Professional Documents
Culture Documents
\1-
i:
.',
,.
,~
\ 1
l
!j
by
Nickie Menemenlis,
B.~ng.
(McGill University)
1:,
\1
1\
McG.l University,
Montreal, Canada.
March, 1980.\
1
1
(1
),
B .Eng.
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1)."4'
1"
A SEMI-ANALYTICAL' MET'HOD
/'
i
lN HVDe ANALYSlS
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Nickie Menemenlis
1.
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,1
ABSTRACT
"
ci~cuit$
nurne~ical
integration
method.
The method
, contributes towards making the digital
computer a working tool for HVDC analysis.
,,
j'
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,, '
McGILL.UNlVERSITY
FACULTY OF GRADUATE STUDIES AND RESEARCH
)
'Date ..
,
l'h~'f.. ~ ~ ....~. ~ .'0:e:.~ ~.~\\? ...C.1YJ.~.l ...... .'.'~ ...... ~ .... ~'.:....... '
DEPARTMENT' EL'.t.1 L,R-J. .................... DEGREE SOUGHT ~.\~.t;'? 'f........... ..
AUTHOR 's' RAME
TITLE OF
~SIS
..
"
'
. .~ J. ~.A..Q~.':-:~ J:B.l"~ ... ~Q.l...\) .1.\.9N ... .\.N...... \;\:-< l\... ~~.~.\;r?\.~ .. .' ..
',a
Il
_,'
2.
The authorization ~a to have effect on the date given above uniess the Executive
Committee of Council shaH have voted to defer, the date on wh,ich it la to have
effect ... If so; the deferred date 18 : ......... ~ ........... ~ .. _ ........ "' ...../ ...... .
'.
Signture of Author
\
PermB.gen~
Address:,.
'
'\
,-.
...
Signature of Dean required if 'date la
inserted in paragraph 2.
(Franais au, verso)
,f
JI,
ni
1\
ii
RESUME
J' ai
d~velopp
[, '
~s
prcise, car elle ~mploie entirement les propri~ts de priodiciten- T. de pri odicit transpos-en- T/6,
~'un
ci rcui t
c~
de'~ a
1inai res.
,1
numrique .1"
-1
!1
!i
continu.
1,
11
1
,
,,
'i
\.
.,
!,
t
1
'0
,
1 \
'1
"
III
iii
(j
ACKNOWLEDGEMENTS
il'
wi~e
~ave
been
accomplished.
Th~
helpful,suggestions
during the absence of Dr. B.T. Ooi.
,
(
l ,
during the preparation of this work and Mr. S.L. Low for
\1
,/
/
"
,
\
'il
1
.9.
/'
1.
CHAPTER
2.4.2
Non-commutative Subinterval
K=2
14
2.5
15
III
PROPERTIES OF STEADY~STATE
SOLUTONS IN HVDC
17
3.1
!Denition of Stead~Ee
Solutions in HVDC
1.7
3.2
3.2'.1
19
19
3.2.2
25
3.2.3
27
3.2.4
Periodicity in T
28
i'
CHAPTER
3.2.5
IV
fi.
29
MET~OD
Introduction
30
4.2
31
4.2.1
Subinterval
k=l
32
4.2.2
Sl:lbinterval
k:2
33
34
34
4.1
1
4.3.1
,-
J~
,
vi
(J
Page
4.3.2
~,
Candi tians a t
1
1
4.4
35
,,
38
5~
4.4.1
Algebr~c
4.4.2
Algebraic Expression of
4.5
Newton-'type Algorithm
Expression of ~l (0)
"
F(~)
39
41
41
)
5.1
/1
t-O
CHAPTER '," V
'
RESULTS
43
44
--
Algorithrn
Cz
----==--
---==--....::::::...:;;:.. - -
Numerical
VI
CONCLUSIONS
50
CIRCUIT CONFIGURATIONS
51
CHAPTER
corre1a~ions
5.2
47
APPENDIX
"
A.1
1 /
1
Subinterva1
51
A.2
Subinterva1
k=2
51
A.3
Subinterval
k=3
52,
A.4
Subinterval
k=4
52
Subinterval
k:5
53
A.5
",,::
Subinterval
k=6
53
A.7
Subinterval
k=7
54
A.a
Subinterval
k=8
54
A.9
Subinterval
k=9
55
A.1O
Subinterval
k:lO
55
A.ll
Subinterval
k=l1
56
1
\
A.6
'"
)
1
k=1
ill
'---......;-
"
L
J
\.
0'
~-'
____________
,.
"1
"
viii
:.
(
-'
LIST OF ILLUSTRATIONS
Figure No.
Title
~,
2-1
,,2-2
HVDC
inverter system.
10'
(b) De Voltage, =2 n /3
2-3
(bl
, . ...
