MMC Webinar For Release 2015-02-16

Webinar:
MMC- Technologies
Presenters: Juan Carlos Garcia and Farid Mosallat

February 26 - 2015
Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

1
Table of contents
1. Modular multi-level converters

2. dq decoupled vector current control
3. Half and H-bridge converters
4. Detailed equivalent models of MMC valves
5. Simulation of a two-terminal system
6. Simulation of a dc-fault and re-start process (half- and H-bridge
MMCs)
7. Setup of a three-terminal system (on-line demonstration if time
allows)
8. Questions

2
If you have questions during
the Webinar
Please e-mail PSCAD Support at
support@pscad.com

3
Grid-connected VSC:
Operation principle
0 E
jXLI
Supplying P: I
V
I V
Absorbing P:
Neglecting R: jXLI
0 E
Supplying Q: I V jXLI

E
sin
V
cos I
Absorbing Q: E jXLI
4
Phase Locked Loop (PLL)
fsrc f (PLL)
110
Extracting the phase angle of phase-A 100

90
voltage 80
[Hz]
70
60
50
Theta
7.0
6.0
5.0
4.0
[rad]
3.0
2.0
1.0
0.0
Vq
0.10
0.00
-0.10
-0.20
-0.30
[kV]
-0.40
-0.50
-0.60
Cos(Theta) Va
1.00
0.50
0.00
[kV]
-0.50
-1.00
t [s] 2.520 2.540 2.560 2.580 2.600 2.620 2.640 2.660 2.680 2.700

5
Control modes for
grid-connected operation
Vabc
PLL
Basic control modes: (P/VDC), (Q/VAC)

Rate limiter
Vabc abc vdq
P* d/dt
PI dq
-
P P controller 1: P control
Iabc abc idq
2: Vdc
Rate limiter
control dq
Vdc* d/dt
PI
- Current

Vdc * limiter
id* Decoupled vd*
id1 Vabc*
current dq Valve
VDC controller iq1* controls
controller abc
Rate limiter
iq* vq *
Q* d/dt Imax
PI id iq
- Q controller 1: Q control
Q
Rate limiter VAC droop controller
2: Vac control
Vac* d/dt
- PI
Q Vrms
Dac
VAC droop VAC controller
6
Decoupled current control
strategy
Current vector control with PLL locking to phase A voltage (cosine
function)
vd
x1
id* +- PI - +- ed
id L
iq L
iq* +- PI -+
+ eq
x2
vq
7
Modular multilevel converters
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
8
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
VDC
-1.00
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
9
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC
VDC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
10
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
VDC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
11
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
12
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
VDC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
13
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
14
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
15
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
16
+VDC/2
: Graphs
E reference Eac MMC
1.00
VDC
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
17
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
VDC
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
18
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E VDC
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
19
+VDC/2
: Graphs
E reference Eac MMC
1.00
0.50
V E
0.00
V
VDC
DC
-0.50
VAC VDC
V DC
VDC
DC
-1.00 VDC
sec 0.0000 0.0050 0.0100 0.0150 0.0200
-VDC/2
20
Types of MMC
Half-Bridge MMC 2009 Siemens diagram
Note: Filters not required

21
VSC Valves: MMC
Half-Bridge Cascaded 2-level converter
ABB diagram
22
VSC Valves: MMC
Full- or H-bridge cells

23
Half-bridge MMC

24
Half-bridge MMC
Three operating states in the half-bridge cell
State description Gates

Insert +Vc (T2)
Bypass capacitor (T1)
Blocked None
Forbidden (T1,T2)

25
Half-bridge MMC

2
* Vac_refT
+
Vdc 0.5 D -
F
Vac_ref
* Vac_refB
+
Vdc 0.5 D +
F
Vac_ref
Note: Half-bridge CAN NOT generate 0

