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

Cover
Title Page
Copyright
Contents
Preface
About the Book
Acknowledgements
About the Companion Website
Chapter 1 Flexible Electrical Energy Systems
1.1 Introduction
1.2 Classification of Flexible Transmission System Equipment
1.2.1 SVC
1.2.2 STATCOM
1.2.3 SSSC
1.2.4 Compound VSC Equipment for AC Applications
1.2.5 CSC-HVDC Links
1.2.6 VSC-HVDC
1.3 Flexible Systems Vs Conventional Systems
1.3.1 Transmission
1.3.1.1 HVAC Vs HVDC Power Transmission for Increased Power Throughputs
1.3.1.2 VAR Compensation
1.3.1.3 Frequency Compensation
1.3.2 Generation
1.3.2.1 Wind Power Generation
1.3.2.2 Solar Power Generation
1.3.3 Distribution
1.3.3.1 Load Compensation
1.3.3.2 Dynamic Voltage Support
1.3.3.3 Flexible Reconfigurations
1.3.3.4 AC-DC Distribution Systems
1.3.3.5 DC Power Grids with Multiple Voltage Levels
1.3.3.6 Smart Grids
1.4 Phasor Measurement Units
1.5 Future Developments and Challenges
1.5.1 Generation
1.5.2 Transmission
1.5.3 Distribution
References
Chapter 2 Power Electronics for VSC-Based Bridges
2.1 Introduction
2.2 Power Semiconductor Switches
2.2.1 The Diode
2.2.2 The Thyristor
2.2.3 The Bipolar Junction Transistor
2.2.4 The Metal-Oxide-Semiconductor Field-Effect Transistor
2.2.5 The Insulated-Gate Bipolar Transistor
2.2.6 The Gate Turn-Off Thyristor
2.2.7 The MOS-Controlled Thyristor
2.2.8 Considerations for the Switch Selection Process
2.3 Voltage Source Converters
2.3.1 Basic Concepts of Pulse Width Modulated-Output Schemes and Half-Bridge VSC
2.3.2 Single-Phase Full-Bridge VSC
2.3.2.1 PWM with Bipolar Switching
2.3.2.2 PWM with Unipolar Switching
2.3.2.3 Square-Wave Mode
2.3.2.4 Phase-Shift Control Operation
2.3.3 Three-Phase VSC
2.3.4 Three-Phase Multilevel VSC
2.3.4.1 The Multilevel NPC VSC
2.3.4.2 The Multilevel FC VSC
2.3.4.3 The Cascaded H-Bridge VSC
2.3.4.4 PWM Techniques for Multilevel VSCs
2.3.4.5 An Alternative Multilevel Converter Topology
2.4 HVDC Systems Based on VSC
2.5 Conclusions
References
Chapter 3 Power Flows
3.1 Introduction
3.2 Power Network Modelling
3.2.1 Transmission Lines Modelling
3.2.2 Conventional Transformers Modelling
3.2.3 LTC Transformers Modelling
3.2.4 Phase-Shifting Transformers Modelling
3.2.5 Compound Transformers Modelling
3.2.6 Series and Shunt Compensation Modelling
3.2.7 Load Modelling
3.2.8 Network Nodal Admittance
3.3 Peculiarities of the Power Flow Formulation
3.4 The Nodal Power Flow Equations
3.5 The Newton-Raphson Method in Rectangular Coordinates
3.5.1 The Linearized Equations
3.5.2 Convergence Characteristics of the Newton-Raphson Method
3.5.3 Initialization of Newton-Raphson Power Flow Solutions
3.5.4 Incorporation of PMU Information in Newton-Raphson Power Flow Solutions
3.6 The Voltage Source Converter Model
3.6.1 VSC Nodal Admittance Matrix Representation
3.6.2 Full VSC Station Model
3.6.3 VSC Nodal Power Equations
3.6.4 VSC Linearized System of Equations
3.6.5 Non-Regulated Power Flow Solutions
3.6.6 Practical Implementations
3.6.6.1 Control Strategy
3.6.6.2 Initial Parameters and Limits