1
1
2-4
,
i
!
3-1
{
~
3-2
Continuity Requirement
Peripdicity. and Continuity
, requirement of the~teadY-7tate
solution in HVDC~a1YSiS.
(a) circuit topo1ogy for subinterval, k=3, when three valves
are co.nducting.
(h) Circuit topology for subinterval, k=2, when two valves are '
conducting.
''',.
3-3
l~~'
\
1
16
18
22
1
~.
24
(,
ix
1.
F~gure
No.
4-1
Tit1e
Newton-t,ype algori thm
42
!-
5-1
,,45
Commutation angle
ft
.)
as a func-
'1 ,
46
49
ct
A-l
51
k-l
'"
A-2
A-3
51
k=2
52
subinterval
,
A-4
'1
k=3
A-5
52
k:4
A-6
Circuit
k=5
config~ration
subinterval
53
1
during
53
~=6
--_
..
_------..
~._-
"'--
'
- ....
~~
-... ___
__
--- _.
'-
- --
1
1
,/-
(,
'i
Fig:ur No.
!illi.
..
A-7
Page
54
1
1
,f
1
1
1
A-a
54
A-9
55
\ sUbinte~al
k=-9
"
A-lO
A-ll
k ... 1O
A-l2
1f
subint~rval
55
Circuit configura ti on
subinterval - k=12
<J.
dur~ng
56
56
!1-
'1.,.
1
,
LIST OF TABLES
Table No.
Title
2-1
pa<fe
.)
1.
12 l"
if
II
-~'~~~~~~~~~~~~~---------""""""
'
,1
xi
:'
,t
NOMENCLATURE
Matrices
[A]
the~
system of
[B ]
diffe~,~
[ CP]
[Cs]
[~J
-1,0 and 1
(equation (A-I .
[IJ
ldentity.
[L]
[M]
R
[RJ
Forc~ng
o
l
-- -'!J--
1.\\
xii
diffrential equations:
~,
~ks
Particu!ar integral.
Diagonal matrix of the eigenvalues of rnatrix
[A]
(equation (C-2)).
Constant of integration.
State-transition rnatrix defined in
Transpose.
Inverse.
(
,
"
equa~ion
(3-5).
,1
xiii
Subscripts
,
a,b, c
d
j
. .
rDc quanti ty .
-
.\
Subinterval number.
Iteration number.
.s
Il.
'il
Constants
i
.~
l
,~
,
~
Id
Constant
J
f
dc' current.
'
IV
"
"
Inductance
(henry) .
Resistance
(ohm) .
V
d
Constant
,."
'-
dc
voltage.
'j.
/'
--
'"
-_,41 _
_
9~
e,
xiv
(r~
Angular frequency of 60 H
,
"\
i(
Variables
i,e
time.
In~tantaneous
voltage.
..
Ct
.j
1
,
!
1
j
(-
"1
~~t
~ll \
~
,
,1
"
"
CHAPTElt
INTRODUCTION
y
..
un~~rgFound
mai~
/'
.)
"
b) Underwatr transmission.
l
d) Reinforcement of large
ac
systems.
,
[11,
developme~t
dc circuit break-
topolog~es
syst~
.,
,
, l
1~
1
c
\
'
).
l.~
""
."
Stte of Art
""
Cl
To date, the methods for predicting the perfor.rnance charpcteristics for design, research and operation, fall
under two major categories:
1.1.1
~ystem
is performed
1.1.2
HVDC
i~
its infancy.
~evelopmental
wo;i
'1
Load!Flow Studi~s
needs of
th~
are oriented to
l,
p~riod
i;
neg~d
rectangu1ar form.
Recently there 1 has been a spate of activities
1
(
i~terest
in multiterm1nal
1/
10J
/
b)
Studies
The majority of papers in the area of HVDe
t'
analysis makesuse of numerical integration techniques [18 - 2SJ.' This is an all-powerfu,l method
which is'suitable for any conceivable situation.
Thus the system may be unbalanced, unsymmetrical
and faulted. One can use it for transient analysis'
and
~ady~stat
(}
a guess
ti
tt
sy~tem,
1
1.2
'
solu~ion.
o~
l~
1
j
under what may be described as symmetrical and balanced networks. As such, there is a 'need for a quick and fficient
"-
i~
u~~ess
~(O)
~(O),
<
l
~la
closed form
I-
i.,
l
!1
However, as
app~ied
1 ,
1
converter
, bridge are triggered , sequentially once in a cycle.
,
is
mode1led by a differ~
(J
1
~
-------
"
'-
enun~iated
of
<
~solutions
o
(
------
\ ,
(
\.