26
Half-bridge MMC
Assuming modulating index = 1

2 2

2 0
0 2 2
2 0

27
Capacitor balancing: sorting
method Half-bridge cell
iac < 0 iac > 0

Inserted cell Discharges capacitor Charges capacitor
Bypassed Prevents discharging of Prevents charging of

cell capacitor capacitor

28
Capacitor balancing: sorting
method Half-bridge cell
Measurements
Vcapacitors,
Iac Balanced capacitor
Ordering of capacitors by voltages
voltage
Request for
IGBT firing insertion or bypass
of a cell capacitor Firing order
strategy
according to IGBT Firing
PWM, Level orders
table below
switching
Action
requested iac < 0 iac > 0
Insert cell Insert cell with highest voltage Insert cell with lowest voltage
Bypass cell Bypass cell with lowest voltage Bypass cell with highest voltage

29
Low Level Controls
Stages
Half-bridge cell Capacitor
balancing algorithm
Balanced
capacitor
IGBT firing voltages
Reference
strategy
voltage PWM, NLC,
waves etc.
Sinusoidal(*)
AC voltages
(*) or with harmonic content

as required

30
H-bridge MMC (full-bridge)

31
H-bridge
Four operating states

State description Gates T1 T2
Insert +Vc
Insert +Vc (T1,T4)
(T1,T4)
Insert -Vc
Insert -Vc (T3,T2)
(T3,T2) T3 T4
Bypass capacitor
Bypass capacitor (T1,T2) or
(T1,T2)
(T1,T2) or (T3,T4)
or(T3,T4)
(T3,T4)
Blocked
Blocked None
None
Forbidden
Forbidden (T1,T3) &
(T1,T3) & (T2,T4)
(T2,T4)

32
H-bridge

2
* Vac_refT
+
Vdc 0.5 D -
F
Vac_ref
* Vac_refB
+
Vdc 0.5 D +
F
Vac_ref
Note: H-bridge CAN generate 0

33
Half-bridge MMC
Assuming modulating index = 1.25
1.25
2

2 2

1.25 2 0.125 1.125
2 0
0 2 2
2 0
1.25 2 1.125 0.125
1.125
34
Modelling techniques:
MMC valves
Half- Half- Half-
bridge bridge bridge
Simulation of MMC VSCs can
involve hundreds of nodes. This Half- Half- Half-
Canbeinthe
significantly reduces simulation bridge bridge bridge orderofafew
hundredcells
speed. Half- Half- Half- perarm
Q1
Vdc
C
Q2 Half- Half- Half-
Half- Half- Half-

Half- Half- Half-


35
MMC valves
Using Thevenin equivalent:
(detailed equivalent model)
Q1
C
Q2
U. N. Gnanarathna, A. M. Gole, and R. P.Jayasinghe, "Efficient Modeling of Modular Multilevel HVDC

Converters (MMC) on Electromagnetic Transient Simulation Programs," IEEE Transactions on Power Delivery,
vol.26, no.1, pp.316-324, Jan. 2011

36
MMC valves
Using Thevenin equivalent:
(detailed equivalent model)
i1l
+
-
FP1
Vc1
Ic1
N1
+
-
FP13
Vc13
Ic13
100s of nodes into
+ FP2 + FP14
3 nodes
Vc2 Vc14
- Ic2 - Ic14
+ FP3 + FP15
Vc3 Vc15
- Ic3 - Ic15
+ FP4 + FP16
Vc4 Vc16
- Ic4 - Ic16
+ FP5 + FP17
Vc5 Vc17
Vc
- Ic5 - Ic17
+ FP6 + FP18
Vc6 Vc18
- Ic6 - Ic18
-
FP7
Vc7
Ic7
+
-
FP19
Vc19
Ic19
x10
+ FP8 + FP20
-
Vc8
Ic8 -
Vc20
Ic20
Ic
+ FP9 + FP21
Vc9 Vc21
- Ic9 - Ic21
+ FP10 + FP22
Vc10 Vc22
- Ic10 - Ic22
+ FP11 + FP23
Vc11 Vc23
- Ic11 - Ic23
+ FP12 + FP24
Vc12 Vc24
- Ic12 - Ic24
N1
n2l
This type of model is identified in CIGRE WB B4-57 as model Type-4
This model is good for system wide studies and for most DC fault simulations

