A Sta b iliza tion of Fre q ue nc y O sc illa tions in a Pa ra lle l

AC - DC Inte rc onne c te d Powe r Syste m via a n HVDC Link

Issa ra c ha i Ng a mroo*
Electrical Engineering Program, Sirindhorn International Institute of Technology,
Thammasat University, Patum-thani 12121, Thailand.
* Corresponding author, E-mail: ngamroo@siit.tu.ac.th
Received 24 Apr 2001
Accepted 15 Oct 2001
ABSTRAC T T h i s p ap er p resen ts a n ew ap p li cati o n o f H i gh Vo ltage D i rect C u rren t H V D C ) li n k to
stabi li zati on of frequ en cy osci llati on s i n a p arallel AC -D C i n tercon n ected p ower system . Wh en an
i n tercon n ected AC p ower system i s su bjected to a large load wi th rap i d ch an ge, system frequ en cy m ay
be con si d erably d i stu rbed an d becom es osci llatory. B y u ti li zi n g th e system i n tercon n ecti on s as th e
con trol ch an n els of H VD C li n k , th e ti e-li n e p ower m od u lati on of H VD C li n k th rou gh i n tercon n ecti on s
i s ap p li cable for stabi li zi n g th e frequ en cy osci llati on s of AC system s. I n th e d esi gn of p ower m od u lati on
con troller, th e tech n i qu e of overlap p i n g d ecom p osi ti on s an d th e ei gen valu e assi gn m en t are ap p li ed to
establi sh th e state feed back con trol sch em e. To evalu ate con trol effects, a li n eari zed m od el of a p arallel
AC -D C i n tercon n ected system , i n clu d i n g a p ower m od u lati on con troller of H VD C li n k , i s i n vesti gated
by si m u lati on stu d y. Si m u lati on resu lts sh ow th at th e p rop osed con troller i s n ot on ly effecti ve i n d am p i n g
ou t frequ en cy osci llati on s, bu t also cap able of allevi ati n g th e tran si en t frequ en cy swi n g cau sed by a
large load d i stu rban ce.
K E YWO R D S: H i gh -Vo ltage D i rect C u rren t H V D C ) L i n k , A C -D C I n terco n n ected P o wer System ,
Stab i li zati o n o f F req u en cy O sci llati o n s, O verlap p i n g D eco m p o si ti o n s, E i gen valu e
Assi gn m en t M eth od .
ScienceAsia 28 (2002) : 173- 180
INTRO DUC TIO N
N owad ays, si gn i fi can t growth of electri c en ergy
d em an d , i n co m b i n ati o n w i th fi n an ci al an d
regu latory con strai n ts, h as forced p ower u ti li ti es to
o p erate system s n early at stab i li ty li m i ts. T h u s,
greater reli an ce i s bei n g p laced on th e u se of sp eci al
co n tro l ai d s to en h an ce system secu ri ty, faci li tate
econ om i c d esi gn , an d p rovi d e greater flexi bi li ty of
system op erati on . I n ad d i ti on , d eregu lati on i n th e
p o wer i n d u stry an d o p en i n g o f th e m ark et fo r
d eli very of ch eap er en ergy to cu stom er are creati n g
ad d i ti on al requ i rem en ts for th e op erati on of p ower
system s.
1 , 2
H i gh qu ali ti es of an ci llary servi ces
3, 4
i n
p ower system su ch as frequ en cy con trol an d voltage
con trol are also attracti ve op ti on s for p ower com -
p an i es to offer th ei r cu stom ers. I n an ti ci p ati on of
th ese ci rcu m stan ces, ad van ced con trol strategi es are
m u ch n eed ed .
5, 6
R ecen tly, ap p li cati o n s o f p o wer electro n i cs
d evi ces i n A C p o wer system s p ro vi d e attracti ve
ben efi ts of econ om i cs an d i n n ovati ve tech n ologi es.
7,8
I n p arti cu lar, H i gh -Vo ltage D i rect C u rren t tran s-
m i ssi on li n k H VD C li n k ) offers m ajor ad van tages
