684

IEEE Transactions on Power Delivery, Vol. 3, No. 2, April 1988

COMPARISON OF VOLTAGE CONTROL D E V I C E S AT HVDC CONVERTER STATIONS CONNECTED T W E A K A C SYSTEMS O

S. N y a t i

S.R.

Atmuri

D . Gordon

V.

Koschik

R.M.

Mathur

Manitoba HVDC Research C e n t r e Winnipeg, Manitoba, Canada

The c o n t r o l o f ac v o l t a g e a t t h e commutatAbstract i n g bus f o l l o w i n g a d i s t u r b a n c e i s r e q u i r e d f o r s a t i s f a c t o r y o p e r a t i o n o f c o n v e r t e r s c o n n e c t e d t o weak ac systems. I n t h e p a s t , t h e synchronous compensator has been e x c l u s i v e l y used as a v o l t a g e c o n t r o l d e v i c e (VCD). However, r e c e n t l y a number o f s t a t i c VCDs have been p r o p o s e d / a p p l i e d t o r e p l a c e o r supplement i t . The paper i n v e s t i g a t e s and compares a d i g i t a l l y s i m u l a t e d p e r f o r m a n c e and e s t i m a t e d c o s t o f a number o f t h e s e VCDs, i n c l u d i n g a n o v e l scheme u s i n g a s e r i e s capacitor, and o u t l i n e s t h e m e r i t s and d e m e r i t s o f each o f them.

V a r i o u s s t a t i c VCDs have been proposed L1-31 and a few o f them have found a p p l i c a t i o n i n HVDC schemes [4-61. However, v e r y few r e s u l t s p e r t a i n i n g t o t h e p e r f o r m a n c e o f VCDs a t an HVDC c o n v e r t e r bus have been p u b l i s h e d [4,7,8]. The p u b l i s h e d r e s u l t s have e i t h e r c o n c e n t r a t e d on t h e chosen d e v i c e o r compared a l i m i t ed number o f VCDs t h a t l a c k e d r i g o r o u s s i z i n g and study c r i t e r i a [ I ] . T h i s paper presents the r e s u l t s of a systematic comparison o f t h e d i g i t a l l y - s i m u l a t e d performance and e s t i m a t e d c o s t o f t h e f o l l o w i n g VCO schemes:

1.

Fixed capacitors

(FC), m e c h a n i c a l l y s w i t c h e d . (SC) (TCR) (TSC)

GLOSSARY OF SYMBOLS
DOV ESCR FC MOV
= = =
=

2.

Synchronous compensator

sc

=
=

SCD SCR TCR TSC VCD

=
=

= =

Dynamic o v e r v o l t a g e Effective short c i r c u i t r a t i o Fixed shunt c a p a c i t o r Metal o x i d e v a r i s t o r Synchronous compensator Series capacitor device Short c i r c u i t r a t i o Thyristor controlled reactor T h y r i s t o r switched capacitor Voltage c o n t r o l device INTRODUCTION

3.
4.

Thyristor controlled reactor T h y r i s t o r switched capacitor Metal o x i d e v a r i s t o r (MOV). (SCD)

5.
6.

Series capacitor device

An HVDC l i n k f e e d i n g i n t o a weak ac system s u f f e r s f r o m t h e problem o f v o l t a g e v a r i a t i o n a t t h e ac commutating bus f o l l o w i n g a d i s t u r b a n c e . This variat i o n can be above t h e p e r m i s s i b l e v a l u e and needs t o be c o n t r o l l e d f o r s a t i s f a c t o r y o p e r a t i o n o f t h e converter. V o l t a g e c o n t r o l i s a l s o d e s i r e d to m i n i m i z e converter s t a t i o n cost, t o improve system s t a b i l i t y and t o m a i n t a i n an a c c e p t a b l e q u a l i t y o f s u p p l y to consumers [ 1 , 2 , 8 ] . S a t i s f a c t o r y v o l t a g e c o n t r o l and r e c o v e r y f r o m f a u l t s i s more i m p o r t a n t now t h a n i n t h e p a s t as a consequence o f the recent t r e n d i n i n s t a l l i n t o weak ac s y s i n g HVDC c o n v e r t e r s t a t i o n s f e e d i n g tems. Until recently, t h e synchronous compensator (SC, see g l o s s a r y ) has been e x c l u s i v e l y used as a v o l t a g e c o n t r o l d e v i c e (VCD) a t t h e c o n v e r t e r s t a t i o n . I t reduces t h e system s e n s i t i v i t y t o t r a n s i e n t s b y i n c r e a s i n g t h e s h o r t c i r c u i t l e v e l o f t h e system. However, i t i s s l o w i n response, l e s s r e l i a b l e and i s expensive due t o h i g h c a p i t a l and maintenance c o s t s . Thus t h e r e c e n t t r e n d has been t o l o o k f o r more e f f i c i e n t , more economic and f a s t e r s t a t i c d e v i c e s t o r e p l a c e o r supplement t h e SC.

a 7 wv 159-7 A paper recommended and approved hy t h e IEFX T r a n s m i s s i o n and D i s t r i b u t i o n Committee of t h e I E E E 2ower En i n e e r i n g S o c i e t v o r p r e s e n t a t i o n a t t h e IEEE/PES 1987 W i n t e r Y e e t i n g , Yew O r l e a n s , 6, 1987. Y a n u s c r i p t sllbmitLouisiana, February t e d J a n u a r y 17, 1986 made a v a i l a h l e f o r p r i n t i n g Uovember 12, 1986.

Other schemes such as s a t u r a t e d r e a c t o r and conv e r t e r f i r i n g angle c o n t r o l are n o t included in this comparison. The a p p l i c a t i o n o f t h e SCD as a VCD a t t h e HVDC t e r m i n a l i s a n o v e l c o n c e p t u a l scheme proposed i n t h i s paper, whereas VCDs 1 t o 5 have been proposed o r app l i e d o n some o f t h e e x i s t i n g HVDC schemes. The a p p l i c a t i o n o f s e r i e s c a p a c i t o r s i n l o n g d i s t a n c e ac t r a n s m i s s i o n [ I l l and w i t h synchronous comp e n s a t o r s t o reduce a r c f l i c k e r [ I 2 1 a r e w e l l known. I n t h e scheme proposed h e r e i n , t h e s e r i e s c a p a c i t o r i s i n s t a l l e d a t t h e ac/dc i n t e r f a c e , see F i g . 3 e , t o supp l y t h e r e a c t i v e power r e q u i r e d by t h e c o n v e r t e r and a t t h e same t i m e reduce t h e e f f e c t i v e fundamental f r e quency impedance as viewed f r o m t h e c o n v e r t e r b u s . The r e s u l t s p r e s e n t e d f o r t h i s scheme a r e p r e l i m i n a r y i n n a t u r e and f o r t h i s scheme t o be a v i a b l e a l t e r n a t i v e further investigations are required. These VCDs a r e a p p l i e d a t t h e r e c e i v i n g end o f a t e s t system c h a r a c t e r i z e d by low s h o r t c i r c u i t r a t i o A dynamic o v e r v o l t a g e (DOV) criterion is (SCR). adopted. T h i s c o n s t r a i n s such p a r a m e t e r s as VCD r a t ing, c o n f i g u r a t i o n and c o n t r o l system. The average v a l u e of t h e r e c t i f i e d t h r e e phase v o l t a g e , c a l i b r a t e d t o r e a d t h e rms v a l u e o f s i n e wave i s used as a measu r e o f DOV. Once a VCD has been s i z e d t o s a t i s f y t h e DOV c r i t e r i o n , i t s e f f e c t i v e n e s s i s e v a l u a t e d based on the overall v o l t a g e c o n t r o l and r e c o v e r y p e r f o r m a n c e f o l l o w i n g a s e t of disturbances. For a scheme t h a t met t h e DOV c r i t e r i o n and showed s a t i s f a c t o r y r e c o v e r y , t h e c o s t o f a conceptual design i s estimated. Digital s i m u l a t i o n s a r e p e r f o r m e d u s i n g EMTDC ( E l e c t r o m a g n e t i c T r a n s i e n t Program f o r DC) [9,10] t h a t a l l o w s t h r e e phase e l e c t r o m a g n e t i c t r a n s i e n t m o d e l l i n g and t a k e s i n t o account t h e e f f e c t s o f harmonics, unb a l a n c e s , n o n - l i n e a r i t i e s and c o n t r o l systems. TEST SYSTEM For comparing t h e performance o f v a r i o u s VCDs a t e s t system c o n s i s t i n g o f a p o i n t - t o - p o i n t dc t r a n s -

