F1

B2

B3

155kVRMSLL /_0

1500 MW

1500 MW

21

EMTP-RV User Group Meeting - April 3, 2012

500 MW

DC Grids modeling
Next steps
CIGRE benchmark

To be developed in 2012 in EMT tools

Will be delivered to DC grid WG members to perform transients studies (protection,
transient stability,)
Detailed data will be available in the B4-57 working document

Special CIGRE session on DC grid modeling in 2012

Organized by Rte to share experience on DC grid modeling
People involved in DC grid modeling are encouraged to present their work
August 28, 2012 in conjuction with CIGRE general meeting in Paris
Contribution or information : sebastien.dennetiere@rte-france.com

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EMTP-RV User Group Meeting - April 3, 2012