'
6
jo
.,
wr-
1.3
\
This thesis is organized in tne/fol-lowing way:
Chapter II is' a brief review of the Graetz
1
[13J
~n
inverter station
\i
lt
.
prop~rtl.es
"-.
CHAPTER
,<
II
2. 1
Introduction
The theory of an HVDC
conver~er
9tation is well
known
opera~ion.
-ea+ Ls
Rs
Vfr
t
Id
(
V4
vs
~d
V2
Fig. 2-1
,f
.
Ij)
on the de side.
1"
:\
1
,..,8
1
"
1
1
al
b.)
ing to
c)
firing order.
of the Graetz bridge with the load, and the synchronous machine. Each phase of the transformer
o
R.r'
,C'
'\
1,
1
respectively.
....
1\
"
el
simplestimo~el,
(subt~ansient),
LS
'11/2) 1
e C (t )
1
(>
---.:;;......--.~----
..
- ---..
------~
..._.-
(2-1)
where: Em
w
= Amplitude
of the source.
",,1
Bridge Operation
"delay angle"
,01..
l3l]
It i6 well' known
.1 '
Il
~4
1
.J
operates as:.
1
ft
i)
a converter fbr
ii)
an inverter for
< < /2
"'/2 < <
cr
7r
cr
11"
and
,)
1
!
,t..
angle cr,
cr
=2
;
11'
/3 :hs
j
i
!j
r
1
is uncontrolled. The method of swi tching a valve off is the reversal of the'current
'0
th~ough
.
1
-- .. -
cr.
-"
1\
!
1
10
(~l
"
J
~I
t)
. V (t)
2
Va(t)
1
;"
,
,t
..,
T
(a. )
'Id
fi-
~a
--111
Cl
1
l,
J
(b)
Il.
\r\
\~
11
vice~versa,
val~~
has been
2~/3
radians.
1<1-
12 Switching Subintervals
During normal operation, at least two valves are
flow~towards
the ac "
side, and the valve from the bottom of the. bridge leads the
current out df the ac side\.
T~e
six triggerings of
-------
~he
sbintervals~
'it0
12
Ir
(-_1
SUBINTERVAL NUMBER
1
=1
V2
V3
V4
2 1
V3
V4
31
V3
V4
VS
V4
VS
7 1
1 6 1
VALVES CONDUCTING
V4
VS
V6
VS
V6
VS
V6
VI
V6
VI
V6 VI
VI V'2
V2
VI
V2
V3
V2
V3
Valve
Il
V2
V3
V4
.,
Table 2-1
8 1 9 1 10 1 III 12 1 13
,j
( ,J
i)
"
2n (n
= 1,2,3 ... ),
'1
= 2n
+ l(n
= o~
)
,1
l,
eously. This is the commutation subinterval, during which the change-over of current, from one
valve to another valve, oceurs. This change-over
of current does not happen instantaneously. At
1
,
o
, '
13
2.4
Circuit Topology
As describe4 in section 2.3 the circuit topology .
1
\ld
V2'
(:'
"
(b)
V3
V4
.,
'"
'
Fig. 2-3(a)
Cb)
'
14
Commutation Subinterval k
2.4.1
instanta~eously.
circ~it.
commutatio~ time,~,
tances.
Commutation occurs during the odd subintervals,
r,
= 2n
at
=0
(n
O,1,2.~.).
The subinterval k = l
= IJ.
o~
begins
valve\V2.
2.4.2
Non-commutative Subinterva1
=2
i'
k - 2n (n
= 1,2,3 ... )
,f
b)
ir.f
15
dynamic~
= ~k (x-k, t)
= 1,2,3 ..
where
( 2-2)
'"
l
l
,1
1
!
1
ing
~e
obtained by invok-
1
1
t
1
sqlut~ons
of, twc
pieced together by
contiguou~
satisfyin~
ic flux continuity constraint which in this case is the currents in the inductance elements
L , Ls and L.
T
.~
"
.
IG
(~
..
SUBINT~~ ~UMBER
):
,1,
'k
"'k+l
- \
1tK+I
\
Fig. 2-4
1
1
Continuiy requirement.
Cf
,More
\
kth subinterval
pr~cisely,
evalu~ted
t~rmination
..
tirne t
of the
is used
k
to fom the initial sta te ~k'+ 1 (tk ) of the next subinterval.
at the
~k(tk)
/-
1
1
,r
j
t
17
lI
!,
(:
1HAPTER
III
>
3.1
aIl the transients have disappeared and the system has resumed a cyclic operation of period T. This definition correto the sarne notion of steady-state in
"
sponds
analysis.
conditions:
a)
a~
AlI transients from faults, switchings and reclosures have died out.
b)
where:
~(t)
= ~(t
T)
(3-1)
\-
..
"-.
,'
l'
18
f'
Il
1
11 -1
are equal
j+l.