i n m eeti n g th ese req u i rem en ts,
8 , 9
i n clu d i n g lo n g
d i stan ce overh ead bu lk p ower tran sm i ssi on , tran s-
m i ssi on between u n syn ch ron i zed AC system s, an d
m ari n e cable tran sm i ssi on . C u rren tly, th e E lectri ci ty
G en erati n g A u th o ri ty o f T h ai lan d E G AT ) i s i m -
p lem en ti n g th e 3 0 0 M W, 3 0 0 k V, 1 0 0 k m H VD C
I n tercon n ecti on p roject
1 0
to recei ve ad d i ti on al 300
M W p o wer cap aci ty fro m th e M alaysi an p o wer
system . I n ad d i ti on , on e sop h i sti cated ad van tage of
H V D C l i n k i s th e en h an ced d am p i n g o f A C
tran sm i ssi on u si n g p ower m od u lati on vi a an H VD C
li n k i n a p arallel A C -D C i n terco n n ected p o wer
system .
8, 9
Wh en an AC p ower system i s su bjected
to load d i stu rban ce, th e system frequ en cy m ay be
con si d erably p ertu rbed from th e op erati n g frequ en cy.
T h i s m ay cau se severe p roblem s i n system frequ en cy
osci llati on s. T h e d evi ati on of frequ en cy osci llati on s,
th at exceed th e n orm al li m i t, d i rectly i n terru p ts th e
op erati on of p ower system . M oreover, th e frequ en cy
osci llati on s m ay exp eri en ce seri ou s stabi li ty p roblem s
u su ally i n th e form of low frequ en cy osci llati on s d u e
to i n su ffi ci en t system d am p i n g.
1 1
To overcom e th i s
p roblem , th i s p ap er n ot on ly tak es th e ad van tage of
p ower m od u lati on con trol offered by H VD C li n k to
en h an ce th e system d am p i n g, bu t also exten d s to
stab i li ze freq u en cy o sci llati o n s i n an A C p o wer
system . B y u ti li zi n g th e i n tercon n ecti on s between
A C p o wer system s as co n tro l ch an n els o f p o wer
174 ScienceAsia 28 (2002)
m o d u lati o n o f H V D C li n k , th i s creates a n ew
ap p li cati on of th e H VD C li n k to stabi li ze frequ en cy
o sci llati o n s. T h e p ro p o sed co n tro l can also b e
coord i n ated wi th con ven ti on al govern or con trol for
greater effi ci en cy.
F or th e organ i zati on of th i s p ap er, fi rst, p roblem
form u lati on an d p racti cal m oti vati on of p rop osed
con trol wi ll be exp lai n ed . T h en system ati c d esi gn
of th e p ower m od u lati on con troller of H VD C li n k i s
d escri bed . Su bsequ en tly, th e d esi gn ed con troller i s
evalu ated i n a li n eari zed m od el of th e p ower system
by si m u lati on stu d y.
PRO BLEM FO RM ULATI O N A N D PRA C TI C A L
M O TIVATIO N O F PRO PO SED C O NTRO L
F i g 1 sh ows th e two-area i n tercon n ected system
vi a p arallel AC -D C li n k s. T h i s stu d y system i s u sed
to exp lai n th e p racti cal m oti vati on of th e p rop osed
con trol. T h e H VD C li n k con si sts m ai n ly of a recti fi er
at th e area 2 si d e, an i n verter at th e area 1 si d e an d a
D C tran sm i ssi on li n e.
I n th i s system , i t i s assu m ed th at, ori gi n ally, area
2 h as su p p li ed p ower P
AC
vi a on ly an AC li n e to an
area 1 . N ext, th ere are i n stallati on s of large load s
wi th su d d en ch an g e, fo r ex am p le a m ag n eti c
levi tati o n tran sp o rtati o n , large steel m i lls o r arc-
fu rn ace factori es i n area 1 . T h erefore, th e d em an d
for electri c p ower i n area 1 i n creases. F u rth erm ore,
th ese large load ch an ges also cau se a seri ou s p roblem
