ECE 636 B2 Dynamics and Control of Voltage Source Converters (VSCs)

Winter 2013

Instructor: Dr. Yasser Mohamed Electrical and Computer Engineering Dept. University of Alberta Office W2-014 ECERF email: [email protected]
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Lecture 1 Introduction Outline

What is a Voltage Source Converter? The importance of Voltage Source Converters in modern energy systems Course Organization

What is a Voltage Source Converter?

A Voltage Source Converter can be seen as a Flexible Power Electronic-Based Voltage Source
Two-way power flow
1- VSC always has constant voltage source kept by capacitor in dc link dc

AC system AC-side filter (LC) Grid

VSC

Rf

Lf

Rg Lg

ig

DC System

+
Cf
PWM

+ -

v
-

V
E

VL

Semiconductor switching cells

Control signal

Ig

vc Vm (t ) cos( (t )t (t )) 2- three variables to manipulate, as vc=v

Measurements Control and signal processing
3- by controlling v,delta we can control Q,P flowing from/to grid: voltage controlled (VCVSC) 4- by controlling Ig, we control Q,p: current controlled VSC (CCVCS)

Measurements

- Similar to a synchronous machine, which is is a key component in power systems, VSCs are key components in future distribution and power system. A VSC can be seen as flexible synchronous machine (motor or generator). 3

What is a Voltage Source Converter?

Fundamental component Injected harmonics 1 (for specific control functions) n h

The frequency behavior of VSCs

Pulse width modulation (PWM)carrier and sideband harmonics Unwanted harmonics!

voltage

harmonic order
1
V
Ig

VL

VL

V
Ig

. . .

V
Ig

VL

- The VSC can operate at wide range of frequencies, multiple frequencies can be intentionally included in the control signal.
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The importance of VSCs Flexible AC Transmission Systems (FACTs)

High voltage DC (HVDC) transmission system based on VSC ABB HVDC Light up to 1,200 MW at 500kV dc (modular VSCs)

Inverter station

Rectifier station

VSC HVDC system is utilized in

- Connecting wind farms to power grids - Underground power links - Connecting asynchronous gridsdifferent phase, freq,volt grids - City center in-feed - Increasing power carrying capability versus transient stability - Firewall connection in large AC systems acts as buffer between two sideds

The importance of VSCs

High voltage DC (HVDC) transmission system based on VSC

330 MW HVDC light converter station. Source: ABB

The importance of VSCs

choice between q regulati or Vac regulation

choice between injected power reg. or vdc regulation

HVDC based on PWM grid converter offers . .

separate control loops active and reactive power active power control one station controls the active power other station controls the DC-link voltage reactive power control reactive power or AC side voltage

The importance of VSCs

Zone IV: DC Micro-grid with Energy Storage System (ESS) Interlocked
S2 breaker #1 iESS DC-microgrid load RDC iL1 + VL Energy storage CL VL Bidirectional DC-DC Converter: Voltage Controller; buck mode Current Controller; boost mode VL_Ref

DC Energy Pool

Zone I: VSC-m: DC-Voltage Power Port connected to Grid1

Pt Pext iext PDC iDC Average Model of Ideal Three Phase VSC
ma mb mc

Ps and Qs Grid 1
+Vsa-

VSC-m Vta Vtb Vtc ia ib ic abc to dq id iq

V sa

L1 S1 CH VCap_Charger

VDC

Main Breaker

R+ron i a R+ron ib R+ron ic

L L

iLoss

+Vsb-

Vnull

L
+Vsc-

Vsd Vsq
V sb V sc

PLL
V ta V tb V tc

Mode 2: Buck Mode Mode 1: Boost Mode

+-

PI Controller PI Controller

PWM

S2 S1=0

Proposed DC Voltage Control System

-

VL iL_Ref iL1 +PWM

Lcable Rcable

Lcable
V DC _
ref

G -1i ( s ) (.) 2 (.)

2

Sequence Analyzer and Phase - Locked - Loop ( PLL )

V sd + V sd - V sq + V sq - V td + V td V t q+ V tq -

V DC 2 _

ref

S1 S2=0

Rcable Ccable

Pf (s )

G N -i ( s )

e ( t)

+-

K (s)

++

I d _ ref
Qs _ ref

V DC _

ref

Dual - Sequence Current Command Generator

Ps Id Iq + Iq -

V sd

Dual Sequence Current Controller 2 / Vdc md md mq dq to abc ma mb mc

Zone III: Full-Scale Wind Turbine VSC-W P with AC/DC VSC P

t DC

Id _

ref

Lcable Rcable

+-

PI Controller

Lcable Rcable

Id

L L
+ PI Controller

PMSG

ron ron ron Average Model of Ideal Three Phase VSC

ma mb mc

Iq Iq _
ref

Positive-sequence current controller

mq

CW

2 / Vdc

V sq

ia ib ic abc to dq id iq

VSC-PQ iDC

Ps and Qs Vta Vtb Vtc ia ib ic abc to dq id iq N R+ron i a R+ron ib R+ron ic Vsq L L