0885-8977/88/0400-0684$01.00~1988 IEEE

685
m i s s i o n system w i t h t h e VCD c o n n e c t e d t o t h e i n v e r t e r commutating bus as shown i n F i g . 1 i s used. The dc s y s t e m i s a monopolar, s i x p u l s e , r a t e d 8 1 0 MW (1800A, 450kV) a t t h e i n v e r t e r . The r e c e i v i n g end and s e n d i n g end ac systems a r e s e p a r a t e d by a 895 km t r a n s m i s s i o n 1 ine. The ac n e t w o r k s , both a t the r e c t i f i e r and i n v e r t e r ends, a r e m o d e l l e d as i n f i n i t e s o u r c e s s e p a r a t ed f r o m t h e i r r e s p e c t i v e commutating buses b y system impedances. The impedances a r e r e p r e s e n t e d as R-RL n e t w o r k s h a v i n g t h e same damping a t t h e fundamental and t h e second harmonic f r e q u e n c i e s . The impedance a n g l e s o f t h e r e c e i v i n g end and t h e s e n d i n g end s y s tems a r e s e l e c t e d t o b e 78 and 85 degrees r e s p e c t i v e ly. The m a g n i t u d e o f t h e impedances a r e s e l e c t e d t o p r o v i d e SCRs o f 1.5 and 4 . 0 a: t h e r e c e i v i n g and sendi n g ends r e s p e c t i v e l y . The SCR t a k i n g i n t o a c c o u n t t h e r e a c t i v e power s u p p l i e d by t h e ac f i l t e r s i s d e f i n e d as:
INVERTER
0.75 H

F i l t e r s r a t e d a t 200 Mvar c o n s i s t i n g o f 5 t h , 7 t h , Ilth, 1 3 t h and h i g h pass a r e c o n n e c t e d a t each o f t h e commutating b u s e s .

1.3 125 122

>

1.2

--

1800 AMPS,450 kV. 895 hm 1 POLE DISTRIBUTED LINE 075H

RECTIFIER

STUDY CRITERIA

5.7.1 1.13 HP

138 k v

To p r o p e r l y s i z e and compare t h e p e r f o r m a n c e o f v a r i o u s VCDs, a c o n s i s t e n t set o f study c r i t e r i a i s assumed. These p e r t a i n t o system s t e a d y s t a t e o p e r a t i n g c o n d i t i o n s and DOV l i m i t i n g c a p a b i l i t y f o l l o w i n g disturbances. S i z i n q o f VCDs F i g . 3 g i v e s t h e r a t i n g s and c o n n e c t i o n s o f VCDs, which a r e s i z e d t o s a t i s f y t h e f o l l o w i n g c o n d i t i o n s : 2 is used. T h i s c r i t e r i o n i s based on cl31 and i s b e l i e v e d t o l i m i t t h e f a i l u r e r a t e o f consumer equipment t o a c c e p t a b l e l e v e l s .

VOLTAGE CONTROL

Figure 1 Test System

A p e r m i s s i b l e DOV c r i t e r i o n shown i n F i g .

where: Sac Pdc

=
=

Q f i l t=

s h o r t c i r c u i t l e v e l o f t h e ac system a c t i v e power o f t h e c o n v e r t e r r e a c t i v e power s u p p l i e d by t h e ac f i l t e r s

Similarly, the e f f e c t i v e short c i r c u i t ratio (ESCR) t a k i n g i n t o account t h e e f f e c t o f VCD i s def i n e d as:

Under s t e a d y s t a t e a t f u l l load, t h e VCD must s u p p l y enough r e a c t i v e power t o t h e i n v e r t e r so t h a t t h e power f a c t o r l o o k i n g i n t o t h e ac s y s tem a t p o i n t A i n F i g . 1 is unity. Also from 1.0 p u t o 0.1 p u o f t h e r a t e d power, t h e power f a c t o r a t p o i n t A must be g r e a t e r t h a n 0.95. S w i t c h i n g o f f 50% o f t h e ac f i l t e r s and 100% o f FC, i f they e x i s t , i s p e r m i t t e d a f t e r s i x cyc l e s f r o m t h e i n s t a n t o f dc b l o c k . Components o f t h e VCD w h i c h a r e f r e q u e n t l y s w i t c h e d s h o u l d n o t cause more t h a n 2.5% v o l t age change a t t h e i n v e r t e r commutating bus t o a v o i d s p u r i o u s commutation f a i l u r e s and consumer complaints. Synchronous Compensator

ESCR =

SCR

- -----__
Pdc

Svcd

where: Svcd =

c o n t r i b u t i o n made by t h e VCD t o t h e short c i r c u i t level

The t r a n s f o r m e r s a r e m o d e l l e d w i t h s a t u r a t i o n e f f e c t s h a v i n g a knee p o i n t v o l t a g e o f 1.20 pu and a i r c o r e reactance equal t o t w i c e t h e leakage reactance. The dc l i n e i s m o d e l l e d as a f r e q u e n c y dependent d i s t r i b u t e d parameter t r a n s m i s s i o n l i n e . The dc system i s assumed t o be o p e r a t i n g i n cons t a n t c u r r e n t c o n t r o l a t t h e r e c t i f i e r and c o n s t a n t e x t i n c t i o n a n g l e c o n t r o l a t t h e i n v e r t e r w i t h o u t any higher level c o n t r o l l e r s . The m o d e l l i n g o f dc c o n t r o l s i n c l u d e s a d e t a i l e d representation of the pole c o n t r o l l e r , v a l v e group circuits, phase f i r i n g c i r c u i t w i t h i t s R C snubber locked o s c i l l a t o r , v o l t a g e dependent c u r r e n t o r d e r l i m i t and v a r i o u s c u r r e n t o r d e r ramp g e n e r a t o r s . During steady s t a t e , t h e i n v e r t e r i s o p e r a t i n g a t a n o m i n a l e x t i n c t i o n a n g l e (gamma) o f I8 degrees and t h e r e c t i f i e r a t a nominal f i r i n g a n g l e (alpha) o f 15 degrees. W i t h a commutation r e a c t a n c e o f l3%, i n v e r t e r and r e c t i f i e r consume 425 Mvar and 412 Mvar r e s p e c t i v e l y when d e l i v e r i n g 810 MW a t t h e r e c e i v i n g end.

( F i g . 3a

110 Mvar F C One I 3 0 Mvar S C i n c o m b i n a t i o n w i t h meets t h e s t u d y c r i t e r i a . The S C s i z e was based on To o b t a i n r e l i a b i l i l i m i t i n g DOV f o l l o w i n g dc b l o c k . t y and a v a i l a b i l i t y comparable t o o t h e r VCDs, two SCs a r e i n c l u d e d . The SCs a r e c o n n e c t e d t o t h e commutating bus t h r o u g h u n i t t r a n s f o r m e r s w i t h X t = 12%.
T h y r i s t o r C o n t r o l l e d Reactor

( Fig.