of frequ en cy osci llati on s i n area 1 . I n ad d i ti on , m an y
I n d ep en d en t P ower P rod u cers, I P P s th at d o n ot
h ave su ffi ci en t frequ en cy con trol abi li ti es, h ave also
been con cen trated i n area 1 . T h i s i m p li es th at th e
cap abi li ti es of frequ en cy con trol of govern ors i n area
1 are n ot en ou gh . Accord i n gly, th e govern ors i n area
1 are n o t cap ab le o f stab i li zi n g th e freq u en cy
osci llati on s. O n th e oth er h an d , area 2 h as en ou gh
frequ en cy con trol cap abi li ty to com p en sate for area
1 . T h erefore, area 2 h as an H VD C li n k i n stalled i n
p arallel wi th an AC ti e-li n e i n ord er to su p p ly m ore
p ower to area 1 . I n ad d i ti on , area 2 offers stabi li za-
ti on of frequ en cy osci llati on s to area 1 vi a an H VD C
li n k . B y regard i n g th e i n terco n n ecti o n s b etween
both areas as con trol ch an n els of H VD C li n k , th e
D C ti e-li n e p ower m od u lati on i s cap able of stabi -
li zi n g freq u en cy o sci llati o n s o f area 1 b y co m -
p li m en tari ly u ti li zi n g th e con trol cap abi li ty of area
2. Accord i n g to th e p rop osed con trol, th e p ower
system th at h as a large cap abi li ty of frequ en cy con trol
i s able to offer th e servi ce of frequ en cy stabi li zati on
fo r o th er i n terco n n ected areas th at d o n o t h ave
su ffi ci en t cap abi li ti es. T h e p rop osed con trol strategy
can also b e ex p ected as a n ew an ci llary servi ce
fo r stab i li zi n g freq u en cy o sci llati o n s i n fu tu re
d eregu lated p o wer system s. T o i m p lem en t th e
p rop osed con trol i n th i s stu d y system , th e d esi gn
of th e p ower m od u lati on con troller of H VD C li n k
wi ll be exp lai n ed i n th e followi n g secti on .
DESIG N O F PO WER M O DULATIO N CO NTRO LLER
BY HVDC LINK
Coordinated Control of HVDC Link and Governors
To si m p li fy th e co n tro l d esi gn o f th e p o wer
m od u lati on con troller, th e con cep t of coord i n ated
co n tro l o f H V D C l i n k an d g o v ern o rs wi l l b e
ex p lai n ed . T h e H V D C li n k i s su p eri o r to th e
govern or wh i ch i s a con ven ti on al frequ en cy con trol
system i n term s of h i gh -sp eed p erform an ce. B ased
on th i s d i fferen t sp eed p erform an ce, a coord i n ated
con trol of H VD C li n k an d govern ors i s as follows.
Wh en som e su d d en load d i stu rban ces occu r i n an
area, an H VD C li n k qu i ck ly starts th e con trol system
to su p p ress th e p eak valu e of tran si en t frequ en cy
d evi ati o n . Su b seq u en tly, go vern o rs eli m i n ate th e
stead y state erro r o f th e freq u en cy d ev i ati o n .
An oth er ad van tage i n con si d eri n g th e d i fferen t sp eed
p erform an ce i s th at th e d yn am i cs of govern ors i n
both areas can be n eglected i n th e con trol d esi gn of
H VD C li n k for si m p li ci ty.
Control Design
T h e l i n eari zed m o d el o f a two -area i n ter-
con n ected system
1 2
i n clu d i n g th e d yn am i c of p ower
m od u lati on con troller of H VD C li n k i s d eli n eated
i n F i g 2 wh ere th e d yn am i cs of govern ors i n both
areas are eli m i n ated . T h e p o wer m o d u lati o n
con troller i s m od eled as a p rop orti on al con troller of
acti ve p ower.
1 3
I t sh ou ld be n oted th at th e p ower
m o d u lati o n o u tp u t o f H V D C li n k P
DC
),