3.6.7 VSC Numerical Examples
3.7 The STATCOM Model
3.7.1 STATCOM Numerical Examples
3.8 VSC-HVDC Systems Modelling
3.8.1 VSC-HVDC Nodal Power Equations
3.8.2 VSC-HVDC Linearized Equations
3.8.3 Back-to-Back VSC-HVDC Systems Modelling
3.8.4 VSC-HVDC Numerical Examples
3.9 Three-Terminal VSC-HVDC System Model
3.9.1 VSC Types
3.9.2 Power Mismatches
3.9.3 Linearized System of Equations
3.10 Multi-Terminal VSC-HVDC System Model
3.10.1 Multi-Terminal VSC-HVDC System with Common DC Bus Model
3.10.2 Unified Solutions of AC-DC Networks
3.10.3 Unified vs Quasi-Unified Power Flow Solutions
3.10.4 Test Case 9
3.11 Conclusions
References
Chapter 4 Optimal Power Flows
4.1 Introduction
4.2 Power Flows in Polar Coordinates
4.3 Optimal Power Flow Formulation
4.4 The Lagrangian Methods
4.4.1 Necessary Optimality Conditions (Karush-Kuhn-Tucker Conditions)
4.5 AC OPF Formulation
4.5.1 Objective Function
4.5.2 Linearized System of Equations
4.5.3 Augmented Lagrangian Function
4.5.4 Selecting the OPF Solution Algorithm
4.5.5 Control Enforcement in the OPF Algorithm
4.5.6 Handling Limits of State Variables
4.5.7 Handling Limits of Functions
4.5.8 A Simple Network Model
4.5.8.1 Step One-Identifying State and Control Variables
4.5.8.2 Step Two-Identifying Constraints
4.5.8.3 Step Three-Forming the Lagrangian Function
4.5.8.4 Step Four-Linearized System of Equations
4.5.8.5 Step Five-Implementation of the Augmented Lagrangian
4.5.9 Recent Extensions in the OPF Problem
4.5.10 Test Case: IEEE 30-Bus System
4.5.10.1 Test System
4.5.10.2 Problem Formulation
4.5.10.3 OPF Test Cases
4.5.10.4 Benchmark Test Case (With No Voltage Control)
4.5.10.5 Test Case with Voltage Control Using Variable Transformers Taps (Case I)
4.5.10.6 Test Case with Nodal Voltage Regulation (Case II)
4.5.10.7 Test Case with Nodal Voltage Regulation (Case III)
4.5.10.8 A Summary of Results
4.6 Generalization of the OPF Formulation for AC-DC Networks
4.7 Inclusion of the VSC Model in OPF
4.7.1 VSC Power Balance Equations
4.7.2 VSC Control Considerations
4.7.3 VSC Linearized System of Equations
4.8 The Point-to-Point and Back-to-Back VSC-HVDC Links Models in OPF
4.8.1 VSC-HVDC Link Power Balance Formulation
4.8.2 VSC-HVDC Link Control
4.8.3 VSC-HVDC Full Set of Equality Constraints
4.8.4 Linearized System of Equations
4.9 Multi-Terminal VSC-HVDC Systems in OPF
4.9.1 The Expanded, General Formulation
4.9.2 Multi-Terminal VSC-HVDC Test Case
4.9.2.1 DC Network
4.9.2.2 AC Network
4.9.2.3 Objective Function
4.9.2.4 Summary of OPF Results
4.9.2.5 Converter Outputs-No Converter Losses
4.9.2.6 Converter Outputs-With Converter Losses
4.9.2.7 Power Flows in AC Transmission Lines-With No Converter Losses
4.9.2.8 Power Flows in AC Transmission Lines-With Converter Losses
4.10 Conclusion
References
Chapter 5 State Estimation
5.1 Introduction
5.2 State Estimation of Electrical Networks
5.3 Network Model and Measurement System
5.3.1 Topological Processing
5.3.2 Network Model
5.3.3 The Measurements System Model
5.4 Calculation of the Estimated State