3b)

r a t e d TCRs i n c o m b i n a t i o n Two 60 Mvar c o n t i n u o u s F C meet t h e s t u d y w i t h , f o u r banks o f 3x25 Mvar each, criteria. An a d d i t i o n a l 45 Mvar o f F C a r e p r o v i d e d t o a l l o w some c o n t r o l f o r u n d e r v o l t a g e swings. As w i t h t h e S C s , t h e TCRs a r e c o n n e c t e d t o t h e commutating bus t h r o u g h t r a n s f o r m e r s o f Xt=12%. T h y r i s t o r Switched Capacitor

( F i g . 3c)

686
S i x 26 Mvar TSC banks i n c o m b i n a t i o n w i t h 84 Mvar The TSC banks as shown i n Fig. 3c a r e connected t o t h e h i g h v o l t a g e bus t h r o u g h 12% impedance t r a n s f o r m e r s . I n a d d i t i o n a shunt react o r i s r e q u i r e d t o absorb v a r s d u r i n g l i g h t l o a d cond i t i o n s i n accordance w i t h t h e s t u d y c r i t e r i a .

F C meet t h e s t u d y c r i t e r i a .

&
230 kV
130bvar 110Mre.i
130Muar

M e t a l Oxide V a r i s t o r

( F i g . 3d)

Two MOV banks o f t o t a l 81 MJ energy rating in c o m b i n a t i o n w i t h F C , two banks o f 4x28 Mvar each, meet t h e study c r i t e r i a . I n a d d i t i o n a 50 Mvar r e a c t o r i s r e q u i r e d t o meet t h e l i g h t l o a d c o n d i t i o n s . S e r i e s C a p a c i t o r D e v i c e ( F i g . 3e ) To m i n i m i z e o v e r a l l equipment cost, t h e SCD was s i z e d t o p r o v i d e t h e f u l l l o a d r e a c t i v e power r e q u i r e ment o f the converter. T h i s causes 0.03 pu r i s e i n s t e a d y s t a t e v o l t a g e i n moving f r o m t h e system s i d e t o the converter side, a c o n d i t i o n considered acceptable. The SCD can be viewed as an i n h e r e n t r e a c t i v e power r e g u l a t o r because i t s o u t p u t i s proportional t o the I t i s u n a b l e , hows q u a r e of t h e c u r r e n t t h r o u g h i t . ever, t o control the voltage t o a set point value. The 2x25 Mvar s h u n t r e a c t o r s shown a r e r e q u i r e d t o abs o r b r e a c t i v e power d u r i n g l i g h t l o a d as r e q u i r e d by study c r i t e r i a . The ESCR, wnich t a k e s i n t o a c c o u n t t h e VCD con3. I t may be n o t e d tribution, i s shown i n t h e F i g . t h a t t h e S C and S C D i n c r e a s e t h e s h o r t c i r c u i t r a t i o a t t h e i n v e r t e r bus, whereas t h e r e m a i n i n g VCDs reduce i t f r o m 1.5. System D i s t u r b a n c e s

(a )

Synchronous compensator

ESCR = 1.75 ( 1 unit O n l y )

r I

( b ) Thyristor controlled reactor ESCR ( T C R 011) = 1.17

(TCRon)=1.40

230kV

The f o l l o w i n g d i s t u r b a n c e s were s t u d y t h e e f f e c t i v e n e s s o f each VCD: 1. Permanent dc b l o c k

simulated

to

2.

DC l i n e

f a u l t a t the

i n v e r t e r end f o r

12 c y -

cles.

3.
4.

SLG f a u l t a t t h e i n v e r t e r ac b u s .

3 phase f a u l t a t t h e i n v e r t e r ac bus.
SLG f a u l t ,
remote f r o m t h e i n v e r t e r ac bus.

6 6 "
T T
3 x 26
M"a,

T
v w

5.
6.

50
Mvar

3 1 28 Mvsr

3"28
MYW

3 phase f a u l t , remote f r o m t h e i n v e r t e r ac bus.

(c) Thyristor switched capacitor

7.
8.

SLG f a u l t a t t h e r e c t i f i e r ac bus.

ESCR ( T S C off) = 1.40 ( T S C o n ) = 1.22

3 phase f a u l t a t t h e r e c t i f i e r ac bus.

A l l t h e ac f a u l t s were a p p l i e d f o r a d u r a t i o n o f cycles. The remote f a u l t s a t t h e i n v e r t e r were app l i e d as a f a u l t t h r o u g h impedance, t h e v a l u e o f w h i c h was equal t o t h e r e c e i v i n g end ac system impedance. I t may be observed t h a t t h e s e f a u l t s i n c l u d e b o t h ac and dc w i t h t h e f o r m e r b e i n g b a l a n c e d as w e l l as unbalanced. Also t h e ac f a u l t s a r e a p p l i e d b o t h a t t h e i n v e r t e r and r e c t i f i e r commutating buses, however, more emphasis i s p l a c e d on t h e i n v e r t e r f a u l t s due t o i t s lower SCR. The s i m u l a t i o n i s p e r f o r m e d f o r a d u r a t i o n o f 1 . 0 s and t h e d i s t u r b a n c e i s c r e a t e d a t 0 . 1 s .

U
U
4 I28
M"W

SIMULATION RESULTS

MOV 8lW

50
Mvar

4x28 Mvar

Voltage Control I t was found t h a t , among a l l the disturbances studied, t h e dc b l o c k r e s u l t e d i n t h e h i g h e s t DOV. Hence o n l y t h e r e s u l t s o f t h i s disturbance are pre-

(d)

Metal oxide varistor

(e

Series capacitor device

ESCR = 1.22

ESCR = 3.02

Figure 3 Single Line Diagram of VCD Arrangement

687
s e n t e d t o d e m o n s t r a t e t h e e f f e c t i v e n e s s o f t h e VCDs i n c o n t r o l l i n g DOV. A l s o , t h e dc power goes t o z e r o d u r i n g t h e w o r s t - c a s e dc l i n e and s e n d i n g end ac f a u l t s . Thus t h e s e d i s t u r b a n c e s have t h e same e f f e c t o n t h e r e c e i v i n g end DOV as t h e dc b l o c k . The e f f e c t s o f o t h e r d i s t u r b a n c e s a r e d i s c u s s e d where necessary. The f o l l o w i n g r e s u l t s f o r t h e d c b l o c k c a s e f o r each d e v i c e a r e g i v e n i n F i g s . 4 t o 9 . 1. The i n s t a n t a n e o u s v o l t a g e o f t h e phase e x h i b i t i n g t h e h i g h e s t peak a t t h e i n v e r t e r bus. DOV a t t h e i n v e r t e r b u s . A p p r o p r i a t e v a r i a b l e s f o r each VCD. Synchronous Compensator (SC)

F i g . 5 shows t h e r e s u l t s o f t h e dc b l o c k w i t h one SC. I n a d d i t i o n t o t h e ac v o l t a g e s and OOV p l o ? s , t h e v a r s s u p p l i e d and f i e l d c u r r e n t o f S C a r e a l s o g i v e n . The f o l l o w i n g o b s e r v a t i o n s a r e made:

1.

2.

3.

In all t h e cases s i m u l a t e d t h e b l o c k s i g n a l i s a p p l i e d a t 0.1 s and 50% o f ac f i l t e r s and 100% o f F C ( i f any) a r e s w i t c h e d o f f a t 0.2 s ( s i x c y c l e s a f t e r t h e dc b l o c k ) . N o t e t h a t t h e r e s u l t s a r e f o r one s i m u l a t i o n o n l y and t h e r e f o r e d o n o t n e c e s s a r i l y portray the worst case f o r i n s t a n t a n e o u s v o l t a g e s . However, t h e DOV was o b s e r v e d t o b e independent o f t h e s w i t c h i n g i n s t a n t .