acti n g
p osi ti vely on an area, reacts n egati vely on an oth er
area i n an i n tercon n ected system . P
DC
, th erefore,
flows i n to both areas wi th d i fferen t si gn +, - , si m u l-
tan eou sly. T h e ti m e con stan t T
DC
of p rop orti on al
con troller i s set ap p rop ri ately at 0.05 [sec]
1 3
i n th e
Fig 1. An H VD C li n k i n a P arallel AC -D C I n tercon n ected P ower
System .
ScienceAsia 28 (2002) 175
si m u lati on stu d y. H ere, to si m p li fy th e con trol d esi gn ,
th e state equ ati on of th e system i n F i g 2 wh ere th e
ti m e con stan t T
DC
i s i gn ored , can be exp ressed as

S
f
P
D M M
T T
A M D M
f
P
f
M
A M
AC AC
f
:
.
.
.

1
2
1 1 1
12 12
12 2 2 2
1
2
1
12 2
1 0
2 0 2
0
1
0

1
]
1
1
1
1
1
1

1
]
1
1
1
1
1
1

1
]
1
1
1
1
1
1
+

1
]
1
1
1
1
1
1
P
DC
1 )
N o te th at 1 ) i s referred to as system S . T h e
vari ables an d p aram eters of i n F i g 2 are d efi n ed as
follows. f
1
, f
2
are frequ en cy d evi ati on s of areas
1 an d 2 resp ecti vely. P
AC
i s an AC ti e li n e p ower
d evi ati on between areas 1 an d 2. P
DC
i s a p ower
m od u lati on by H VD C li n k . P
12
i s th e total ti e li n e
p ower d evi ati on s P
AC
+P
DC
. M
1
, M
2
are i n erti a
co n stan ts o f areas 1 an d 2 . D
1
, D
2
are d am p i n g
coeffi ci en ts of areas 1 an d 2. A
12
i s an area cap aci ty
rati o between areas 1 an d 2.
H ere, th e con trol sch em e for p ower m od u lati on of
H V D C li n k P
DC
) i s d esi gn ed b y th e ei gen valu e
assi gn m en t m eth od , so th at th e d yn am i c asp ect of
th e i n ter-area osci llati on m od e between areas 1 an d
2 i s sp eci fi ed . T h i s m od e can be exp li ci tly exp ressed
after ap p lyi n g th e vari able tran sform ati on
1 4
Y =WX 2)
wh ere, W

i s a tran sfo rm ati o n m atri x , Y i s th e
tran sform ed state vector, an d X i s th e state vector i n
1 ) . T h erefo re, th e tran sfo rm ed system can b e
exp ressed as

y
y
y
y
y
y
P
DC
1
2
3
1
2
3
1
2
0
0
0 0 0
.
.
.

1
]
1
1
1
1
1
1

1
]
1
1
1
1
1
1

1
]
1
1
1
1
1
1
+

1
]
1
1
1
1
1
1

3)
T h e tran sform ed coeffi ci en t m atri x of 3) con si sts
of two d i agon al block s wi th com p lex ei gen valu es
j an d real ei g en v al u e . T h e co m p l ex
ei gen valu es p h ysi cally corresp on d to th e i n ter-area
osci llati on m od e, wh i le th e real ei gen valu e rep resen ts
th e system i n erti a cen ter m od e. F rom th e p h ysi cal
vi ew p oi n t, i t sh ou ld be n oti ced th at th e H VD C li n k
between two areas i s effecti ve to stabi li ze th e i n ter-
area m od e on ly, an d th erefore th e i n p u t term of 3)
co rresp o n d i n g to y
3
i s zero . T h i s m ean s th at
th e H V D C li n k can n o t co n tro l th e i n erti a cen ter
m od e. To solve th i s cru x, i t i s exp ected th at th e
go vern o rs i n b o th areas are resp o n si b le fo r su p -
p ressi n g th e frequ en cy d evi ati on d u e to th e i n erti a
m od e. T h erefore, th e p ower m od u lati on con troller
of H VD C li n k i s d esi gn ed based on stabi li zi n g th e
i n ter-area m od e.
I n ord er to extract th e su bsystem wh ere th e i n ter-
area o sci llati o n m o d e b etween areas 1 an d 2 i s
p reserved , fro m th e system S, th e tech n i q u e o f
overlap p i n g d ecom p osi ti on s
1 5
i s ap p li ed . F i rst, th e
state vari ables of th e ori gi n al system S are classi fi ed
i n to th ree gro u p s, i e x
1
=

[f
1
], x
2
= [P
AC
] an d
x
3
= [f
2
]. Accord i n g to th e p rocess of overlap p i n g
d ecom p osi ti on s, th e system S can be exp an d ed as

S
z
z
a a a
a a a
a a a
a a a
z
z
b
b
b
b
P
DC
~
.
.
:
1
2
11 12 13
21 22 23
31 22 23
31 32 33
1
2
11
21
21
31
0
0
0
0