5.4.1 Solution by the Normal Equations
5.4.2 Equality-Constrained WLS
5.4.3 Observability Analysis and Reference Phase
5.4.4 Weighted Least Squares State Estimator (WLS-SE) Using Matlab Code
5.5 Bad Data Identification
5.5.1 Bad Data
5.5.2 The Largest Normalized Residual Test
5.5.3 Bad Data Identification Using WLS-SE
5.6 FACTS Device State Estimation Modelling in Electrical Power Grids
5.6.1 Incorporation of New Models in State Estimation
5.6.2 Voltage Source Converters
5.6.3 STATCOM
5.6.4 STATCOM Model in WLS-SE
5.6.5 Unified Power Flow Controller
5.6.6 The UPFC Model in WLS-SE
5.6.7 High Voltage Direct Current Based on Voltage Source Converters
5.6.8 VSC-HVDC Model in WLS-SE
5.6.9 Multi-terminal HVDC
5.6.10 MT-VSC-HVDC Model in WLS-SE
5.7 Incorporation of Measurements Furnished by PMUs
5.7.1 Incorporation of Synchrophasors in State Estimation
5.7.2 Synchrophasors Formulations
5.7.3 Phase Reference
5.7.4 PMU Outputs in WLS-SE
5.A.1 Input Data and Output Results in WLS-SE
5.A.1.1 Input Data
5.A.1.2 Network Data
5.A.1.3 Measurements Data
5.A.1.4 State Estimator Configuration
5.A.2 Output Results
References
Chapter 6 Dynamic Simulations of Power Systems
6.1 Introduction
6.2 Modelling of Conventional Power System Components
6.2.1 Modelling of Synchronous Generators
6.2.2 Synchronous Generator Controllers
6.2.2.1 Speed Governors
6.2.2.2 Steam Turbine and Hydro Turbine
6.2.2.3 Automatic Voltage Regulator
6.2.2.4 Transmission Line Model
6.2.2.5 Load Model
6.3 Time Domain Solution Philosophy
6.3.1 Numerical Solution Technique
6.3.2 Benchmark Numerical Example
6.4 Modelling of the STATCOM for Dynamic Simulations
6.4.1 Discretization and Linearization of the STATCOM Differential Equations
6.4.2 Numerical Example with STATCOMs
6.5 Modelling of VSC-HVDC Links for Dynamic Simulations
6.5.1 Discretization and Linearization of the Differential Equations of the VSC-HVDC
6.5.2 Validation of the VSC-HVDC Link Model
6.5.3 Numerical Example with an Embedded VSC-HVDC Link
6.5.4 Dynamic Model of the VSC-HVDC Link with Frequency Regulation Capabilities
6.5.4.1 Linearization of the Equations of the VSC-HVDC Model with Frequency Regulation Capabilities
6.5.4.2 Validation of the VSC-HVDC Link Model Providing Frequency Support
6.5.4.3 Numerical Example with a VSC-HVDC Link Model Providing Frequency Support
6.6 Modelling of Multi-terminal VSC-HVDC Systems for Dynamic Simulations
6.6.1 Three-terminal VSC-HVDC Dynamic Model
6.6.2 Validation of the Three-Terminal VSC-HVDC Dynamic Model
6.6.3 Multi-Terminal VSC-HVDC Dynamic Model
6.6.4 Numerical Example with a Six-Terminal VSC-HVDC Link Forming a DC Ring
6.6.4.1 Disconnection of a DC Transmission Line
6.6.4.2 Three-Phase Fault Applied to AC3
6.7 Conclusion
References
Chapter 7 Electromagnetic Transient Studies and Simulation of FACTS-HVDC-VSC Equipment
7.1 Introduction
7.2 The STATCOM Case
7.3 STATCOM Based on Multilevel VSC
7.4 Example of HVDC based on Multilevel FC Converter
7.5 Example of a Multi-Terminal HVDC System Using Multilevel FC Converters
7.6 Conclusions
References
Index
EULA