T.
"-
CYCLE
~~ER
"
,\\
t.----T
Fig. 3-1
,,
-----""'4'..~lfooI.t----- T -"-----+1
\
,In
\ -,
'~
ac analysis the "s1ready-state'~ution is
"transi~nt"
solution
worthwh~le
SUIn
ac" the
of the "partic-
$
,
"
,.
i1
19
3.2
"'-
The semi-analytical method of finding the steadystate solution in HVDC recognizes and exploits the following
properties:
3.2.1
The
thr~e-phase
i1
J.
i) the impedances of
er' are
~ach
Phase\of the
transform~'
~),
'~
equa~ 1
, '4
lJ
ii)
1i
resistanc
1
hav~
\
1
Cl
1
1
1
\.
d
:~
';1
J
J>
l
~
20
th~
= 1,2,3
transpo~ed
symmetry property,
3-2 (a)
(b),
The odd subintervals ,are essentially the commutation subintervals in which three valves are conducting
(~ }
._
1/
simultaneously"
During subinterval
!
.i
1
= l,
V4 is
l
!
1
1
= l,
";
~t
"-
"
2
= 3,
The
differenc~
'{
')
---
-------------=--~-----~-~---
\,
"'----
'-,
21
,1
.[!' ('-,
p'
<'
i5
con,~uction
=,1.
The ev en subintervls are essentially the noncommutative subintervals in which two valves are conducting
sirnultaneously.
.j
'\
=2
the valve V3
=4
.1
the
J1
~
\'
"
!f
"".,.
~
l
.j
~"
1
"
1
\,
"
(
&
\.
. 1
1
1
.22
-1
V3 \15
'1
c,
IJ
(
"
i!
1
!
,
'1
Fig. 3-2{a)
(b)
.,
Circuit topology for subinterval, k = 3,
<
when three valves are conductirig.
Circuit tOP9logy for subi"nterval, k = 4,
when two valves are conducting.
(
\
l '
ij
.1
23
'1
=1
are repeatedly
cur~
1
= 2.
~
.,..
ft
,
~
d~
,~
~)
~l
.;
.,
intervals
.1
"-
"
!.1'!.3'
... !.ll
'1
'..1
are listed in
!-.
.,
~ubintervals
J .
,l~sted
in Appendix A.
.
-
-_.-
~---~
: ...... _
......
""'~,b~
'
-'
24
,
1
With
r'
(t + nT/6)
~k+2n
= ~k(t)
(3-2)
,----
n = 1,2,3'0'
Il
where
k+2n
1,2
sus :-INTERVAL
K:i Il 1 2 1 3 1 4 1 ~ 1 6
NUMBER.
'1 7 1 8 1
9,1 10 1111121131141
J
(
i
ha
:r,
!(
V2 V3 V3 V4 V4 V5 V5 Vs VS VI \fI V2 V2 V3
V2 V2 V3 v3 V4
VI
V6
V3 V4 V4 V5
V4
~ ,.~f .~~ y'3
V4
V5
7'
!'iiiI::
ib
~f-
,
1
a.-.
"
T
1"-
ro.;,:'
a.-.
t
t
.-1
tl
Fig. 3-3
1
1
Valve
J'
25
3.2.2
( 3-3)
= 1,2,3 ..
= subinterval
~k
=a
state-vector of dimension n .
k
=,forcing
~k(t)
number
~)
\.
nk
[B~J
x,~
= nk x mk
.~
~"
constant matrix
~
l
constant matrix
1
1
.1
Il
equation (3-3) ,
1~
= ~ks (t)
+ [cI>k (t)]
lk
~
~
[32 ]
.J
1~
(3-4 )
~
~
where
,1
X~s(t)
= particular
integral (dimension n )
k
(3-5)
= state-transition
fk
matrix
- constant of integration
-.
26
T~e
forcing function
~k
- s
- ks
(t) is shown in
Appendix B.
The state-transition matrix
[!l>k (t)]
ls a function
,~,
= 1,2.
These
sho~n,
= 0 and
.~.
>-
the end 'of one subinterval become the states of the initial
\
.
,;
ble
= 1,2
will be solved.
()
27
(
3.2.3
Magnetic Flux
Contin~ity
of currents
ih
the inductance.
'
.
\ su b'~nterva 1 .
con d ~'t'~ons 0 f t h e prev10us
= 1,2
are chosen
:,
'"'4
at
t=~.
At this point of
of subinterval
tions of
~~(~)
=l
t~e,
~1 (~)
of subinterval
= 2.
This property is
in equa-
tion (3-4).
Mathematically this is expres-sed as:
1
~2 (~)
[cp J ~l (~)
(3- 6)
,
where
~~
~he
This
li
[cp]
[cp]
~l(t)
do not
!}
the
?eriod~
i
\
icity in
s~ction
5,..