1
]
1
1
1

1
]
1
1
1
1

1
]
1
1
1
+

1
]
1
1
1
1
4)
wh ere

z x x
T T
T
1 1 1

[ ]
, an d

z x x
T T
T
2 2 2

[ ]
, . T h e elem en t a
ij
,
b
i1
i, j = 1 , 2, 3) corresp on d to each elem en t i n th e
coeffi ci en t m atri x i n 1 ) . T h e system

S
~
i n 4) can
be d ecom p osed i n to two i n tercon n ected overlap p i n g
su bsystem s,

S z
a a
a a
z
b
b
P
a
a
z
DC 1
1
11 12
21 22
1
11
21
13
23
2
0
0
~ .
:

1
]
1
+

1
]
1

_
,

1
]
1
5)

S z
a a
a a
z
a
a
z
b
b
P
DC 2
2
22 23
32 33
2
21
31
1
21
31
0
0
~ .
:

1
]
1

_
,

1
]
1
+

1
]
1
6)
Fig 2. L i n eari zed M od el of Two-area System wi th ou t G overn ors
fo r C o n tro l D esi gn o f P o wer M o d u lati o n C o n tro ller o f
H VD C L i n k .
176 ScienceAsia 28 (2002)
Wh en th e n ew valu e of p ercen t oversh oot i s gi ven ,
th e n ew d am p i n g rati o
new
i s calcu lated by

M
P new new new ( )
exp( ) 1
2
1 0)
N ext, to assi gn th e n ew ei gen valu es
new
j
new
, th e
n ew i m agi n ary p art
new
) i s sp eci fi ed at . T h u s,
th e n ew u n d am p ed n atu ral frequ en cy
n(new)
can be
d eterm i n ed by


n new new new ( )
1
2
1 1 )
As a resu lt, th e n ew real p art
new
can be calcu lated
by


new new n new

( )
1 2)
B y ei gen valu e assi gn m en t m eth o d , th e feed b ack
con trol sch em e of P
DC
can be exp ressed as



P k f k P
DC f P AC
AC

1
1
1 3)
N ote th at, th e state feed back sch em e i s con stru cted
by two m easu rable si gn als, i e a frequ en cy d evi ati on
of area 1 an d an AC ti e-li n e p ower d evi ati on . I n th i s
p ap er, even th e con trol d esi gn i s d evelop ed i n a two-
area i n tercon n ected system , th e p rop osed d esi gn i s
ap p li cab le to a gen eral m u lti -area i n terco n n ected
system wi th an y con fi gu rati on .
SIM ULATIO N RESULTS AND DISC USSIO N
I n th i s p ap er, a two-area i n tercon n ected system
400 M W : 2,000 M W) wi th reh eat steam tu rbi n e
1 2
i s u sed to d esi gn an d evalu ate th e effects of th e p ower
m od u lati on con troller of H VD C li n k . System d ata
are gi ven i n an ap p en d i x. T h e si m u lati on stu d y i s
carri ed o u t b y so ftware M atlab
1 6
, Si m u li n k
1 7
an d
C on trol System Toolbox.
1 8
B ased o n th e m i n i m u m req u i rem en t o f th e
N o rth A m eri can P o wer System s I n terco n n ecti o n
C om m i ttee
1 9
, th e tran si en t frequ en cy swi n gs sh ou ld
n ot exceed 0.02 H z. To sati sfy th i s requ i rem en t,
after exp eri m en tally d esi gn i n g an d testi n g th e effects
of con troller, th e d esi red p ercen t oversh oot M
P(new)
of th e i n ter-area m od e i s ap p rop ri ately selected at
1 % . T h e d esi gn resu lts o f p o wer m o d u lati o n
con troller are gi ven i n T able 1 .
F i rst, th e effect of d esi gn ed con troller i s evalu ated
i n a system i n F i g 2. N ote th at govern ors i n both
areas are n ot i n clu d ed i n th i s system . I t i s assu m ed
T h e state vari able x
2
, i e th e AC ti e li n e p ower d evi a-
ti on P
DC
) between both areas, i s rep eated ly i n clu d ed
i n b o th su b system s, wh i ch i m p li es Overlapping
Decompositions .
F or system stabi li zati on , con si d er two i n tercon n ected
su bsystem s