Grid 2
+Vsa+Vsb-

Wind Turbine Current Controller:

V sd Id_ref Id +Current Controller Ls

iLoss

Average Model of Ideal Three Phase VSC

ma mb mc

VDC

Vnull_2

L
+Vsc-

2/Vdc

md
Vsa Vsb Vsc Vta Vtb Vtc

Vsd PLL

Sequence Analyzer

Iq Iq_ref +

and PLL

Ls Current Controller

Vsd+ Vsd- Vsq+ Vsq- Vtd+ Vtd- Vtq+ VtqPs_ref

2/Vdc

mq

Qs_ref

Dual-Sequence ReferenceCurrent Generator

Id+ IdIq+ Iq-

Zone II: PQ VSC connected to grid 2

Vsq

Multi-terminal VSC-based Network

The importance of VSCs

VSC STATic Compensator (STATCOM) for reactive power compensation or voltage regulation
q

VG

VL

VPCC

STATCOM

Flexible wide range capacitive/inductive reactive power control AC voltage control at the point of common coupling to support the transmission system

Holly STATCOM Austin Texas Source: ABB.

The importance of VSCs

VSC STATic Compensator (STATCOM) for reactive power compensation or voltage regulation
Field measurement of STATCOM response during a transmission line fault (Austin,Texas, 2004): a) Three VSC phase currents b) DC voltage c) VSC reactive current reference calculated by the control system d) 138 kV system line-to-ground voltages.

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The importance of VSCs Distributed Power Grids

Current Power System

Future Power System

Less central power plants and more Distributed Power Generation Systems VSCs are the main interfacing medium for renewable/clean generation 11 units and modern loads

The importance of VSCs Interfacing Renewable/Clear Energy Resources

Mechanical power Wind power Rotor Gearbox (obtional) Generator Power converter (obtional) Electrical power Supply grid Consumer

Power conversion & power control

Power transmission

Power conversion

Power conversion & power control

Power transmission

Electrical control

Power control

Pref

Qref

Wind systems require optimized grid converter at high power New turbines go up 7.5 MW with full scale power converter (VSC)
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The importance of VSCs

Interfacing Renewable/Clear Energy Resources

Doubly-fed induction generator Grid Gear

Pitch AC DC DC AC

Doubly-fed is the most adopted soltion in wind systems

Pref
Induction generator Gear

Qref

AC DC DC AC

Pitch

Pref

Qref

PM-synchronous Generator Multi-pole

Grid AC DC DC AC

Full power converter can be used either with asynchronous generator or synchronous generator (multipole permanent magnet gearless solution is the most promising)
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Pitch

Pref

Qref

The importance of VSCs

Interfacing Renewable/Clear Energy Resources

+ PV Panels C String PWM IPV VPV Vdc Control Grid Synchronization Current Control Vdc PWM Ig Vg dc-dc boost dc-ac PWM-VSI LCL Low pass filter N L Trafo & Grid

Basic functions (grid conencted converter) MPPT Anti-Islanding Protections Grid /PV plant Monitoring

PV specific functions Active filter control MicroGrid Control Grid support (V,f,Q)

Ancillary functions

Photovoltaic systems require high-efficient and multi-functional grid converters

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The importance of VSCs

Power Quality Conditioners
Series and parallel (or hybrid series/parallel) active power conditioners enhance V G grid power quality compensating voltage sag, harmonic, reactive power, etc .
load

load

VL

filter to deal with voltag sag

ACTIVE FILTER

filter to deal with harmonics injected from this load side

ACTIVE FILTER

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The importance of VSCs

Converter Interfaced Loads
p
ACTIVE RECTIFIER

load

VG

VL

VPCC
load

Active rectifier is adopted as active front-end for medium and high power loads like multi-drive systems and single drives working frequently in regenerative operation like cranes, elevators . .

Motor drive load

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The importance of VSCs

Converter-Based Machine Drives Loads
Induction motor drive

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The importance of VSCs

Converter-Based Machine Drives Loads

Permanent-magnet motor drive

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The importance of VSCs

Distributed Generation Micro-grids AC Micro-grid

Local-generation to meet the load demand Higher efficiency and power quality High reliability by providing backup power during utility supply outage
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The importance of VSCs

Distributed Generation Micro-grids
Hybrid AC/DC Micro-grid
Yload1
VSC-1 AC-Bus

Ysource DC Bus I Microturbine Vin Fuel Cell

Common DC-Link

dc1

Lf

i Rf vo io Cf

Feeder

Feeder

Iin Vdc Idc Cdc

AC micro-grid Interface

ACLoads
AC-Bus

Yload2
VSC-2

Islanded Micro-grid

Idc2

v Lf

i R f vo io Cf

Utility Grid SW L g R g vg

Storage
DG Park DC Bus

Idc3

Utility Grid Interface

Utility Grid interfacing

Yload3 M dc-load Direct dc-load PMSM

DC Micro-grid

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The importance of VSCs

Hybrid Electric and All-Electric Vehicle

High efficiency energy conversion by VSCs Two-way power flow (motoring, generation) Fast low-level control for robust and fast high-level energy management and control
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Course Organization