-,...
r
j
28
(:
3.2.4
Periodici ty in
T_
"\
The periodici{y in
T requirement
= ~13 (Tl
(3-7 )
= O.
ik
: (k=1,2)
= 13.
T/6 transposed
= 1,2.
It is important to
, itself is an algebra-
lk
(k
= 1,2)
may be
obtained.
(~)
",
29
3.2.5
JJ.
In order to evaluate
~2(~)'
the commutation
"
commutation time
t~e
one must
f,
zero.
(
The expression of the commutation current is a
nonlinear function of
~.
it numerically. This is the reason why the rnethod'for solving the steady-state in HVDC analysis is called
Il
semi-analy-.:
equatio~
~""~-
in
~~~--~---~-~-~----~---
~=-~====
\
1
CHAPTER
IV
.' ....
4:\. Introduction
Instead of deriving the semi-analytical method
in the most geneFal way, this thesis is
devoted
ent~rely
Il
r points
are:
a)
ap~iieation
incompatibl r
b)
the
c)
p.,(
chapter III,
50
(k=1,2)
'
e~uations
C)
unknowns
~l(O)
and
,
~2(P).
'\
\
----- - -
-.
---~ -
-~
-- ------
31
Finally by swdstituting
of subinterval
constant,~
Il'
Il
k~1,2
k =1,2. It is :to be
~f
~k(t)
k'~
()
, ;
"
32
\
4,2.1
Subinterval
=1
= l,
is given by:
(4-1 )
1
are of dimension
Appendix D. l,
The state-variables are of dimension
~re
=6
and
choseri to be:
1
1
(4-2 )
t
t
1
1
!.l(t)
= ~ls(t) +
[4>I(t)]
1~1(O)
~lS(O)}
(4-3 )
\.
where
T,he expression
1~1 (0)
Il
accord~ng to equation
and
(3-4),
~ls
=0
in equation_
~xp1icitly
as in
7
1
33
Appendix
condi tions at
4.2.2
= o.
Subinterval
k -
~2
= [A 2 ]
~2
[B2J~2(,t)
x n ) and (n
2
x m2 )
and
(4-4)
[B2]
are of dimension
n - 5 and
2
(4-41 is similar
~2
(t)
= !.2s (t)
+'
[4> 2 (t-.u>]
{ !2 (p)
~~ ~,u)}
(4-6)
where
!.2s (t)
and
~~ (t-p~
are
~i.sted
in
!.2'
'and C.
i2
APpendi~e6
=p.. in
equa'tion
As in equation (4-3), x
2s
(,Il)
is
34
. Unfortunately,
~1(O)
'
~l
(0) as a
4.3
~l
(0)
= Il. ,
t}
the periodicity in
,j
T requirement given in
equation (3-7)
These requiremen ts are used at the points
and
4 3. l
=ft
O.
=p.
='!J!f
= '2,
= l,
()
~1
(t) ,
the
1,
:
.'
r
!l
,,
1
, 35
1
l
e1ern,nts of the
ement of
stat~-vector ~7 (t).
i
interval
,=
(t)
ceases to
flo~
in the sub-
(4-7 )
where
[cp
J
,
is the dimensiona1
compatil;:li~ity
matr'ix (5 x 6)
'.
of the forro:
""
[CJ;]
1
0
O.
0 '1
<7
Equation
(4-7)
(4-8 )
inco~pati-
bi1ity
4
tion at
b:Q
k:::~, ~l(O),
from/
2, ~2(T/6).
1
1
o
.~-~---
36
"
~~-
'
~12 (t) T
;I
, (4-10)
,
~13
(T)
[~fl~:~]'
=,
-Id
( 4-1~)
"
w~ere
.,
'elements of
,resents
the term
represents
th~irst\five
= -Id
t=T. Thu5
~13(T)
\,
con~inuity
requirement at t=T
one has:
(4-12)
[Cs J i5 needed
~13 ( 0 ) .
~
[Cs]
'-
"
0
..... -
0'
,0
_\0
"
,,
1
---~----
(4-13r----':
37
r-
(r
At
= 0,
equation
~1 (0)
may be
partit.i~ned ,las
\
fo11ows:
(4-14)~
\'
5
?5.1(O)
~1(O).
eq~ation
(4-14) is
-Id
because
requirement, at
=0
one obtains:
t ::: T
(4-15 )
( ']
,
~
:s.f(O) =
f (
[~~]
~12 (T)
(4-16)
"1
Now from the transposed periodicity in T/6 reequation (3-2) one has:
quir~ment,
'1
1
?5.12 (T)
=!2 (T/6)
(4-17 )
/'"
So that the equation (4-16) is rewritten as:
\
:s.i(O) =
[cs] ~f(T/6)
(4-18 )
o
/
'
38
-i
a)
b)
at
at
t
t
=0
= f.L
,!i<O)
~2 (,u)
= [cs']
= [cp]
!2(T/6)
(4-19)
~:
?!.l (Il)
(4-:20)
!.l (0)
only.