S
1
~
an d

S
2
~
. T h e term s i n th e ri gh t h an d
si d es o f 5 ) an d 6 ) can b e sep arated i n to th e
d eco u p l ed su b sy stem s as i n d i cated i n th e
p aren th esi s i n 5) an d 6) ) an d th e i n tercon n ected
su bsystem s. As m en ti on ed i n I k ed a et al
1 5
, i f each
d ecou p led su bsystem can be stabi li zed by i ts own
i n p u t, th e asym p toti c stabi li ty of th e i n tercon n ected
overlap p i n g su bsystem s

S
1
~
an d

S
2
~
are m ai n tai n ed .
M o reo ver, th e asym p to ti c stab i li ty o f th e o ri gi n al
system S i s also gu aran teed . C o n seq u en tly, th e
i n teracti o n s wi th th e i n terco n n ected su b system s
i n 5 ) an d 6 ) are regard ed as p ertu rb ati o n s an d
are n eglected d u ri n g co n tro l d esi gn . As a resu lt,
th e d eco u p led su b system s o f

S
1
~
an d

S
2
~
can b e
exp ressed as

S z
a a
a a
z
b
b
P
D DC 1
1
11 12
21 22
1
11
21
~ .
:

1
]
1
+

1
]
1
7)

S z
a a
a a
z
D2
2
22 23
32 33
2
~ .
:

1
]
1
8)
I n 7 ) an d 8 ) , th ere i s a co n tro l i n p u t P
DC
ap -
p eari n g on ly i n su bsystem

S
D1
~
. H ere, th e d ecou p led
su bsystem

S
D1
~
i s regard ed as th e d esi gn ed system ,
wh i ch can be exp ressed as

f
P
D M M
T
f
P
M
P
AC AC
DC
1 1 1 1
12
1 1
1
2 0
1
0
.
.

1
]
1
1
1

1
]
1
1
1

1
]
1
1
1
+

1
]
1
1
1

9)
I t can be veri fi ed th at th e ei gen valu es of 9) are
j, i e th e i n ter-area osci llati on m od e i n th e system
S. I t sh ou ld be n oti ced th at by vi rtu e of overlap p i n g
d ecom p osi ti on s, th e p h ysi cal ch aracteri sti c of th e
ori gi n al system i s sti ll p reserved after th e p rocess.
H ere, th e con trol p u rp ose of H VD C li n k i s to d am p
th e p eak valu e of frequ en cy d evi ati on after su d d en
load d i stu rban ce. Si n ce th e system 9) i s th e secon d -
o rd er o sci llato ry system , th e p ercen t o versh o o t
M
P(new)
i s avai lab le fo r th e co n tro l sp eci fi cati o n .
ScienceAsia 28 (2002) 177
N ext, to i n vesti gate th e con cep t of coord i n ated
co n tro l o f H V D C li n k an d go vern o rs, th e co n -
ven ti on al con trollers of govern ors i n both areas are
i n clu d ed i n th i s system as sh own i n F i g 4. I n th e
area 1 , i n ad d i ti on to a large load wi th fast ch an ge,
th e G en erati on R ate C on strai n ts G R C )
21
are also
equ i p p ed wi th th e tu rbi n es of both areas as sh own
i n F i g 4. T h e rate of ch an ge i n tu rbi n e p ower ou tp u t
wi th resp ect to ti m e d P
t1
) /dt i s restri cted as -0.1 /
60 d P
t1
) /dt 0.1 /60 [p u M W/sec]. As clari fi ed
i n K o th ari
2 1
, th e tu rb i n e eq u i p p ed wi th G R C ex -
p eri en ces large oversh oot of frequ en cy osci llati on s
wi th a lon g settli n g ti m e. T h i s i s d u e to an i n ad equ ate
gen erati on p ower d u ri n g th e occu rren ce of abru p t
load ch an ge. T h i s si tu ati on m ay em erge i n a real
p o wer system i f m an y I P P s wi th i n su ffi ci en t fre-
qu en cy con trol cap abi li ti es h ave been con cen trated
i n th e area 1 . H ere, a step -load d i stu rban ce of 0.01
th at for a step -load , su ch as a large steel m i ll an d
an arc-fu rn ace factory
20
, an i n crease of 4 M W 0.01
[p .u .M W] occu rs i n an area 1 at t = 1 .0 [sec]. F i g 3
i n d i cates th at th e frequ en cy osci llati on s d otted li n e) ,
wh i ch are com p osed of th e i n ter-area m od e an d th e
i n erti a cen ter m od e, are very large an d u n d am p ed .
After an H VD C li n k i s i n corp orated wi th an AC li n k ,
th e m agn i tu d e of th e fi rst oversh oot of frequ en cy
d evi ati on i s su p p ressed u n ti l less th an 0.02 H z, as
exp ected by th e d esi gn sp eci fi cati on .
A lth o u gh th e o sci llato ry p art rep resen ti n g th e
i n ter-area m o d e i s stab i l i zed co m p l etel y, th e
frequ en cy d evi ati on corresp on d i n g to th e i n flu en ce
of i n erti a m od e con ti n u ou sly d ecreases an d fi n ally
reach es a stead -state valu e. T h i s i s d u e to th e
d i fferen ce b etween th e lo ad d i stu rb an ce an d th e
gen erati o n p o wer th at i s sti ll zero . I n th i s case,
govern ors are exp ected to solve th i s p roblem .
Fig 3. F requ en cy D evi ati on of Area 1 i n case of n o G overn ors.
Fig 4. A P ower M odu lation C on troller of H VD C lin k in a L in earized M od el of Two-area System i n clu d i n g G overn ors.
Ta b le 1. Results of Control Design.
De sig n Ste p s Nume ric a l Re sults
1. Eigenvalues of Inter-
1, 2
=-0.0208 j 0.5601
Area Mode Percent Overshoot
(Before Control) =89 %
2. Design Specification Desired Percent
Overshoot M
P(new)
=1 %
3. New Eigenvalues
1, 2
=-0.8211 j 0.5601
(After Control)
4. State Feedback

