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A Three-Phase VSC-HVDC Average Value Model

Implementation using Modelica and Software-

to-Software Validation using a Power System Domain Specific Simulator

Luigi Vanfretti

Royal Institute of Technology (KTH)

Md Ahsan Adib Murad

University College Dublin (UCD)

Outline

Motivations

Description of VSC-HVDC Model

Implementation Modelica

Model Validation

Conclusion

Introduction and Motivations

VSC-HVDC models ‘trusted’ by users were available in EMTP-RV

Dynamic security assessment

carried out using the iTesla 1 toolbox, requires phasor time-domain models

An VSC-HVDC AVM model for

phasor time-domain simulation was

implemented in Modelica

Control gain parameters are

calibrated using the RaPId toolbox

Why not use Modelica for

modeling and model exchange of

EMT-like models? Specially for

control systems of power-electronic devices? Advantage: model defined in one

language, does not need to be

maintained in multiple platforms (e.g. Modelica export to FMI, FMI supported in EMTP, Simulink, etc…)

Proof of concept, Three phase AVM VSC-HVDC model implemented in Modelica

1 http://www.itesla-project.eu/

3

VSC-HVDC Model

vc

vb

va

Id c

iu a iu b iu c SM1ua SM1ub SM1uc SM2ua SM2ub SM2uc SMNua SMNub SMNuc
iu a
iu b
iu c
SM1ua
SM1ub
SM1uc
SM2ua
SM2ub
SM2uc
SMNua
SMNub
SMNuc
L a rm
L a rm
L a rm
ic
ib
ia
L
a rm
L
a rm
L
a rm
SM1la
SM1lb
SM1lc
V
d c
SM2la
SM2lb
SM2lc
SMNla
SMNlb
SMNlc
ilb
ila
ilc
V u a
V la

MMC Topology

Different kinds of VSC based MMC models are available.

In Average Value Models (AVMs), the

power electronic switches (IGBTs) and

diodes are not modeled in detail.

MMC behavior is represented using

controlled voltage and current sources.

An ideal behavior of the internal

variables of the MMC is assumed.

Req_DC AC Leq_DC P DC_Side Varef Vbref Larm Larm Larm Vcref IDC Ia C1 Vac
Req_DC
AC
Leq_DC
P
DC_Side
Varef
Vbref
Larm
Larm
Larm
Vcref
IDC
Ia
C1
Vac
Vac
Vac
AC Side
AC Side
AC Side
VDC
VDC
VDC
Varef
Phase A
Vbref
Phase B
Vcref
Phase C
Ib
Ic
N
DC Side

AC Side of AVM

4

VSC-HVDC Control

VSC-HVDC Control  The AVM and this control is already available in EMTP-RV which are implemented

The AVM and this control is already available in EMTP-RV which are implemented in Modelica using Modelica Standard Library library.

5

Implementation in Modelica

Each component is implemented separately in Modelica .

After implementing each component,

validation is carried out with reference models.

Models implemented in Modelica

Three phase equivalent generator &

two winding transformer

Clark transformation

P/Q/VAC calculations

d/q transformations

Outer control , inner control

Synchronization block (PLL)

Linearization's and d/q to abc

For Example: PI control block

inner control Synchronization block (PLL) Linearization's and d/q to abc  For Example: PI control block
inner control Synchronization block (PLL) Linearization's and d/q to abc  For Example: PI control block

VSC-HVDC in Modelica

VSC-HVDC in Modelica 7

Model Validation

Each component is validated against EMTP-RV

Equivalent Generator and Transformer Phase Lock Loop
Equivalent Generator
and Transformer
Phase Lock Loop
Model Validation Each component is validated against EMTP-RV Equivalent Generator and Transformer Phase Lock Loop 8
Model Validation Each component is validated against EMTP-RV Equivalent Generator and Transformer Phase Lock Loop 8

8

Model Validation

Two Node power system is implemented and used for system level

validation.

Converter 1 (VSC1) controls the active power and Converter 2 (VSC2)

controls the DC voltage.

1000 MW active power is transferred from VSC1 to VSC2.

The user can select which controller should be active in each VSC.

active power is transferred from VSC1 to VSC2.  The user can select which controller should

Simulation Results

Step change in active power reference from 1000 MW to 500 MW at 0.8 second

Simulation Results  Step change in active power reference from 1000 MW to 500 MW at
Simulation Results  Step change in active power reference from 1000 MW to 500 MW at
Simulation Results  Step change in active power reference from 1000 MW to 500 MW at

Conclusions

Potential use of the Modelica language to model EMT-type models of

VSC-HVDC systems.

The Modelica implementation was compared to the EMTP-RV

software, provides similar results.

The major benefit of the work reported herein is that the control

system implemented can now be exchanged with different tools that support the FMI standard, including:

Simulink and EMTP-RV, which makes it possible to keep and maintain a single version of the control system model implemented (i.e. the one in Modelica)

Questions?

The VSC HVDC models presented here can be found on-line at Github:

https://github.com/SmarTS-Lab/2017_ModelicaConf_VSC-

HVDC_AVM_Model