37
Start-up sequence
Converter 1: Grid-connected mode Controls Vdc and Q (or Vac)

Converter 2: Grid-connected mode Controls P and Q (or Vac) in black start
mode
Converter 1 Converter 2
Energize transformer & Pre- After Vdc is regulated:
charge Deblock converter 2
Bypass pre-insertion resistor Regulate Vac
Deblock converter 1 Ramp-up power transfer
Regulate Vdc
V
Vdc
dc
Grid Vac AC network

in black start
Converter 1 Converter 2 mode
38
Start-up sequence
Vac - onshore
VPCC-T1 Vac - Offshore VAC-T2
1.25
1.00
0.50
(p.u.)
0.00
(p.u.)
-0.50
-1.00
-1.25
Iac T - Onshore Iac - Offshore
1.00
0.40
0.75 IAC-T1 IAC-T2
0.50 0.20
0.25
0.00
(p.u.)
0.00
(p.u.)
-0.25 -0.20
-0.50
-0.75 -0.40
-1.00
Vdc at onshore terminal (P-P) Vdc at offshore terminal (P-P)
1.20 1.20
1.00 1.00
0.80 0.80
0.60
(p.u.)
0.60
(p.u.)
0.40
VDC-T1 0.40 VDC-T2
0.20 0.20
0.00 0.00
Idc (onshore -> offshore) Idc (offshore->onshore)

0.80 1.00
0.60
IDC-T1 IDC-T2
0.40 0.50
0.20
0.00
(p.u.)
0.00
(p.u.)
-0.20
-0.40 -0.50
-0.60
-0.80 -1.00
t [s] t [s] 0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60
0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60

39
Half-bridge DC faults performance
Sustained DC faults (unlike LCC)
Applies to conventional
2-Level VSC and
Half-bridge MMC
Most systems (except one) use cables:

No need for fast re-energization
Cables experience low occurrence of faults
Fault clearing by opening AC breaker

40
Most systems use cables:

No need for fast re-energization
Cables experience low occurrence of faults
Fault clearing by opening AC breaker

41
DC faults in VSC systems with Overhead Lines

(OHL)
High fault event frequency with OHL
Need fast re-energization (re-closing) (400-500 ms) to prevent
AC system movement
DC breakers are required in order to achieve fast re-
energization of DC system
DC Breaker

42
DC-Breakers
Fast Low voltage
disconnect PE switch 1. Overcurrent or DC fault
under voltage front
detected
High voltage
PE switch

43
DC-Breakers
Fast Low voltage
under voltage front
detected
2. De-block HV PE switch
High voltage
PE switch

44
DC-Breakers
Fast Low voltage
under voltage front
detected
3. Open LV PE switch
High voltage
PE switch

45
DC-Breakers
Fast Low voltage
under voltage front
detected
4. Current transferred to
HV PE switch
High voltage
PE switch

46
DC-Breakers
Fast Low voltage
under voltage front
detected
HV PE switch
5. Open fast disconnect
High voltage
PE switch

47
DC-Breakers
Fast Low voltage
under voltage front
detected
HV PE switch
6. Open HV PE switch
High voltage
PE switch

48
DC-Breakers
Fast Low voltage
under voltage front
detected
HV PE switch
6. Open HV PE switch
7. DC current
extinguished & energy
dissipated in arresters
High voltage
PE switch

49
Fault clearance in H-bridge
VSC systems (by blocking)
0 2

0
Therefore lac=0 after blocking since
VACLL pk m 3 Vdc
m 3 Vdc 2 Vdc
v c Vdc

50
Simulation of DC faults in a
two-terminal system
System description
G1
T1: P control
12.7 [m]
T2: Vdc control C1 C2
T1 & T2 in Vac control .4572 [m]

15.5 [m]
Tower: DC12
34.1 [m] Conductors: chukar
Ground_Wires: 1/2_HighStrengthSteel
0 [m]
TL Freq. dependent model