One S C o f I30 Mvar i s a b l e t o l i m i t t h e DOV t o 1.26 p u f o r t h e f i r s t s i x c y c l e s (0.1 t o 0.2 s), which i s a t t r i b u t e d t o subtransient effects. The p e r m i t t e d s w i t c h i n g a c t i o n o f f i l t e r s and F C a t 0.2 s b r i n g s down t h e DOV t o 1.16 p u . However, due t o r o t o r o s c i l l a t i o n s t h e D O V s w i n g s back t o a b o u t 1.2 p u a t 0.40 s. The s l o w response o f t h e S C i s e v i d e n t as i t does n o t absorb r e a c t i v e power u n t i l a b o u t 0.60 s (30 c y c l e s f o l l o w i n g t h e b l o c k s i g n a l ) . Furthermore, a t 1.0 s (54 c y c l e s a f t e r dc b l o c k ) o n l y a b o u t 0.35 p u (46 Mvar) o f r e a c t i v e power i s absorbed by t h e S C and t h e DOV i s reduced t o o n l y 1 . 1 6 pu. However, t h e DOV e n v e l o p e i s w i t h i n the study c r i t e r i o n . The h i g h e s t instantaneous v o l t a g e recorded i s 1.85 p u o n phase A f o r t h e f i r s t peak. However, subsequent peaks a r e below 1.30 pu. The harmonic d i s t o r t i o n o f t h e v o l t a g e s i s negl i g i b l e due t o t h e f a c t t h a t t h e SC does n o t g e n e r a t e harmonics and i n c r e a s e s the resonant f r e q u e n c y o f t h e system. The l a t t e r e f f e c t i s due t o t h e s m a l l e r F C component.

2.

F i xed
FC.

Capac i t o r s

(FC)

F i g . 4 shows t h e r e s u l t s o f t h e dc b l o c k w i t h t h e The f o l l o w i n g o b s e r v a t i o n s a r e made: 1. The F C o f 225 Mvar r e s u l t s i n DOV o f 1.40 p u f o r t h e f i r s t s i x c y c l e s and t h e r e f o r e v i o l a t e s t h e study c r i t e r i o n . However, a f t e r s i x c y c l e s of the ( a t 0.2 s ) s w i t c h i n g o f f 50% (I00 Mvar) of the FC brings f i l t e r s and 100% (225 Mvar) down t h e D O V t o 1.12 pu. The r i p p l e i n DOV i s due t o t h e presence o f second harmonic. The h i g h e s t i n s t a n t a n e o u s v o l t a g e i s 2 . 0 p u o n Subsequent peaks phase B f o r t h e f i r s t peak. a r e a l s o above 1.30 p u u n t i l t h e f i l t e r s and capacitors are switched o f f .

3.

2.

For o t h e r d i s t u r b a n c e s s i m u l a t e d , i t was o b s e r v e d t h a t t h e SC i s e f f e c t i v e i n l i m i t i n g the f a u l t cleari n g o v e r v o l t a g e s f o l l o w i n g r e c e i v i n g end f a u l t s . Howe v e r , f o r t h e c a s e o f unbalanced f a u l t s a t t h e r e c e i v a f e w h i g h i n s t a n t a n e o u s peaks were o b s e r v e d i n g end, i n t h e u n f a u l t e d phases d u r i n g t h e f a u l t .
0
0

V a inverter bus ( pu )
I

n, I

i t i s concluded t h a t From t h e above o b s e r v a t i o n s an a d d i t i o n a l d e v i c e i s r e q u i r e d , i n conjunction w i t h the FC, t o l i m i t the v o l t a g e below t h e study criterion.

Tu.

'0.00
0
0

0.20

0.110

0.60

0 . R0

V b inverter bus ( pu )
l i
1

0 ID

n, I

W 0

I
'

lo. 0 0

0. ' 20

0'. Y O

0.60

0.80

1.00

'b.00

0.20

0.110

0.60

1.00

LD 0

Yi.00

0'. 20

0'. YO

0'. 60

0'. 80

1'. D O

lrl'.oO
0

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n . 60

0'. 00

I . 00

SC field current ( pu )

I
I
1

lo'.

00

'

0'. 20

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0. ' 60
F i x e d Capacitor

0. 0 '8

1 . 00

SECONDS
Figure 4
Figure 5 Synchronous Compensator

688
T h y r i s t o r C o n t r o l l e d Reactor (TCR) T h y r i s t o r Switched Capacitor (TSC)

The e f f e c t o f TCR on t h e v o l t a g e c o n t r o l f o l l o w 6. I n a d d i t i o n t o i n g t h e dc b l o c k i s shown i n F i g . system v a r i a b l e s d e s c r i b e d e a r l i e r , t h e TCR suscepA t steady t a n c e and phase c u r r e n t a r e a l s o g i v e n . state, t h i s VCD has a s u p p l y r a n g e o f 45 Mvar a v a i l able t o control voltage dips. The f o l l o w i n g o b s e r v a t i o n s a r e made:

D u r i n g s t e a d y s t a t e s i x TSC banks a r e c o n d u c t i n g t o s u p p l y r e q u i r e d v a r s by t h e i n v e r t e r . The p e r f o r m ance o f t h e TSC f o l l o w i n g t h e dc b l o c k i s shown i n F i g . 7. The f i g u r e i n c l u d e s , a p a r t f r o m t h e system par a m e t e r s , t h e TSC phase c u r r e n t . The f o l l o w i n g o b s e r v a t i o n s a r e made: is limited The DOV f o l l o w i n g t h e b l o c k s i g n a l t o 1.29 pu d u r i n g t h e r e q u i r e d i n t e r v a l by s w i t c h i n g o f f a l l t h e TSC banks u s i n g b l o c k i n formation. The p e r m i t t e d s w i t c h i n g a c t i o n o f t h e f i l t e r s and F C b r i n g s down t h e DOV t o 1 . 1 2 pu, w e l l b e l o w t h e s t u d y c r i t e r i o n . The h i g h e s t i n s t a n t a n e o u s v o l t a g e o f 1.8 p u i s r e c o r d e d on phase B f o r t h e f i r s t peak. Subsequ e n t peaks a r e b e l o w 1.30 pu. The e f f e c t o f harmonics i s f o u n d t o b e i n s i g n i f i c a n t i n t h i s case because t h e removal o f TSC banks increases the resonant frequency o f t h e system. S i m i l a r t o t h e TCR, t h e TSC a l s o r e s u l t s i n h i g h in limiting f a u l t - c l e a r i n g voltages and i s e f f e c t i v e t h e o v e r v o l t a g e s on t h e u n f a u l t e d phases d u r i n g t h e f a u l t s a t t h e i n v e r t e r bus. For a l l t h e d i s t u r b a n c e s s t u d i e d t h e DOV was w e l l w i t h i n t h e s t u d y c r i t e r i o n .

1.

The TCR c o n t r o l s t h e DOV t o 1.30 pu f o r t h e f i r s t s i x c y c l e s (0.1 t o 0.2 5 ) . The r e a c t o r i s f o r c e d f u l l y on as e v i d e n t f r o m t h e TCR phase c u r r e n t and s u s c e p t a n c e . A t 0.2 s , the p e r m i t t e d s w i t c h i n g a c t i o n o f t h e f i l t e r s and F C b r i n g s down t h e DOV t o a v a l u e o f 1.03 pu. (V-l c h a r a c t e r i s t i c o f TCR has a d r o o p o f 0.03 pu.),which i s w i t h i n t h e study c r i t e r i o n . The 60 Hz r i p p l e i n t h e DOV measurement i s due to t h e p r e s e n c e o f second h a r m o n i c . T h i s a l s o causes dc o f f s e t i n t h e phase c u r r e n t o f t h e TCR. A l t h o u g h t h e D O V i s l i m i t e d t o 1.3 pu d u r i n g t h e e n t i r e i n t e r v a l (0.1 to 0 . 2 s ) , t h e i n s t a n taneous v o l t a g e s have peaks h i g h e r t h a n 1.30 pu. T h i s i s due t o t h e s u p e r p o s i t i o n o f harmoni c s on t h e fundamental v o l t a g e . The TCR i s unit is a b l e t o l i m i t t h e s e h i g h peaks because l e s s e f f e c t i v e f o r h i g h e r harmonics. The h i g h e s t i n s t a n t a n e o u s v o l t a g e r e c o r d e d was - 1 . 8 pu on phase A .

2.

