VSC-FACTS-HVDC: Analysis, Modelling and Simulation in Power Grids

Cover......Page 1
Title Page......Page 5
Copyright......Page 6
Contents......Page 9
Preface......Page 15
About the Book......Page 19
Acknowledgements......Page 23
About the Companion Website......Page 25
 1.1 Introduction......Page 27
 1.2 Classification of Flexible Transmission System Equipment......Page 31
  1.2.1 SVC......Page 32
  1.2.2 STATCOM......Page 33
  1.2.3 SSSC......Page 35
  1.2.4 Compound VSC Equipment for AC Applications......Page 36
  1.2.5 CSC-HVDC Links......Page 38
  1.2.6 VSC-HVDC......Page 39
 1.3 Flexible Systems Vs Conventional Systems......Page 41
   1.3.1.1 HVAC Vs HVDC Power Transmission for Increased Power Throughputs......Page 42
   1.3.1.2 VAR Compensation......Page 45
   1.3.1.3 Frequency Compensation......Page 50
  1.3.2 Generation......Page 53
   1.3.2.1 Wind Power Generation......Page 54
   1.3.2.2 Solar Power Generation......Page 56
  1.3.3 Distribution......Page 59
   1.3.3.2 Dynamic Voltage Support......Page 61
   1.3.3.3 Flexible Reconfigurations......Page 62
   1.3.3.4 AC-DC Distribution Systems......Page 63
   1.3.3.6 Smart Grids......Page 66
 1.4 Phasor Measurement Units......Page 69
  1.5.1 Generation......Page 72
  1.5.2 Transmission......Page 73
  1.5.3 Distribution......Page 74
 References......Page 75
 2.2 Power Semiconductor Switches......Page 79
  2.2.1 The Diode......Page 81
  2.2.2 The Thyristor......Page 82
  2.2.3 The Bipolar Junction Transistor......Page 83
  2.2.6 The Gate Turn-Off Thyristor......Page 85
  2.2.7 The MOS-Controlled Thyristor......Page 86
 2.3 Voltage Source Converters......Page 87
  2.3.1 Basic Concepts of Pulse Width Modulated-Output Schemes and Half-Bridge VSC......Page 88
  2.3.2 Single-Phase Full-Bridge VSC......Page 92
   2.3.2.1 PWM with Bipolar Switching......Page 93
   2.3.2.4 Phase-Shift Control Operation......Page 95
  2.3.3 Three-Phase VSC......Page 98
  2.3.4 Three-Phase Multilevel VSC......Page 100
   2.3.4.1 The Multilevel NPC VSC......Page 102
   2.3.4.2 The Multilevel FC VSC......Page 106
   2.3.4.3 The Cascaded H-Bridge VSC......Page 107
   2.3.4.5 An Alternative Multilevel Converter Topology......Page 111
 2.4 HVDC Systems Based on VSC......Page 114
 2.5 Conclusions......Page 120
 References......Page 121
 3.1 Introduction......Page 125
  3.2.2 Conventional Transformers Modelling......Page 126
  3.2.4 Phase-Shifting Transformers Modelling......Page 127
  3.2.8 Network Nodal Admittance......Page 128
 3.3 Peculiarities of the Power Flow Formulation......Page 129
 3.4 The Nodal Power Flow Equations......Page 131
 3.5 The Newton-Raphson Method in Rectangular Coordinates......Page 132
  3.5.1 The Linearized Equations......Page 133
  3.5.2 Convergence Characteristics of the Newton-Raphson Method......Page 134
  3.5.3 Initialization of Newton-Raphson Power Flow Solutions......Page 135
  3.5.4 Incorporation of PMU Information in Newton-Raphson Power Flow Solutions......Page 137
 3.6 The Voltage Source Converter Model......Page 138
  3.6.1 VSC Nodal Admittance Matrix Representation......Page 139
  3.6.2 Full VSC Station Model......Page 141