,,
i .
4.4
Determination of 1-'- \,
Using the two sets of ini tial condi tio'ns deri ved
1
f
')
Furthe
solved by a
of
il
()
\
"
39
(:
4'.4.1
hlgebraic Expression of
Having matched the initial and final conditions
of subinterval
(4-19), one is further interested in finding explicit solutions to equations(4-1) and (4-4). The first step towards
this
g~al\is
~~(O)
to express
as a function of
alone.
k = 2
at
=p.
"2 (~)
(
tioned
as follows:
5
5
\
[~l(P)J,
C (,u)
11
(4-22)
- ---
C (,u)
21
-.....)---1
1
1
1
22
(p.)
__
~-
( 4-23)
where
-Id[C12(,u)J~[CllUL)~C12(P.)J~lS(O) +[CPJ~lSI(~)
(4-24 )
r'
;;,
,r
>
40
i
b)
~1(O)
an expression of
'\
i)
Substituting
= T/6
a~
= 0,
,1
one obtains
as fo1lows:'
1
:,
+ [ C1>2 ('!l/6-P)]
{~2{P)
~2S{P)}
l'
(4-25) ,
ii)
~2(~)
and
!>i (0)
=[
cs]
{!>2 S
(Ji)
(~/6) . +[ 2(T/6-">J
~2 ~ LU)}
~i (O)
=
x
~4-26):
Jr
[cs]
Id [C 12
- x 2s
("~
(P)] -
(0)
[C ll
(~)
: C
12
j ( [cp]
(p)]
!>ls (p)
::ls (O)
'(4-27)
form such that one may solve that equation in arder to find p
...
,,_
....
-~~-_
..
_-._-_. --------
. ,,
"
, 41
,
4.4.2
A1gebraic Exprssion of
(~)
F (fl)
of equation (4-3).
Q\ (p),
[!~(O)]
-=~~(4-28)
5
~1
(0)
is a function of ~ a1one.
The problem now reduces to solving for Ji in:
F(,u)
-Since
=0
F(,u)
(4-29)
ls a nonlinear function in
Ji
.,
it
Jt
"
:,
';
'!
4. 5
Newton-type
Algori thm .
"
F(p)
i5 shown
,e~
l'
i
l!
\;!
i
~
,~
~
'\
"
42
Fig. 4-1
Newton-type
C)
algo~ithm.
F(,u} ='
o.
= ,Il 1T 1
wh~re
,u 0
P.o
(4-30)
F(,uL+l) - FUlj),
t-
1,2,3 ...
ex~ple
discussed up to
,,
l
1
43
f
1
CHAPTER,
RESULTS
In order to dernonstrate, its effectiveness, the
for
, 1
a)
highlig~ted:
b)
t
1
m~thod.
after inteli
grl,ating for a sufficiently long time sc that ail the tran- ,,l'
sient components
have subsided. '
,
The inverter circuit, Fig. 2-1, under examination
h~s
Constant
de
current
Id"" .5Amps.
ii)
Transformer:
= .0531
LT
R.r=
iii)
LOad:
H.
\
. 0005 ohms .
= ,.6986
"
H.
"', .
','
44
r'
!,
1
i
i
iv) Synchronous
LS= .0796 H.
machine~
= lO~ Volts
a =211"/3 radians
= 120
degrees.
<
11"
2'
5.1
<
11"
th~
rapid conver-
F(~),
'1
11"
lB radians
11"
w Il 2
= '9
= 10
de~rees
radians = 40 degrees
Il
, range:
o<
C)
<
11"
(5-1.)
45
As is well known
WfJ>..!-.
occurs for,
[31J
commutation
fai~ure
10
,
f
l,
t,
2
Fig. 5-1{a)
()
...
-"""~_ _-------_._--~---,.._.~---
l'
1
.,1
:.
()
'J,\
(initial guess,
w~2)
,, \ ,
,1
1
1
,,
,,1
,
,
,
\
,,
\
\
\
\
1
1
\
\
1
1
----,-------,
,
,
,
,
,
1
,i
,
,,
,,
.~
T
Fig.S-1 (b)
1.
2.
number~i.
o
)
47
()
Fig.
5-~
F(~),
iteration number,
l.
angle,w~,
against the
(
At this stage one may wonder as to the correctness
of the method. One asks for a basis against w~ich the results
may be checked.