3.

For a l l o t h e r d i s t u r b a n c e s s i m u l a t e d , t h e DOV was w e l l below t h e study c r i t e r i o n . A l s o t h e TCR was q u i t e e f f e c t i v e i n l i m i t i n g t h e o v e r v o l t a g e s on unf a u l t e d phases d u r i n g t h e f a u l t by f o r c i n g t h e r e a c t o r t o f u l l y on. However, f a u l t - c l e a r i n g v o l t a g e s f o r t h e f i r s t few c y c l e s were h i g h .

a
0

Vb inverter bus ( pu 1
I

I
'0.00

0.20

I 0.110

I 0.60

0.80

1.00

a
0

V a inverter bus ( pu

I n

DOV ( pu 1

'0.
0 0

oo

0.20

I
I

0.110

0 1. 6 0

0.80

1.00 I
0 0

TCR susceptance ( DU 1

TSC phase current ( p u )

SECONDS
Figure 7 Thyristor Switched Capacitor

M e t a l Oxide V a r i s t o r

(MOV)

0
0

TCR phase current ( pu

The MOV r e s u l t s f o l l o w i n g t h e dc b l o c k a r e g i v e n i n Fig. 8. The p l o t s o f MOV c u r r e n t and e n e r g y abs o r b e d by MOV p e r phase a r e a l s o g i v e n . The f o l l o w i n g o b s e r v a t i o n s a r e made:

1.
a
0
I '

0.00

0.20

n. y o 0.60 SECClNDS

0'. 8 0

1: 0 0

Figure 6

T h y r i s t o r Controlled R e a c t o r

The MOV i s a b l e t o l i m i t t h e DOV t o 1.30 pu f o r t h e r e q u i r e d i n t e r v a l by a b s o r b i n g 15 MJ o f ene r g y p e r phase. The p e r m i t t e d s w i t c h i n g a c t i o n o f t h e f i l t e r s and F C b r i n g s down t h e DOV t o 1.12 pu. Some e n e r g y c o n t i n u e s t o be absorbed by t h e MOV f o l l o w i n g t h e s w i t c h i n g a c t i o n . This i s considered i n the conceptual design (see 'Economic E v a l u a t i o n ' ) .

689
2.
The i n s t a n t a n e o u s v o l t a g e s a r e c l pped t o 1.20 pu. I t i s i n t e r e s t i n g t o n o t e t h a t t h e p e r u n i t v a l u e o f DOV i s h i g h e r t h a n t h e n s t a n t a n e o u s value. T h i s i s due t o f l a t t e n i n g o f t h e waveform associated w i t h c l i p p i n g a c t i o n .

0
0

Va inverter bus ( pu 1

i n l i m i t i n g the Although t h e MOV i s e f f e c t i v e DOV, i t does n o t p r o v i d e c o n t i n u o u s c o n t r o l and o n l y a c t s above i t s knee v a l u e . Thus a s u p p l e m e n t a r y cont r o l (e.g. c o n v e r t e r c o n t r o l o r s w i t c h i n g o f f o f s h u n t capacitors) i s r e q u i r e d f o r o p e r a t i o n b e l o w t h e knee value.

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.

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'0,. 0 0

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Figure 9 Series Capacitor Device
0 0

MOV phase current ( k A )

V o l t a g e C o n t r o l Comparison Summary F i g . 10 shows t h e DOV a t t h e i n v e r t e r b u s f o l l o w i n g dc b l o c k f o r a l l VCDs i n c l u d i n g t h e ' F C o n l y ' case. S i n c e t h e l a t t e r v i o l a t e s t h e DOV c r i t e r i o n , i t i s e l i m i n a t e d f r o m t h e f o l l o w i n g comparison:

1.
0

Energy/phase ( MJ )

A l t h o u g h a l l VCDs a r e d e s i g n e d t o c o n t r o l t h e DOV b e l o w t h e c r i t e r i o n , t h e S C D i s most e f f e c t i v e i n c o n t r o l l i n g i t and t h e S C has t h e slowe s t response.

2.

A d i p i n t h e DOV i m m e d i a t e l y f o l l o w i n g t h e d c block i s noticed f o r a l l t h e cases. I t i s due t o phase s h i f t i n g o f t h e i n v e r t e r b u s v o l t a g e s .

The SC, TCR and TSC, each a l l o w e d one h i g h i n s t a n t a n e o u s v o l t a g e peak immediately f o l l o w i n g t h e d c b l o c k . The TCR a l s o a l l o w e d f u r t h e r h i g h peaks caused b y s u p e r p o s i t i o n o f h i g h e r o r d e r harmonics o n fundamental v o l t a g e . These h i g h peaks a r e n o t seen i n t h e c a s e o f o t h e r VCDs. The MOV c l i p s t h e v o l t a g e peaks and t h e r e f o r e r e s u l t s i n a d i f f e r e n t harmonic spectrum. I n t h e c a s e o f unbalanced f a u l t s a t t h e i n v e r t e r ac b u s , t h e instantaneous peaks o n t h e u n f a u l t e d phases d u r i n g t h e f a u l t p e r i o d were I n t h e TCR and c l i p p e d by t h e MOV t o 1.2 pu. TSC c a s e s , c o n t r o l a c t i o n h e l d t h e s e peaks b e low 1 . 4 pu. However, i n t h e S C case, peaks as h i g h as 2.0 p u were observed. The SC r e s u l t s i n l o w e r i n s t a n t a n e o u s peaks f o l l o w i n g f a u l t removal compared t o t h e TSC and TCR. Peaks i n t h e c a s e o f t h e MOV, as m e n t i o n e d e a r l i e r , a r e c l i p p e d b e l o w 1.2 p u . The S C and TCR p r o v i d e c o n t i n u o u s c o n t r o l , the SCD a l m o s t s e l f r e g u l a t i n g c o n t r o l , t h e TSC below i t s s t e p c o n t r o l and t h e MOV no c o n t r o l knee v a l u e .

5 E C 0ND 5
Figure 8 Metal O x i d e Varistor

3.

4.

S e r i e s C a p a c i t o r D e v i c e (SCD) F i g . 9 g i v e s t h e r e s u l t s o f SCO f o r t h e dc b l o c k . These i n c l u d e a p l o t o f s e r i e s c a p a c i t o r c u r r e n t . The f o l l o w i n g o b s e r v a t i o n s a r e made: 1. The D O V f o l l o w i n g t h e dc b l o c k i s l i m i t e d t o b e l o w 1.15 pu. The p e r m i t t e d s w i t c h i n g a c t i o n o f t h e f i l t e r s f u r t h e r r e d u c e s t h e DOV t o 1.08 p u . Thus t h e DOV e n v e l o p e i s well below t h e study c r i t e r i o n . The i n s t a n t a n e o u s v o l t a g e s a t t h e i n v e r t e r b u s a r e w e l l below 1.30 p u f o r t h e e n t i r e s i m u l a tion. A dc o f f s e t i s e v i d e n t i n these v o l t a g e s w h i c h r e s u l t i n a 60 Hi! r i p p l e i n t h e DOV.

5.

6.

2.

7.