[ , ] k k
f P
AC

1
=
Control Scheme [-0.3201, -2.144]
178 ScienceAsia 28 (2002)
[p .u .M W] i s ap p li ed to an area 1 . As sh own i n F i g
5, after th e su p p ressi on of p eak frequ en cy d evi ati on s
of both areas by H VD C li n k , govern ors i n both areas
co n ti n u e to eli m i n ate th e stead y state erro r o f
frequ en cy d evi ati on s slowly, as exp ected .
I t i s en vi saged th at th e m agn i tu d e of th e p eak
valu e of frequ en cy d evi ati on of area 1 i s red u ced from
abou t 0.05 H z to less th an 0.02 H z. T h ese resu lts
clearly con fi rm th e coord i n ated con trol of H VD C
li n k an d govern ors. M oreover, th e ti e-li n e p ower
d evi ati o n i s i m p ro ved co n si d erab ly b y an H V D C
li n k as d ep i cted i n F i g 6 left) . F or th e requ i red
M W cap aci ty of p ower m od u lati on con troller, i t i s
evalu ated fro m th e p eak valu e o f p o wer o u tp u t
d evi ati on of H VD C li n k , P
DC
. As sh own i n F i g 6
ri gh t) , th e n ecessary M W cap aci ty of p ower m od u la-
ti on con troller i s abou t 0.008 [p .u .M W], wh i ch i s
less th an th e si ze of load ch an ge.
F i n ally, th e ch an gi n g lo ad i n area 1 assu m ed
h ere con si sts of th ree d i fferen t com p on en ts i n th e
frequ en cy d om ai n
22
, on e of wh i ch h as a frequ en cy
co rresp o n d i n g to th e i n ter-area o sci llati o n m o d e
0.56 rad /sec) as
P
L1
t = 0.005 sin 0.2t +0.003 sin 0.56t - -
0.004 sin 0.9t +/4) [p u M W] 1 4)
T h e p eri od i c load ch an ge starts at t = 0 [sec]. As
d ep i cted i n F i g 7, th e resp on ses f
1
an d f
2
severely
flu ctu ate wi th an i n crease i n am p li tu d e i n case of
A C -A C li n k . O n th e co n trary, after ap p lyi n g an
H VD C li n k , th e frequ en cy osci llati on s are p racti cally
d am p ed ou t. T h ese frequ en cy d evi ati on s are i n
0.02 H z. T h ese resu lts clearly con fi rm th e p rop osed
p ower m od u lati on con troller of H VD C li n k i s very
effecti ve i n d am p i n g ou t osci llati on s cau sed by load
d i stu rban ces.
C O NC LUSIO NS
I n th i s p ap er, a so p h i sti cated m eth o d fo r sta-
bi li zi n g frequ en cy osci llati on s i n a p arallel AC -D C
Fig 5. F requ en cy D evi ati on s of Area 1 left) an d Area 2 ri gh t) wi th govern ors step load ) .
Fig 6. T i e-L i n e P ower D evi ati on s left) an d P ower O u tp u t D evi ati on of H VD C li n k ri gh t) .
ScienceAsia 28 (2002) 179
i n tercon n ected p ower system vi a an H VD C li n k h as
been p rop osed . T h e m ai n ou tcom es from th i s p ap er
