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Control
Voltage
Employs only
bipolarity of the
current
Controls active and
+
Vc
-
ic
C } ig a,b,c
K sin(Zd t1 W ) 0 R I0
(a) + +
where , K a b 2ab cos (Zd t1 ) , a
2 2
I 0 and b V0Z0 C ic Vc
- C
V0
-
icable
nS W
t1 (12) (b) + ic=0
Zd Vc
- C
t2 t0 t1
Equation (14) is the total time taken by the capacitor voltage
to drop to zero, as can be seen from Figure 5(b); after this the L R
diode freewheeling stage starts.
icable
b) Diode Freewheeling Stage (After Vc 0 ) (c)
+
After the discharge of the capacitor into the DC link cable, Vc
C -
the IGBTs are turned off but the anti-parallel diodes
connected across it are forward biased the equivalent circuit
during this condition is shown in Figure 4(b), and the cable
inductance in the circuit drives the current across the circuit Figure 4: VSC short circuit phase. (a) Capacitor discharge phase, (b) Diode
using a freewheel path. The initial value of the cable current freewheeling, (c) Grid current feeding
*
is given as icable (t1 ) I cable . The current carried across the
circuit by the cable inductor is where
icable I 0*e ( R / L )t and iD1 icable / 3 . This is the time when the A I g [(1 Zs 2 LC ) 2 ( RCZs ) 2 ]1/ 2
VSC network is at its worst, the current carried by the diodes B I gn [W 2 / (W 2 RCW LC )]
is relatively high and thus fast acting circuit breakers are C1 ( A sin M B) C 2 B / W Zs A cos M
required to break the discharge of the fault current [4]. Figure
5(a) shows the diode currents after the capacitor voltage drops
to zero.
c) Grid Current Feeding Stage
After the DC link capacitor and the free-wheeling diodes
have fed current into the faulted line, the inductor also
contributes to the fault current making the dc link capacitor
and inductor to have a forced response in the form of a current-
source as shown in Figure 4(c). The grid side voltage vga in
the post fault condition is given as (14): (a)
vga Vg sin(Zs t D ) (14)
The phase current iga is given as (15):
iga I g sin(Zs t D U ) I gn e t /W (15)
where,
U arctan[Zs ( Lchoke L) / R ],
W (L choke L) / R
The total current from the inverter is considered to be
contributed from the freewheeling diodes as (16), (b)
iVSI iD1 iD 2 iD 3
Figure 5: (a) Diode current feeding the fault current during the
icable A sin(Zs t M ) Bet /W [C1Z0 e\ t sin(Zd t E )]/ Zd [C2 e\ t sin(Zd t )]/ Zd (17) freewheeling stage; (b) Discharge of the capacitor voltage
i cable L/2
R/2 I0
+ + Rf
ic Vc V0
- 2C -
L
0
LC The problem associated with using Fourier transform in
Due to the presence of a fault resistance there is no transient analysis is that these are high frequency oscillatory
freewheeling stage of a diode and also the capacitor voltage waves which are aperiodic in nature, the Fourier transform
does not drop to zero due to the non-oscillatory response of assumes these signals to be of periodic nature.
Wavelet transform for a continuous signal M (t ) is given
in (25) as: breakers could not be utilized since DC current does not
1
f
t b have any natural zero crossing. It consists of mainly two
WT (a, b)
a
M (t ) g
a
dt branches an auxiliary branch which comprises of IGBT
f switches connected in antiparallel direction for bi-
Where g (t ) is defined as the mother wavelet of directional operation, this is connected in parallel to the
a, b and a, b R and a z 0 where || g || 1 and centered on the main breaker branch which has more number of IGBT
function t=0. A family of waves from (25) can be generated switches here is where the main breaking of the current
takes place.
by scaling of g (t ) by b and translation of g (t ) by a .
Modes of Operation: Both the branches of the hybrid
Wavelet Transforms are generally of two types: Discrete breaker remain operational during normal condition. More
Wavelet Transform (DWT) and Continuous Wavelet current flows through the auxiliary branch since it has
Transform (CWT). During fault application, CWT is fewer number of IGBT switches, thus the conduction loss
generally not utilized due to large computation time which is is compared to the main breaker branch. When a fault
not ideal for HVDC fault detection. occurs of the system the auxiliary branch is first turned off
Discrete Wavelet Transform can be defined as: by turning off the IGBT gate pulses (Load Commutation
1 q na0p Switch). In series with the auxiliary branch an ultra-fast
DWT [p, q] x[n]g p mechanical switch is connected which operates after all
a0p n a0 the energy in the auxiliary branch is zero and the fault
Equation (26) is a function of geometric progression series current flowing through auxiliary branch is transferred to
1 1 the main branch. At a threshold value the gate pulses of
1, , 2 .... giving the DWT a logarithmic frequency coverage
a a the main branch is also turned off thereby disconnecting
which is not observed in case of a Stationary Wavelet the faulted line from the circuit. The excess energy from
Transform (SWT). the main branch is absorbed by the energy absorption
Some common types of mother Wavelets are: branch connected in parallel to the breaker which are metal
oxide varistors (MOV). This absorbs any excess energy
a) Haar Wavelet Transform
that is there in the circuit after the operation of the main
This is the simplest type of mother wavelet breaker. A detailed figure of the hybrid breaker is shown
demonstrating step function. The disadvantage with using in Figure 8. Due to such a design only a small cooling
Haar Wavelet is that it is not continuous thus it cannot be (water cooled or forced air cooled) unit is required for the
differentiated [8] although this helps in monitoring with auxiliary branch which is designed to carry the majority of
sudden transitions. The Haar function can be defined as (27), the load current [9].