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0 SYNCHRONOUS 0
COMPENSATOR THYRISTOR CONTROLLED REACTOR THYRISTOR SWITCHED CAPACITOR

-0 80

-1 20

-,-: l-FIXED SHUNT C A P A C I T O R SYNCHRONOUS C O M P E N S 4 T O R

070
I

X M E T A L OXIDE VARISTOR
SERIES C A P A C I T O R DEVICE
I

-1 60

A THYRISTOR CONTROLLED REACTOR 0 THYRISTOR SWITCHED CAPACITOR

X
METAL OXIDE V A R I S T O R

-2 00 0

F i g u r e 10 DOV Comparison f o r DC B l o c k

( a
2 00

1 3 phase close in fault at inverter

( see figures 4-9 for individual plots )

Recovery A s s i s t a n c e The e f f e c t i v e n e s s o f t h e s e VCDs i n a s s i s t i n g t h e system r e c o v e r y f o l l o w i n g disturbances, mentioned above, was a l s o s t u d i e d . Controls s t r a t e g y w i t h respect t o f a u l t recovery i n t h i s s t u d y was t o r e d u c e t h e c u r r e n t o r d e r when a f a u l t was d e t e c t e d and ramp i t back when t h e f a u l t was removed. The ramp r a t e was a d j u s t e d f o r each c a s e i n o r d e r t o o b t a i n good r e c o v e r y . N o t e t h a t t h i s r a t e was n o t t h e same f o r a l l t h e c a s e s . A l t h o u g h t h e SCD scheme worked w e l l i n s t e a d y s t a t e and p r o v i d e d e f f e c t i v e DOV c o n t r o l f o l l o w i n g d c block, a f o r m o f harmonic i n s t a b i l i t y was o b s e r v e d f o l l o w i n g some o f t h e d i s t u r b a n c e s , preventing satisI t i s possible t o mitigate t h i s f a c t o r y recovery. p r o b l e m by some a l t e r n a t e methods b u t t h e s e were n o t f u l l y investigated. Consequently, simulation results p e r t a i n i n g t o t h e SCD a r e n o t g i v e n h e r e and t h e dev i c e i s n o t included i n the f o l l o w i n g discussion. I t was f o u n d t h a t among t h e d i s t u r b a n c e s s i m u l a t ed t h o s e a t t h e r e c e i v i n g end were more s e v e r e . The 3 phase c l o s e - i n f a u l t ( F i g . Ila) was t h e most s e v e r e and t h e SLG r e m o t e ( F i g . I l b ) was t h e l e a s t s e v e r e b u t t h e most p r o b a b l e . Consequently t h e s e two a r e c o n s i d e r e d most i m p o r t a n t w i t h r e g a r d t o r e c o v e r y . i s obRecovery t o 80% o f p r e - d i s t u r b a n c e power t a i n e d i n 450-500 ms f o r t h e 3 phase c l o s e - i n and i n 350-4130 ms f o r t h e SLG remote f a u l t (Fig.11). This t i m e i s somewhatslower t h a n some e x i s t i n g schemes b u t c o u l d b e c o n s i d e r e d adequate i n v i e w o f t h e low SCR a t the inverter. From t h e s e r e s u l t s i t i s e v i d e n t t h a t none o f t h e VCDs show any c o n c l u s i v e s u p e r i o r i t y i n a s s i s t i n g r e covery. N o t e t h e system r e c o v e r e d even w i t h t h e ' F C o n l y ' case. ECONOMIC EVALUATION Cost e s t i m a t e s a r e p r e p a r e d f o r each VCD scheme t o make an economic e v a l u a t i o n . The VCD schemes d e v e l oped f o r t h e c o s t e s t i m a t e s d o n o t c o n s t i t u t e d e t a i l e d o r f u l l y o p t i m i z e d designs. However, the estimates include the supply, i n s t a l l a t i o n and commissioning o f a l l equipment and a l l a s s o c i a t e d overhead c o s t s . The c o s t o f v a r i o u s components i s based o n e s t i m a t i n g p r i c e s o b t a i n e d f r o m equipment m a n u f a c t u r e r s and o n t h e c o s t s i n c u r r e d on r e c e n t p r o j e c t s w i t h s i m i l a r equipment.

1.60-1

04 0 ~

000-

-0 40

-0.00 -

-1,20~---

-I.60--2 00 000

1
010

- F I X E D SHUNT C A P A C I T O R 0 SYNCHRONOUS COMPENSATOR A THYRISTOR cONTROLLEO R E A C T O R 0 THYRISTOR SWITCHED C A P A C I T O R

X
M E T A L OXIDE VARISTOR

020

030

040

050

060

010

080

090

10

SECONDS

( b ) SLG remote fault at inverter

F i g u r e 11 S y s t e m R e c o v e r y Comparison

Operating costs over the l i f e o f the f a c i l i t i e s contribute s i g n i f i c a n t l y t o the overall cost, theref o r e the capitalized cost o f operation, maintenance A typiand losses f o r each scheme i s a l s o e v a l u a t e d . c a l o p e r a t i n g s c h e d u l e f o r a base l o a d e d system i s dev e l o p e d and used t o c a l c u l a t e t h e l o s s e s f o r each V C D . The S C scheme, u s e d f o r t h e economic e v a l u a t i o n , has t w o synchronous compensators, s i n c e one machine w o u l d n o t have a r e l i a b i l i t y and a v a i l a b i l i t y comparab l e t o t h e o t h e r VCD schemes. Losses a r e e v a l u a t e d a s suming t h e t w o machines e q u a l l y s h a r e t h e l o a d . The TCR s h o r t t i m e r a t i n g i s t h e p r i m a r y r e q u i r e ment f o r s i z i n g t h e TCR. I t i s f e l t t h a t t w o 60 Mvar c o n t i n u o u s l y r a t e d TCRs w o u l d b e a b l e t o s u p p l y t h e r e q u i r e d s h o r t t i m e r a t i n g and a l s o b e a b l e t o compensate f o r t h e ac f i l t e r s l e f t connected a f t e r t h e dc block. The TSC, MOV and SCD schemes a l l i n c l u d e s w i t c h e d s h u n t r e a c t o r s t o p a r t i a l l y compensate f o r t h e ac f i l t e r s l e f t connected a f t e r t h e dc b l o c k .

69 1
The SCD c o s t s were based on t h e d e v i c e b e i n g a c o n v e n t i o n a l s e r i e s c a p a c i t o r bank w i t h no i n c l u s i o n o f equipment t o m i t i g a t e t h e r e c o v e r y problem. As t h i s equipment c o u l d c o n c e i v a b l y e n t a i l s i g n i f i c a n t costs, t h e c o s t s f o r t h e SCD s h o u l d be r e g a r d e d as c o n s i d e r a b l y more u n c e r t a i n t h a n t h e o t h e r VCDs. The MOV c o s t a l s o i s somewhat u n c e r t a i n as i t i n c l u d e s an assumed c o s t f o r a f a s t switching device t o bypass p a r t o f t h e m e t a l o x i d e columns d u r i n g an o v e r voltage. This i s r e q u i r e d so t h a t t h e m e t a l o x i d e columns can w i t h s t a n d normal v o l t a g e s c o n t i n u o u s l y b u t s t i l l have t h e r e q u i r e d c h a r a c t e r i s t i c d u r i n g o v e r v o l tages. The e s t i m a t e d c o s t o f t h e MOV d e v i c e i s based on energy a b s o r p t i o n o f 27 MJ per phase r e q u i r e d f o r t h e d e l a y e d c l e a r i n g o f a s e n d i n g end f a u l t (IO c y cles). T a b l e 1 g i v e s t h e c o s t o f each VCD as a p e r c e n t age o f t h e HVDC c o n v e r t e r s t a t i o n c o s t . n o t i n c l u d i n g c o s t o f the device i t s e l f . The u n c o n v e n t i o n a l schemes (MOV,SCD) a r e t h e most economical, not withstanding the u n c e r t a i n t i e s associated w i t h t h e i r c o s t e s t i l e a s t economical, even i f o n l y mates. The S C i s t h e one machine i s used. The c o s t o f a s i n g l e S C i s g i v e n i n p a r e n t h e s i s i n T a b l e 1. t h e r e s u l t s would n o t be e x p e c t e d t o a p p l y under cons t a n t power c o n t r o l i n v o l v i n g h i g h speed c a l c u l a t i o n o f power/voltage. For schemes i n which t h i s c a l c u l a t i o n can be s u f f i c i e n t l y slowed, however, response then approximates c o n s t a n t c u r r e n t c o n t r o l and t h e s e conclusions a r e expected t o hold. Comparative Costs The VCD c o s t s f a l l i n t o t h r e e c a t e g o r i e s (see Table l ) w i t h t h e S C b e i n g t h e most e x p e n s i v e , t h e unc o n v e n t i o n a l (MOV, SCD) devices t h e l e a s t expensive and t h e s t a t i c compensators f a l l i n g i n between. Other F a c t o r s A f f e c t i n g t h e Choice o f VCDs Although t h e f a c t o r s considered i n t h i s investig a t i o n are extremely important i n the s e l e c t i o n o f a V C D , n o t a l l t h e a s p e c t s necessary t o s u c c e s s f u l l y apI n an a c t u a l a p p l i c a t i o n such p l y i t a r e considered. o t h e r f a c t o r s as system r e l i a b i l i t y , t r a n s i e n t s t a b i l ity, q u a s i - s t e a d y - s t a t e v o l t a g e c o n t r o l and harmonic s t a b i l i t y s h o u l d a l s o be c o n s i d e r e d . S e r i e s Capacitor Device Table 1. Voltage Control Device E c o n o m i c Evaluation The i m p l e m e n t a t i o n o f SCD as a VCD showed c o n s i d e r a b l e promise i n i t s a b i l i t y t o c o n t r o l t h e DOV and i n i t s a p p a r e n t low c o s t . However, some d i f f i c u l t y i n r e c o v e r y f r o m f a u l t s was observed and f u r t h e r i n v e s t i gations, underway, could determine the a d d i t i o n a l equipment r e q u i r e d t o m i t i g a t e i t . Depending upon t h e n a t u r e o f t h e equipment, c o s t c o u l d i n c r e a s e .