can be su m m ari zed as follows.
B y u ti li zi n g th e system i n tercon n ecti on s as
th e con trol ch an n els of H VD C li n k , th e ti e-
li n e p ower m od u lati on of H VD C li n k creates
a n ew ap p li cati on of H VD C li n k to stabi li ze
frequ en cy osci llati on s i n AC p ower system s.
B y ap p lyi n g th e tech n i q u e o f o verlap p i n g
d eco m p o si ti o n s an d th e ei gen valu e assi gn -
m en t m eth o d , a d esi gn m eth o d o f p o wer
m od u lati on con troller of H VD C li n k can be
system ati cally d evelo p ed . A lth o u gh th e
d esi gn m eth od i s d evelop ed i n th e two-area
system , i t can be d i rectly ap p li ed to a gen eral
m u lti -area i n tercon n ected p ower system wi th
an y con fi gu rati on .
I n a stu d y of two-area i n tercon n ected system ,
th e co n tro l sch em e o f p o wer m o d u lati o n
co n tro ller i s si m p ly co n stru cted b y a state
feedback of two m easu rable sign als. T h erefore,
i t i s easy to i m p lem en t i n a real system .
B y si m u lati on stu d y, th e d esi gn ed con troller
i s very effecti ve i n su p p ressi n g th e frequ en cy
osci llati on s cau sed by rap i d load d i stu rban ces.
I n ad d i ti on , i t can be coord i n ated wi th th e
con ven ti on al govern ors effecti vely.
F or fu rth er stu d y, th e p rop osed con trol d esi gn
of H VD C li n k wi ll be exten d ed to stabi li zati on of
frequ en cy osci llati on s i n a m u lti -area i n tercon n ected
p o wer system wi th an y co n fi gu rati o n , i n clu d i n g
lon gi tu d i n al an d rad i al loop s.
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APPENDIX
System Data
12
I n erti a C on stan t M
1
= 0.2, M
2
= 0.1 67 [p u M Ws/H z]
D am p i n g C oeffi ci en t D
1
= D
2
= 0.00833 [p u M W/H z]
Tu rbi n e G ai n K
r1
= K
r2
= 0.333
R eh eat Tu rbi n e T i m e C on stan t T
r1
= T
r2
= 1 0 [sec]
Tu rbi n e T i m e C on stan t T
t1
= T
t2
= 0.3 [sec]
G overn or T i m e C on stan t T
g1
= T
g2
= 0.2 [sec]
R egu lati on R ati o R
1
= R
2
= 2.4 [H z/p u M W]
B i as C oeffi ci en t B
1
= B
2
= 0.2 [p u M W/H z]
I n tegral C on troller G ai n K
l1
= K
l2
= 0.4 [1 /sec]
Area C ap aci ty R ati o A
1 2
= 0.2
Syn ch ron i zi n g P ower C oeffi ci en t p arallel AC -AC li n es T
1 2AC
= 0.02 [M W/rad ]
Syn ch ron i zi n g P ower C oeffi ci en t p arallel AC -D C li n es T
1 2DC
= 0.01 [M W/rad ]
p ower system stabi li zati on i n i n tercon n ected p ower system .
IEEE Transactions on Applied Superconductivity 5 2) , 250-3.