  3.6.4 VSC Linearized System of Equations......Page 143
  3.6.5 Non-Regulated Power Flow Solutions......Page 145
   3.6.6.2 Initial Parameters and Limits......Page 146
  3.6.7 VSC Numerical Examples......Page 147
 3.7 The STATCOM Model......Page 151
  3.7.1 STATCOM Numerical Examples......Page 153
 3.8 VSC-HVDC Systems Modelling......Page 155
  3.8.1 VSC-HVDC Nodal Power Equations......Page 157
  3.8.2 VSC-HVDC Linearized Equations......Page 159
  3.8.4 VSC-HVDC Numerical Examples......Page 161
 3.9 Three-Terminal VSC-HVDC System Model......Page 165
  3.9.2 Power Mismatches......Page 168
  3.9.3 Linearized System of Equations......Page 169
 3.10 Multi-Terminal VSC-HVDC System Model......Page 172
  3.10.1 Multi-Terminal VSC-HVDC System with Common DC Bus Model......Page 173
  3.10.3 Unified vs Quasi-Unified Power Flow Solutions......Page 174
  3.10.4 Test Case 9......Page 176
 References......Page 179
 4.1 Introduction......Page 185
 4.2 Power Flows in Polar Coordinates......Page 186
 4.3 Optimal Power Flow Formulation......Page 187
 4.4 The Lagrangian Methods......Page 188
  4.4.1 Necessary Optimality Conditions (Karush-Kuhn-Tucker Conditions)......Page 189
 4.5 AC OPF Formulation......Page 190
  4.5.2 Linearized System of Equations......Page 191
  4.5.3 Augmented Lagrangian Function......Page 193
  4.5.5 Control Enforcement in the OPF Algorithm......Page 194
  4.5.7 Handling Limits of Functions......Page 195
   4.5.8.2 Step Two-Identifying Constraints......Page 196
   4.5.8.3 Step Three-Forming the Lagrangian Function......Page 197
   4.5.8.5 Step Five-Implementation of the Augmented Lagrangian......Page 198
   4.5.10.2 Problem Formulation......Page 199
   4.5.10.3 OPF Test Cases......Page 200
   4.5.10.4 Benchmark Test Case (With No Voltage Control)......Page 201
   4.5.10.6 Test Case with Nodal Voltage Regulation (Case II)......Page 202
   4.5.10.8 A Summary of Results......Page 203
 4.6 Generalization of the OPF Formulation for AC-DC Networks......Page 205
  4.7.1 VSC Power Balance Equations......Page 207
  4.7.2 VSC Control Considerations......Page 209
 4.8 The Point-to-Point and Back-to-Back VSC-HVDC Links Models in OPF......Page 210
  4.8.1 VSC-HVDC Link Power Balance Formulation......Page 211
  4.8.2 VSC-HVDC Link Control......Page 213
  4.8.3 VSC-HVDC Full Set of Equality Constraints......Page 214
  4.8.4 Linearized System of Equations......Page 215
 4.9 Multi-Terminal VSC-HVDC Systems in OPF......Page 217
  4.9.1 The Expanded, General Formulation......Page 218
   4.9.2.1 DC Network......Page 219
   4.9.2.3 Objective Function......Page 220
   4.9.2.4 Summary of OPF Results......Page 221
   4.9.2.5 Converter Outputs-No Converter Losses......Page 222
   4.9.2.6 Converter Outputs-With Converter Losses......Page 223
   4.9.2.7 Power Flows in AC Transmission Lines-With No Converter Losses......Page 225
 4.10 Conclusion......Page 226
 References......Page 227
 5.1 Introduction......Page 229
 5.2 State Estimation of Electrical Networks......Page 230
  5.3.2 Network Model......Page 232
  5.3.3 The Measurements System Model......Page 234
  5.4.1 Solution by the Normal Equations......Page 236
  5.4.2 Equality-Constrained WLS......Page 238