1 0 d t 1/ 2
M (t ) 1 1/ 2 d t 1 Load Commutation Switch
0 elsewhere
Ultra Fast Disconnector
Main Breaker
b) Daubechies
Daubechies of first order (db1) is similar to the Haar
wavelet transform. This is a family of orthogonal wavelets [8]. Varistors
Figure 8: Hybrid DC breaker
AC grid 1
DC AC
Breaker
[3] D. V. Hertem, M. Ghandhari, Multi-terminal VSC HVDC for
the European super grid: Obstacles, Renewable and
Sustainable Energy Reviews, Vol. 14, Dec. 2010.
AC grid 2
AC AC
DC DC
[4] J. Yang, J. E. Fletcher and J. O'Reilly, "Short-Circuit and
Figure 9: MT VSC-HVDC Ground Fault Analyses and Location in VSC-Based DC
Network Cables," in IEEE Transactions on Industrial
Electronics, vol. 59, no. 10, pp. 3827-3837, Oct. 2012.
[5] D. C. Robertson, O. I. Camps, J. S. Mayer and W. B. Gish,
Wavelets and electromagnetic power system transients,
in IEEE Transactions on Power Delivery, Vol. 11, no. 2, pp.
1050-1058, Apr 1996.
[6] M. Callavik, A. Blomberg, J. Hfner and B. Jacobson, The
Hybrid HVDC Breaker An innovation breakthrough enabling
reliable HVDC grids, ABB Grid Systems, Technical paper
Nov. 2012
[7] A. Hassanpoor, J. Hfner and B. Jacobson, Technical
Assessment of Load Commutation Switch in Hybrid HVDC
Figure 10: Hybrid breaker operation Breaker, 2014 International Power Electronics Conference,
Hiroshima
[8] Users Guide on the use of PSCAD, Available:
http://pscad.com/products/pscad/
[9] N. Ray Chaudhuri, B. Chaudhuri, R. Majumder and A.
Yazdani, Modeling, Analysis, and Simulation of ACMTDC
Grids, in Multi-Terminal Direct-Current Grids: Modeling,
(a)
Analysis, and Control, John Wiley & Sons, Inc., (2014)
Hoboken, NJ, USA, pp. 231-235.
VI. BIOGRAPHIES
Bhaskar Mitra received his B.Tech degree (in Electrical Engineering from
West Bengal University of Technology) in 2013. He is currently a Ph.D.
(b) student in the Electrical & Computer Engineering department of the
University of North Carolina at Charlotte. His research interests include
Protection and Control of Multi-terminal HVDC.
Badrul Chowdhury (StM83, M 87, SM 93) obtained his B.S degree from
Bangladesh University of Engineering & Technology in 1981, his M.S. and
Ph.D. degrees from Virginia Tech, Blacksburg, VA in 1983 and 1987
respectively, all in Electrical Engineering. He is currently a Professor in the
Figure 11: Fault current detected using (a) wavelets; (b) conventional Electrical & Computer Engineering department of the University of North
method Carolina at Charlotte. Prior to joining UNC-Charlotte, he was a Professor in
the Electrical & Computer Engineering department of the Missouri
V. CONCLUSION University of Science and Technology, formerly known as the University of
Missouri-Rolla. Dr. Chowdhurys research interests are in power system
Fast and correct detection of the fault current was done modeling, analysis and control, and renewable and distributed energy
using DWT. The detection of fault current using wavelets is resource modeling and integration in smart grids. He is a Senior Member of
the IEEE.
much faster than the di / dt technique. The response of the
wavelets is faster while detecting a change in the DC current Madhav Manjrekar, Senior Member of IEEE, received his B.E. degree
during faults. It took 1 ms using the DWT while it takes 3.5 from Government College of Engineering, Pune, India, and his M.Tech.
from Indian Institute of Science, Bangalore, India, M.S. from Montana State
ms for breaker operation using conventional techniques. The University, Bozeman, Montana, and Ph.D. from University of Wisconsin,
change in the wavelet high frequency output waveform sends Madison, Wisconsin, in 1993, 1995, 1997, and 1999 respectively. Currently
the message to the breaker relay, to trip the different sections serving as an Associate Professor at the University of North Carolina in
of the hybrid breaker at various threshold values and remove Charlotte, Dr. Manjrekar has held various leadership and management
positions at Vestas, Siemens, Eaton and ABB prior to joining academia. He
the faulted line from the circuit. Although, due to high holds 8 US and international patents, and has published over 40 journal and
sampling frequency of the wavelets, the output is time shifted, conference papers. Dr. Manjrekars research interests are in applications of
still detection is faster and more robust. Selecting the lowest power electronics in utility power systems and variable speed motor drives,
number of coefficients of wavelets gives the best result. interfaces for renewable power generation and energy storage, smart grids,
and cyber vulnerability of electric infrastructure.
Change in the DC current due to load changes do not force the
breaker to trip, thus maintaining transmission.