51
two-terminal system
DC Faults applied
At close and remote terminals

Middle of the line
Low impedance faults (0.1 ohm)
DC Faults detection
Valve overcurrent (2.7 kA level)
DC voltage drop (40% of diode rectifier voltage

52
two-terminal system
Converter 1 Converter 2
Edc1
Edc1 Edc2
Edc2
0.8k 0.8k
0.5k 0.5k
0.3k 0.3k
0.0
0.0 0.0
0.0
-0.3k -0.3k
The total time to restore 90% power
(kV)
(kV)
-0.5k -0.5k
-0.8k -0.8k
-1.0k
-1.3k
-1.0k
-1.3k was 450ms
IdcIdc
1->2 12 Idc Idc
2->1 21
10.0 10.0
8.0
6.0
4.0
7.5
5.0
2.5
Including 200 ms de-ionization
2.0
0.0 0.0
time
(kA)
(kA)
-2.0 -2.5
-4.0 -5.0
-6.0
-8.0 -7.5 Main : Graphs
-10.0 -10.0
Vac T1
Phase voltages T1 Vac T2
Phase voltages T2 1.2k
P1 (-) P2
300 300 0.9004k
200 200 1.0k
0.8044k
100 100 0.8k -0.0959k
0 0 0.6k
(kV)
(kV)
Min -0.0108k
-100 -100
(MW)
0.4k Max 0.9006k
-200 -200
0.2k
-300 -300
Iac T1
Iac T1 Iac T2
Iac T2 0.0
10.0 10.0
8.0 8.0 -0.2k
6.0 6.0
4.0 4.0 -0.4k
2.0 2.0 x 2.00
0.0 0.0 1.80 1.90 2.00 2.10 2.20 2.30 2.40 2.50 2.60
(kA)
(kA)
-2.0 -2.0 2.45

-4.0 -4.0 0.45
-6.0 -6.0
-8.0 -8.0
-10.0 -10.0
x 1.960 1.980 2.000 2.020 2.040 2.060 2.080 2.100 x 1.960 1.980 2.000 2.020 2.040 2.060 2.080 2.100

53
Three-terminal system:
Demonstration setup
Starting with the two-terminal system from CIGRE B4-57

If time allows

54
Questions
Please e-mail PSCAD Support at
support@pscad.com

55

MMC Webinar For Release 2015-02-16

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MMC Webinar For Release 2015-02-16

Uploaded by

Copyright:

Available Formats

Webinar:

Presenters: Juan Carlos Garcia and Farid Mosallat

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

1. Modular multi-level converters

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Please e-mail PSCAD Support at

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Extracting the phase angle of phase-A 100

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

sec 0.0000 0.0050 0.0100 0.0150 0.0200

Half-Bridge MMC 2009 Siemens diagram

Note: Filters not required

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Half-Bridge Cascaded 2-level converter

Full- or H-bridge cells

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Three operating states in the half-bridge cell

State description Gates

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Note: Half-bridge CAN NOT generate 0

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Assuming modulating index = 1

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

iac < 0 iac > 0

Bypassed Prevents discharging of Prevents charging of

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

(*) or with harmonic content

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Four operating states

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Note: H-bridge CAN generate 0

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Assuming modulating index = 1.25

1.25 2 1.125 0.125

Half- Half- Half-

Half- Half- Half-

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

U. N. Gnanarathna, A. M. Gole, and R. P.Jayasinghe, "Efficient Modeling of Modular Multilevel HVDC

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

This type of model is identified in CIGRE WB B4-57 as model Type-4

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Converter 1: Grid-connected mode Controls Vdc and Q (or Vac)

Grid Vac AC network

Idc (onshore -> offshore) Idc (offshore->onshore)

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Sustained DC faults (unlike LCC)

Most systems (except one) use cables:

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Most systems use cables:

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

DC faults in VSC systems with Overhead Lines

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.

Manitoba HVDC Research Centre | a division of Manitoba Hydro International Ltd.