  5.4.3 Observability Analysis and Reference Phase......Page 239
  5.4.4 Weighted Least Squares State Estimator (WLS-SE) Using Matlab Code......Page 241
  5.5.1 Bad Data......Page 243
  5.5.2 The Largest Normalized Residual Test......Page 244
  5.5.3 Bad Data Identification Using WLS-SE......Page 245
  5.6.1 Incorporation of New Models in State Estimation......Page 246
  5.6.2 Voltage Source Converters......Page 247
  5.6.3 STATCOM......Page 250
  5.6.4 STATCOM Model in WLS-SE......Page 251
  5.6.5 Unified Power Flow Controller......Page 253
  5.6.6 The UPFC Model in WLS-SE......Page 254
  5.6.7 High Voltage Direct Current Based on Voltage Source Converters......Page 256
  5.6.8 VSC-HVDC Model in WLS-SE......Page 257
  5.6.9 Multi-terminal HVDC......Page 259
  5.6.10 MT-VSC-HVDC Model in WLS-SE......Page 261
  5.7.1 Incorporation of Synchrophasors in State Estimation......Page 262
  5.7.2 Synchrophasors Formulations......Page 263
  5.7.4 PMU Outputs in WLS-SE......Page 265
  5.A.1.2 Network Data......Page 266
  5.A.1.3 Measurements Data......Page 268
 5.A.2 Output Results......Page 269
 References......Page 270
 6.1 Introduction......Page 273
  6.2.1 Modelling of Synchronous Generators......Page 274
   6.2.2.1 Speed Governors......Page 276
   6.2.2.2 Steam Turbine and Hydro Turbine......Page 277
   6.2.2.3 Automatic Voltage Regulator......Page 278
   6.2.2.5 Load Model......Page 279
  6.3.1 Numerical Solution Technique......Page 280
  6.3.2 Benchmark Numerical Example......Page 283
 6.4 Modelling of the STATCOM for Dynamic Simulations......Page 287
  6.4.1 Discretization and Linearization of the STATCOM Differential Equations......Page 290
  6.4.2 Numerical Example with STATCOMs......Page 292
 6.5 Modelling of VSC-HVDC Links for Dynamic Simulations......Page 298
  6.5.1 Discretization and Linearization of the Differential Equations of the VSC-HVDC......Page 302
  6.5.2 Validation of the VSC-HVDC Link Model......Page 306
  6.5.3 Numerical Example with an Embedded VSC-HVDC Link......Page 309
  6.5.4 Dynamic Model of the VSC-HVDC Link with Frequency Regulation Capabilities......Page 315
   6.5.4.1 Linearization of the Equations of the VSC-HVDC Model with Frequency Regulation Capabilities......Page 317
   6.5.4.2 Validation of the VSC-HVDC Link Model Providing Frequency Support......Page 318
   6.5.4.3 Numerical Example with a VSC-HVDC Link Model Providing Frequency Support......Page 320
 6.6 Modelling of Multi-terminal VSC-HVDC Systems for Dynamic Simulations......Page 324
  6.6.1 Three-terminal VSC-HVDC Dynamic Model......Page 325
  6.6.2 Validation of the Three-Terminal VSC-HVDC Dynamic Model......Page 333
  6.6.3 Multi-Terminal VSC-HVDC Dynamic Model......Page 336
   6.6.4.2 Three-Phase Fault Applied to AC3......Page 340
 6.7 Conclusion......Page 343
 References......Page 344
 7.1 Introduction......Page 347
 7.2 The STATCOM Case......Page 348
 7.3 STATCOM Based on Multilevel VSC......Page 362
 7.4 Example of HVDC based on Multilevel FC Converter......Page 373
 7.5 Example of a Multi-Terminal HVDC System Using Multilevel FC Converters......Page 384
 References......Page 401
Index......Page 403
EULA......Page 416