"
Numerical Correlations
1
1l
~,
~,
is found to be acceptable.
In order to check the ,correctness of the "semi-
analytical" method, the problem is solved also by a traditional method. This method is based on the following steps:
~
2.
48
3.
compl~te
cycl'e are
requirement.
4.
5.
These final~conditions
~13{T)
xl (Or.
final conditions.
The steps (2.) through (5.) are repeated until
\''
(5-2)
(0) Il
is:
'
.01
Of course,this
, method is more suited for the
,~
""
unde~transient
the steady-state solution, it is necessary to run the program for a sufficiently long time, so that the transient
part of the
solutio~,
r'
ently expensive.
The,problem was solved in the context of the
commutation angle,wp, versus the firing angle,. The switching
tion
(J
ang le,
fai~ure
Cl'
occurd,Le.
wp
n /2
------
.1
/
o
49
/
~I
a)
rna~
cal" method yields in fact the correct solution of the systern. Yet, this novel method arrives at the solution very
rapidly, narnely arter ,only four iteration steps.
,l,
w J..L
o
60
50
30
20
~;~~--~----~--~--_"~I--~I~~
o
90
Fig. 5-2
()
'0
100
120
140
-~--~~~---~
..
~.~-~~'"
- ._...,-_'-".....
,- ...
50
JI.'
CHAPTER VI
"
, ;
,,
..
LL
CONeLUSIONS
Steady-state" problems i.n HVD systems using the "digi tal computer has been presented.
""
of
,
J
;;:
~
to-
>
~
, f
'. f
1
1
to analog
simi~ators.
a)
b)
Unbalanced phases.
c)
Fault conditions.
'd)
Multi-terminal HVDC
systems.~
.'
..
{
l
)
- -l--'"
51
1
1 /
APPENDIX
A
o
A.l
Subinterval
l2 SUBINTERVALS
=1
(A-l)
V3
J
V'l
('l'
Fig. A-l
1
r-
A.2
"
Circui t
Subinterval
k= 1.
=2
I
[
!2 (t') T
"1
= [i2
(t),
i3 (t), 'iS
(t>, i7 (t),
i9
(t>]
(A-2 )
1i
' '
"14
()
Fig. A-2
Circuit
jo
k=2.
52
1
A.3
Subinterval
=3
~3 (t) T =
.f
1/
A.4
Circuit
Fig. A-3
Subinterval
configuration during
subinterval
';
"
k=3 _
~4 (t)
=4
(A-4)
t'
f
V4
Fig,_ A.;.4
1
Circuit
Or
--- - ---
-..,
--
--~
--- -------
--~--
-.----------_
1
j
53
A.5
Subinterval
k.= 5
(A-5)
,
- eo.. +
Ls
\
1
Fig. A-S
Circuit
J
A.6
Subinterval
k: 6
k:5.
1
" f
,1
(A-6)
Fig. A-6
()
Circuit
k.6.
54
()
A.7
Subinterval
=7
/11
(A-7)
vs
- eo.. + Ls
V6
Fig. A-7
A.
Circuit
Subinterval
k=7.
k = 8
~8(t)T ~[-i2(t),
~i9(t)J
(A-a)
Vi
Fig. A-8
()-
.Circuit
\ \
k=8.
"
55
A.9
Subinterval
=9
1
;
~9 (t) T =
[ 1 (t)',
Fig. A-9
Circuit
,
A.1D Subinterval
k=9.
= 10
(A..,.lO)
VI
()
k=lO.
56
A.ll Subinterval
k-: 11
(A-11)
V3
,,
,\
'1
,~
1
A.12
Subinterval
~'12
~12 (t) T :;: [-i3 (t), -:ii (t), -i 9 (t), -i 5 (t)" -i 7 (t>]
(A-12)
L,. R,.
V3
V2.
~ig.
A-12 Circuit
configuratio~
during
subinterv~l
k:12.
()
,
1
1
1.
"
,,
57
Cj
APPENDIX
PARTICULAR INTEGRAL
11
(B-l)
~k
is rendered in the
(t).
form:
(B-2)
where:
1
~
(,
E
i,
1
!!.k
In
sin
-Em cos
E
In
(B-3)\
sin (5 n /6
Em cos (n/6 +
~k
Em sin
Em cos \ (5 1f/6
(B-4)
a)
()
I----~---------------------
'
,
58
o
o
~=
(B-5)
~s(t)
of the equation
!ks (t)
cos
.9:k + sin
w t
t ~ + ~k
(B-6)
~k' ~k
and
~k
are of dimension nk
These constants are found by substituting the eqution (B-6)
into the eguation (B-l), and eguating the coefficients af
the left hand side and right hand side of the r,esul ting
()
~k'
equation. Thus
~k
and
~k
- [A.J-l
(B-7),
--k
(B-8)
(J
--~"
.----------.-.--'
59
APPENDIX
COMPLEMENTARY FUNCTION
The
homogeneo~s
[~Jt
(C-l)
or
i'
[ r.ilk(t>l= [
where
~Jexp [AkJt[MkJl
(C-2 )
.~
of the matrix
[~}
t,
~.;:
.,
;
[~](k=1,2)
are not
chang~d,
~e matriX[~ ]
li~rary.