Course Scope and Content

Voltage source converters (VSCs) are gaining increased acceptance and importance in energy systems. This course presents key Modeling, Analysis and Control aspects of VSCs. Key topics include:

1) DC/AC Half-Bridge Converter 2) Control of DC/AC Half-Bridge Converter 3) Space Phasors and Two-Dimensional Frames 4) Two/Three-Level 3-phase VSC 5) Control of Grid-Connected VSC in Stationary Reference Frame 6) Control of Grid-Connected VSC in Rotating Reference Frame 7) Control of VSC in Autonomous Mode (isolated micro-grid mode) 8) Variable-Frequency Control of VSC 9) Applications: 1) Static Compensator (STATCOM) 2) ) HVDC 3) Distributed Generation Micro-grids 4) Active Power Filters 5)Wind Energy Conversion Systems

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Course Organization

Course Objectives
Review fundamentals (circuit construction, principle of operation and modeling) of half-bridge, 2-level VSCs and multi-level VSCs Understand different operation modes of VSCs (current-controlled, voltage-controlled, grid-connected, isolated micro-grid, variable frequency, etc.)

Understand and implement switched and average models of VSCs

Understand and design simple and effective control algorithms for VSCs Understand VSC converter operation and control in key applications 23

Course Organization

Course Prerequisites
Basic understanding of power electronic converters, power systems and control theory. Familiarity with a programming language and/or a simulation package such as MATLAB/Simulink or EMTDC/PSCAD.

Main Teaching Materials

A. Yazdani and R. Iravani, Voltage-sourced converters in power systems, Modeling, Control, and Applications, John Willy, 2010, ISBN 978-0-470-52156-4. ECE636 Lectures Notes (slides). Will be available on eClass.

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Course Organization

Other References

M. P. Kazmierkowski, R. Krishnan, F. Blaabjerg, Control in Power Electronics, Academic Press, 2002, ISBN 0-12-40277205. B. Bose, Modern Power Electronics and A.C. Drives, Prentice Hall, 2001, ISBN 013016743 Background references: N. Mohan, T. M. Undeland and W. P. Robbins, Power Electronics: Converters, Applications, and Design Wiley, 2002, ISBN-10: 0471226939 B. Kuo, Digital Control Systems., Oxford University Press, New York, NY, USA, 1992. Chi-Tsong Chen, Linear Systems Theory and Design, - Oxford University Press, 1999 ISBN 0195117778

Grading Scheme
Reading Assignment (25%) Simulation Project (25%) Final Exam (50%)
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Course Organization

Grading Scheme Description

Reading Assignment (25%) A well-written report detailing a comprehensive critical survey on an application related to VSCs. Report should be based on a fair number of IEEE journal papers (at least 10~15 papers) related to the reading topic. Simulation Project (25%) Reproduction of results reported in a journal paper by simulation. One of the papers used in the reading assignment can be used for a simulation project. Softcopy of developed models should be submitted with your simulation project report. Final Exam (50%) Based on a good understanding of course topics; this is a grad-course!
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Course Organization

Important Dates
One page Abstract on proposed reading topic and project for Instructors approval: Jan. 31, 2013 Reading Assignment Report and Simulation Project Report: April 18, 2013 20-minute presentation summarizing Reading Assignment and Simulation Project findings: (Last 3 lectures) Final Exam: Date: TBD

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Course Organization

Reading Assignment/Simulation Project Topics

Grid interfacing system for photovoltaic arrays Doubly-fed induction generator-based wind turbine system. Full-scale permanent-magnet synchronous generatorbased wind turbine system Grid interfacing system for fuel cells Grid interfacing system for micro-turbines VSC-based high voltage DC transmission (HVDC) system Multi-level VSCs in renewable energy applications Multi-converter distributed generation AC micro-grid Multi-converter DC micro-grid Parallel operation of VSCs 28 Fault-ride-through control of doubly-fed-based wind turbines

Course Organization

Reading Assignment/Simulation Project Topics

VSC-based unified power quality conditioner VSC-based dynamic voltage restorer Coupled inductor VSCs Modeling and real-time simulation of VSCs VSC for energy storage applications VSC-based STATCOM (or distribution STATCOM DSTATCOM) Mechanical-sensorless VSC-fed induction motor drive Mechanical-sensorless VSC-fed permanent-magnet synchronous motor drive Flexible VSC-based distributed generation VSC versus Z-source converter 29 VSC versus current source converter

Course Organization

Notes: Reading Assignment/Simulation Project

Cannot be something that you have already done. Must have a strong VSC modeling and control components. New ideas and justified improvement suggestions have higher weights.

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