Economic Evaluation DEVICE

( % of station capital cost )

Capital Cost

Capitalized Operational costs

15 ( 1 1)

Total Lifetime costs

55

Synchronous Compensator

40 (21) 17 18 14

(32)
23
23 14

Thyristor Controlled Reactor Thyristor Switched Capacitor Metal Oxide Varistor 9 Series Capacitor Device
ff

6 5

ACKNOWLEDGEMENT The a u t h o r s would l i k e t o thank a l l t h e T e c h n i c a l A d v i s o r s and C o - o r d i n a t o r s o f t h i s p r o j e c t f o r t h e i r v a l u a b l e a d v i c e and g u i d a n c e d u r i n g t h i s investigations.

negligible
1

13

14

REFERENCES

These f i g u r e s c o n t a i n some u n c e r t a i n t y due sumed c o s t o f f a s t s w i t c h i n g d e v i c e .

t o as-

1.

These f i g u r e s a r e c o n s i d e r a b l y more u n c e r t a i n due t o p o s s i b l e a d d i t i o n a l cost, n o t included, f o r equipment t o m i t i g a t e r e c o v e r y problem.

**

C I G R E Working Group 03, Study Committee 14 (DC l i n k s ) , "Use o f S t a t i c o r Synchronous Compensa91, pp. t o r s on HVDC Systems", ELECTRA, V o l . 51-82, Dec. 1983.
J.P. Bowles, " A l t e r n a t i v e Techniques and O p t i m i z a t i o n o f V o l t a g e and R e a c t i v e Power C o n t r o l a t HVDC C o n v e r t e r S t a t i o n s " , I n t e r n a t i o n a l Conf e r e n c e on O v e r v o l t a g e and Compensation on I n t e g r a t e d A C - D C Systems, IEEE, Winnipeg, Canada, pp. 5 - 5 i . J u l y 1980. Hammad, K . Sadek, H . K o e l s c h and G. Gueth, "Advanced Scheme f o r A C V o l t a g e C o n t r o l a t HVDC Converter Terminals", I E E E Trans., Vol. PAS-104, No. 3, pp. 697-903, March 1985.

2.

CONCLUSIONS
Voltaqe Control

3.
A l l t h e VCDs c o n s i d e r e d ( e x c e p t the 'FC only' case) can r e a d i l y be d e s i g n e d t o s a t i s f y t h e DOV c r i t e r i o n as shown i n F i g . IO. However, t h e y d i f f e r cons i d e r a b l y i n t h e i r speed o f c o n t r o l and e f f e c t on t h e v o l t a g e waveforms as d i s c u s s e d e a r l i e r .

A.

4.

Recovery f r o m F a u l t s reasonable recovWith t h e e x c e p t i o n o f t h e SCO, e r y from f a u l t s ( c o n s i d e r i n g t h e weak system) is a c h i e v e d w i t h a l l t h e VCDs i n c l u d i n g t h e ' F C o n l y ' case. I t i s possible that t h e most economical way t o f u r t h e r improve t h e r e c o v e r y i s by j u d i c i o u s l y m o d i f y i n g t h e dc c o n t r o l s r a t h e r t h a n i n v e s t i n g i n more r i g orous v o l t a g e c o n t r o l . I t must be n o t e d t h a t the scheme s t u d i e d used c o n s t a n t c u r r e n t c o n t r o l . Hence,

D. F l u e c k i g e r , W . P f y l , K Sadek, H . Huynh and M. Granger, " A p p l i c a t i o n and I n t e g r a t e d Performance Aspects o f S t a t i c Var Systems i n Conn e c t i o n w i t h HVDC", I n t e r n a t i o n a l Conference on D C Power T r a n s m i s s i o n , Montreal, Canada, pp. 171-177, June 1984. H. A l l o n , G.E. Gardner, L.A. Harris, I.M. Welch, H.L. Thanawala and D.J. Young, "Dynamic Compensation f o r t h e England France 2000 MW HVDC L i n k " I n t e r n a t i o n a l Conference on L a r g e H i g h V o l t a g e E l e c t r i c Systems, CIGRE, 14-04, Sept. 1982.

5.

692

6.

T.L. Weaver, L.M. G r e i n e r and R.K. Johnson, "Observations o n Low S h o r t C i r c u i t C a p a c i t y Panel SesS t a t i o n s - M i l e s C i t y and S i d n e y " , s i o n on Weak ac Systems, IEEE W i n t e r Power M e e t i n g , New York, Feb. 1985.

7.

C.A.O. Peixoto, C.D. C l a r k e , J.A. J a r d i n i and J.D. M o u n t f o r d , " S i m u l a t o r and D i g i t a l S t u d i e s on Var Compensation f o r t h e l t a i p u HVDC T r a n s m i s s i o n system", I n t e r n a t i o n a l Conference on O v e r v o l t a g e s and Compensation o n I n t e g r a t e d AC-DC Systems, IEEE, Winnipeg, Canada, pp. 27-42, J u l y 1980.
J.D. A i n s w o r t h , A . G a v r i l o v i c and H.L. Thanawala, "Static and Synchronous Compensators f o r HVDC T r a n s m i s s i o n C o n v e r t e r s Connected to Weak A C Systems," CIGRE 31-01, 1980 Woodford, " V a l i d a t i o n o f D i g i t a l Simulat i o n o f D C L i n k s " , IEEE T r a n s . , Vol. PAS-104, pp. 2588-2595, S e p t . 1985.

8.

9.

D.A.

10. D . A . Woodford, A.M. Gole and R.W. Menzies, " D i g i t a l S i m u l a t i o n o f D C L i n k s and A C Machines", IEEE T r a n s . , V o l . PAS-102, pp. 1616-1623, June

1983.
1 1 . A.A.
Johnson, J.E. B a r k l e and D.J. Povejsil, "Fundamental Effects o f Series Capacitors in High Voltage Transmission l i n e s " , AlEE T r a n s . , 70, pp. T r a n s m i s s i o n and D i s t r i b u t i o n , Vol. 526-536, 1951.