The sub-
()
)1
I_~____----~ -\___
\
/
1
1
, i,
[~J (k-l,2)
ll
1t
o
\
-\
o
. ,
o
\'
61
( -',
D
APPEN'oIX
DERIVATION. OF
D.l
~lJ-'-~lJ
i~
the subinterval
equati9ns is written:
where:
-2L
-L
-L
-L
o
o
L/R
L/R
L/R
o
o
o
o
L/R
o
o
o
o
o
o
o
o
o
-R
-R
()
-L 5
2L
,1
(D-2)
(0-3 )
\
~
... _ _ _
____
~_.,...
'
~~.J_
62
~1 (t) T
(t.),
ic (t)]
(0-4 )
[G1]
}!1 Ct)
-1
-1
-1
1
-1
-1
(0-5)
-R.r
I(
[e a (t)
e (t), e c (t) ,
b
Id]
1\
where:
~-
Cl' ),
t "
eh Ct)
e
(0-6)
(t) :,E
' m
+ Cl'
(0-7)
"
= [AIJ~1 (t) +
where:
r
[Al]
[B 1]
~l(t}
-1
=-
[Lll
(0-8)
(I:~~9 )
[R1]
-1
(0-10)
~
"<;)
"
'
63
i
1
t
i
'1
The inverse of the matrix [L1] is calculated
0.2
!!.2 (t)
[A 2]-' [B 2]
'\
k.2, Fig.
I\-'l.
dt
[R2J!2
, [LJ9-. !2<t)
:;1
(t)
[GJ}!2 ('t)
(D-11)
where:
()
,
[L~ =
Ls
-2Ls
-L
-L
s
s
-L
-L
L/R
L/R
(0-12)
c.
0
1(
Rs
-R
-R
o 1
0
0
>~
q
0
-R
-R
[R2]
.. \
(D-13 )
i \ C)
\
\
.
\
1
1
1._____________._
Il
\
1
1
.j
~2 (t) T =
\.
,,<,
."
j
[G 2]
,
!!2
-1
"0
R
-R
0
-1
(t)?-' ~ [e a
,1
""'\
...,
(D-lS)
J
(t) "
'"
e b (t)
"
e c (t)
Id]
, :
(0-16)
fil>
whre e (t) , e (t) and e' (t) are as decribed in equation (0-7) .
a
b
\
c \
\
l
~
,,
/
~2 (t)
(.
= .[A2]?i2 (t)
+ [B2J.~2 (t)
(0-17)
. where
T,
J'
-1
[A 2]
[BJ
<l
- - [L2] [R2]
(0-18)
= [L~-1 [G 4]
(D-19)
'j
1
\
,
J
"
"
l1
- -'
1
)
,
1
,
'.
-w-----~.--'~~-~~i~.iii~W,l~'ft:f74_~
l'
65
,
REFERENCES
a.
[3]
T~ans.,
1
1
1l,
[5J
l042~1052.
1.
( )
66
J
(
[8
J,
J. Mi1ias-Argitis, G.
,
"
, i
1
[11]
()
~er.
liS;'
SYS~I
G. A. Nunan, "Simu1ator
Perfonnance", IEEE
'1
Meeting 1980
N~w
York.
()
'\
1
J
"J
_,,""
67
{15 J
'
'.
'
May/Jun~
, [17J
Proc. IEE, Vol. 126, No. 12, Dee. 1979, pp. 1275-1281.
. [18J
[19J
1
C)
of HVDC Pow~r Transmission Systems on Digital Computers Generalized Mesh Ana1ysis Approaeh", IEEE. Trans., PAS-87,
o~
~lec.
68
~o.
8,
"
sy~)~~ms
by a gradient method",
'00:;
\ )
\ 1
l
\
>
,
",~.r ~~ ;~, ,"1... ,-"*;1,' ,(;I1>\.....r~~!:,''Y,')r~ J4k..,.~\...'r
69
c-
"
udiv.
Ct
Ma~Millan,
1,
dubio~s
1
(
1.
Feb. 1980.
()
--
.--~-
-_.
----_~~~'I~;
...
"""~~
. ."'-..,:t_....
-......--.-,---~---
._- -
~---~__--;--""-'-~4r~
.... .ii,:("t.I>'t;",
~ i.-!".,r~~~~