R. S. Thallam (Salt River Project, Phoenix, AZ): Generation of the dynamic overvoltages on ac side of the converter station is a characteristic of the HVDC link connected to a weak ac system. The authors' work presented in 87 WM 159-7 and 87 WM 160-5 is an excellent treatise on various methods available for controlling these overvoltages to permissible levels. I have the following comments and appreciate the authors' reply. 1) When a converter operating at full rated power is blocked for whatever reason (ac fault, dc line fault, or control error), there will be an excess capacitive var's at the converter ac bus, and the ac bus voltage will rise. There is a time delay involved in detecting this situation, and to switch in any of the voltage control devices described in the papers. This time delay, the authors estimate to be 2 to 3 cycles. If this delay is subtracted from the six cycles required to disconnect the capacitorifilter banks (which will relieve the overvoltage situation finally), the effect of the DOV control devices is for only three cycles (50 ms). It should also be noted that after the voltage control device is switched in, the first cycle is not clipped to 1 . 3 pu in most of the cases. 2) The following comments are applicable only to the metal-oxide varistor (MOV) device described in the second paper. a) The possibility that the capacitor breaker may fail to open should be considered. This means that the MOV device has to discharge much higher energy until the backup breaker disconnects the converter ac bus from the system. b) It is not necessary to use the voltage ratings of the standard station class surge arresters for designing the MOV device for this application. For the application described in the paper, for example, a voltage rating of 140 kV (1.3/1.33 x 144) can be used. This will give the required protective level of 1.3 pu, but will discharge much less energy than the 132-kV rated MOV device.
Manuscript received February 26, 1987.

J. S. McConnach (Ontario Hydro, Toronto, M5G 1x6, Ont., Canada): As

referenced in the paper, the dynamic overvoltage (DOV) criterion of Fig. 2, p. 2 is based on the Ontario Hydro Research Document, "Overvoltage Damage to Electronic Equipment in Homes." This work attempted to relate the magnitude and duration of dynamic overvoltages to the probability of failure of domestic electronic equipment. The DOV criterion adopted gives an acceptably low probability of failure of electronic equipment and has an initial DOV limit of 1.3 pu. This is a reasonable figure compared to the DOV limits adopted by existing transmission projects, both ac and dc, which range from 1.15 to 1.5 pu. However, the Ontario Hydro research work dates back to 1970 and was based on a somewhat limited testing program. Thus in view of the importance of the DOV criterion to the performance and cost of dc converter terminals, there is a need for further research to improve the knowledge of the DOV capability of consumers' equipment and also the reflection of the DOV at distribution voltage levels. Manuscript received March 2 , 1987.

B l a c k and L.F. L i s c h e r , "The A p p l i c a t i o n 12. P.M. o f a Series Capacitor t o a Synchronous Condens e r f o r Reducing V o l t a g e F l i c k e r " , AlEE T r a n s . , T r a n s m i s s i o n and D i s t r i b u t i o n , Vol. 70, pp. 144-150, 1951.

1 3 . O n t a r i o Hydro Research

Document, "Overvoltage Damage t o E l e c t r o n i c Equipment i n Homes", Ont a r i o , Canada, R e p o r t No. 70-129-k, 1970.

Discussion

J. D. Ainsworth (GEC Transmission and Distribution Ltd., Lichfield Rd., Box 27, Stafford, United Kingdom): May I comment on the series capacitor
method (SCD) as proposed by the authors. In the position shown, i.e., in series with the ac line feed to the convertor transformers, this has been known for many years as a theoretically attractive method. Unfortunately it is also known as a good method to obtain a violent ferro-resonant instability in conjunction with the transformers when convertors are blocked: which can give more than 2 pu steady-state voltages on busbars and valves. The use of an MOV across the capacitor will reduce its amplitude but cook the MOV. An effective cure is to add a subsynchronous damping circuit across the capacitors, similar to that used in saturated reactor SVC's. Unfortunately 'for this application this will be disproportionately expensive. This is the main impediment to using this method in all convertors, and if the authors can produce an economic solution to this problem, they will do a great service to HVDC. My other comment is on recovery rates after a fault. For the typical scheme as assumed, a recovery time to 80-percent power of the order of 100 to 1.50 ms should be obtainable. What is the reason for using the extraordinarily long recovery times shown? Manuscript received February 13. 1987.

S. Nyati, S. R. Atmuri, D. L. Gordon, V. Koschik, and R. M. Mathur: We thank the discussers for their numerous questions and comments which we find to be quite relevant and useful. In response to Mr. Ainsworth concerning the series capacitor application, we found no evidence of ferro-resonance following blocking of the converter, as shown by voltage waveforms in Fig. 9. However, as mentioned in the paper, we did observe unsatisfactory recovery from faults. We found this could be artificially mitigated by removing the saturable core representation from the converter transformer models. This could be a different manifestation of the same basic problem referred to by Mr . Ainsworth. We further found good recovery could be obtained by realistic means-for example, simply hard-bypassing the series capacitor when a fault occurred and reinserting when transients had stabilized. Nevertheless, we feel that since the problem is due to interaction between the series capacitance C and the air core inductance of the converter transformers that it can be circumvented as there is generally considerable latitude in selection of the size of the series capacitor and, to a lesser degree, in specification of the air core reactance. For example, in our study the series capacitor was sized simply to provide all of the remaining reactive power requirements of the converter. This resulted in about 50-percent series compensation of the ac system and a dc load rejection DOV much less than allowed. We could have used a smaller series capacitor in conjunction with some shunt capacitors instead, possibly avoiding the interaction. We believe that the series capacitor option certainly warrants further investigation. The recovery times shown were the best that could be obtained in each

693
case by manipulating only certain control parameters-namely , currentorder recovery rates and gains in the current control portion of the pole controller [I]. More comprehensive optimizing of the overall controls would likely have provided faster recovery times but this was not feasible owing to the large number of variables-numerous control system types and parameters together with all the different voltage control devices and fault disturbance types. To Mr. R. S . Thallam: The 2-3 cycle delay cited refers only to the metaloxide varistor device. Control and switching systems, including transducer lags, for the SC, TSC, and TCR were modeled explicitly so that any delays associated with detection and switching-in are fully accounted for in the simulations shown in Figs. 5-7. It can be seen that the DOV is controlled within criterion for the full six cycles. Any instantaneous voltage peaks above 1.3 pu occurring within the first two cycles following load rejection have been allowed as they are considered to be in the switching surge domain. (The series capacitor device has no switch-in delay associated with it as it is normally in service. The SC owes its DOV-limiting capability largely to its reactance.) Only for the MOV was the control and switching system with its associated delays not modeled and therefore not reflected in the waveforms. We feel that detection and switching can be achieved so that the MOVs limiting action is in effect during the third cycle following the instant of load rejection. Anything transpiring prior to that we considered, as mentioned before, to be in the switching surge domain not in the temporary overvoltage domain. (Note that protection for these surges is being provided by the MOV as well, in its 180 kV mode). As Mr. Thallam points out, the MOV is then only working for three to four of the six cycles. However its action would have to extend beyond six cycles in the event of a contingency on the breakers switching the capacitor or filters as the discusser himself points out. In this case, the capacitors or filters would stay on until switched off by backup clearing of adjacent breakers and although the DOV criterion would be violated in this case, the system would be much worse off than without the MOV-I .4 pu as shown in Fig. 4 of the paper. As stated in the paper, the energy discharge requirement of the MOV was based on a delayed rectifier-end fault of about I I cycles. This appears as a complete dc load rejection at the inverter end with no capacitor switching until 11 cycles have passed. This also provides for the worst case of the contingency Mr. Thallam cites-all capacitors and filtcrs failing to clear following dc block until backup clearing takes them out. With respect to the voltage rating and number of columns used in the device: since this was a conceptual investigation, we concede that detailed engineering studies could well reduce our estimated cost by optimizing the design. For example, those sections bypassed by the switching device need not have the same discharge capability as the remaining sections. Our intent with respect to the MOV was to estimate the cost and performance by conceptualizing one possible design. We fully agree with Mr. McConnach that new research is urgently required to establish a reasonable temporary overvoltage criterion for the industry. Refercnce

[I]

S. Nyati et al., Influence of various factors on dc system recovery performance feeding into a weak ac system, in Proc. IEEE MONTEC Conf. on HVDC Power Transmission (Sept. 29-Oct. 1. 1986).
Manuscript received April I . 1987.