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© ABB Group August 24, 2012 | Slide 1
Aspects and requirements of real- time simulation of HVDC Grids CIGRE Workshop on DC Grid modeling, Paris, 2012-Aug-28
Dr. Magnus Callavik, ABB Grid Systems / HVDC
© ABB Group August 24, 2012 | Slide 2
Outline
HVDC Light and HVDC Grid technologies and applications
General factory system test requirements
Requirements on multi-terminal HVDC simulations in real-time
© ABB Group August 24, 2012 | Slide 3
Integration of remote renewables and transmission to distant load centres (eg. hydro, wind, offshore wind, large scale solar etc.)
Grid interconnections to balance loads and facilitate power trading
Shore supply to offshore platforms
Embedded DC to reinforce AC networks
Continued technology development since the 1950s.
Next development step - DC Grids
HVDC technology- pioneered in the 1950s A key transmission enabler for emerging trends
Enabling stronger, smarter and more flexible grids
* HVDC High Voltage Direct Current Significant loss reduction
Losses %
3
1
VSC** HVDC
400
800
20102000
1000
Losses
Capacity
Tran
smis
sion
cap
acity
(MW
)
Significant performance gains
LCC* HVDC
2,000
4,000
1970 1990 2010
6,000
Voltage kV
200
800
600
Voltage
Capa
city
*Line commutated converters ** Voltage source converters
© ABB Group August 24, 2012 | Slide 3
56 HVDC Classic Projects since 195414 HVDC Classic Upgrades since 199114 HVDC Light Projects since 1997
© ABB Group August 24, 2012 | Slide 4
HVDC Light (VSC-HVDC) is maturing It is the preferred technology for DC Grids
Murraylink 2002, 220 MW
Directlink 2000, 3X60 MW
Tjäreborg 2000, 7 MW
Estlink2006, 350 MW
Troll, 2004 2X40 MW
Eagle Pass 2000, 36 MW
Valhall, 2009 75 MW
Caprivi link2009, 300 MW
Hellsjön1997, 3 MW
East West Interconnector, 2012, 500 MW
BorWin12009, 400 MW
NordBalt2015, 700 MW
Gotland1999, 50 MW
Skagerrak 4 2014, 700 MW
DolWin22015, 900 MW
DolWin12013, 800 MW
Troll, 2015 2X50 MW
Cross Sound 2002, 330 MW
Mackinac 2014, 200 MW
ABB Project references
© ABB Group August 24, 2012 | Slide 5
HVDC Light Generation 4: Evolution since 1997 Maintained functionality, availability and reliability
Reduce losses Increase capacity
Compactness 150 x 100 m 320 kV, 1000 MW
Gen. 1
Gen. 2
Gen. 3
Gen. 4
HVDC Classic
HVDC Light
0,0%
0,5%
1,0%
1,5%
2,0%
2,5%
3,0%
3,5%
1995 2000 2005 2010 20150
200
400
600
800
1000
1200
1400
MW
Gen. 1
Gen. 2
Gen. 3
Gen. 4
Losses
Capacity
Recent : Dolwin 1 800 MW, 320 kV 2 x 165 km cable system
© ABB Group August 24, 2012 | Slide 6
HVDC Light cascaded two-level converters (multilevel)Valve arm (one phase)
+
-
© ABB Group August 24, 2012 | Slide 7
DC grid vision first conceived in 90’s Now a shared vision
Technology gaps to close DC breaker Control and protection Power flow control
Future developments Multi-taps DC grids Mixed AC/DC grids
Other gaps to close Political consensus Regulatory framework Funding and operation models
Technology will not be a stumbling block – planning can start !
Hydro powerSolar power
DC transmissionWind power
Hydro200 GW
Solar700 GW ; 8000 km2
90 x 90 km
Wind300 GW ; 25000 km2
5000 x 10 km
Statnett
wind-energy-the-facts.org mainstreamrp.com pepei.pennnet.com
Statnett
wikipedia/desertec
claverton-energy.com
Desertec-australia.org
© ABB Group August 24, 2012 | Slide 7
© ABB Group August 24, 2012 | Slide 8© ABB Group August 24, 2012 | Slide 8
What is a DC grid?
A HVDC grid that can operate:
Independent of one or several disturbances (isolate a failure)
In different operation modes in the connected AC- & DC-systems
Technology gaps for the full realization includes:
DC breaker
Power flow control
Automatic network restoration
High voltage DC/DC converters
Global rules/regulations for operation required for market acceptance
© ABB Group August 24, 2012 | Slide 9
Perhaps the first HVDC FST was for the Itaipu project, The consequences of incorrect controls and protections
was too much to leave to commissioning
FST in the 70’s: Itaipu 6300 MW
© ABB Group August 24, 2012 | Slide 10
HVDC Control General structure
Standard database server forlong term storage Operator workstations with Windows NT
Fast Ethernet LAN(100 Mbit/s)
Bridge/Firewall/WEB server
Remote operator workstations
Operation&
Maintenance
optical I/O extension
Process and Process
Interfaces
Control &Protectioncomputers
PCP A PCP B VC
Valve ControlElectro – optical interfaceThyristor Monitoring
MainComputers
Interfaces, amplifiers, relays, signal converters
© ABB Group August 24, 2012 | Slide 11
FST areas in Ludvika: 4 test rooms with a floor area of 1900m2
© ABB Group August 24, 2012 | Slide 12
FST Systematic testing and verification of the functional
performanceof the controls and protections.
© ABB Group August 24, 2012 | Slide 13
Why FST is performed and what is important
Verify
Equipment towards the specifications
Coordination of control & protection
Control & protection functions which are not feasible to test on site
Shorten the time for commissioning and plant "burn-in"
Minimize disturbances to the AC-system during commissioning and identify and solve problems as early as possible
Focus: verify control & protection, a simple AC grid is enough, since AC interaction is done in DPS study
Complete testing within the time allocated!
Cost for delays in testing outweigh the investment cost of any simulator
Delays may cost money in the form of liquidated damages and interest
© ABB Group August 24, 2012 | Slide 14
What is required for FST?
Simulator that accurately represents the main circuit plant
Simulation hardware and software that runs consistently 24/7
An Interface to the external controls that runs 24/7 and does not damage the external controller
Library of verified models. Long experience in power system simulation
Automatic and safe IO shutdown in the case of communication break
Robust simulator architecture that allows for quick expansion, stable simulation, flexibility
Support from the supplier
Motivated, trained and willing employees
© ABB Group August 24, 2012 | Slide 15
HVDC Grids Real time simulations Requirement inputs
© ABB Group August 24, 2012 | Slide 15
HVDC Grid SpecificationTransmission capability
VoltageSize of DC Grid
AC Grid
System designPSCAD studies
Control design
Protection designPSCAD studies
Conceptual and
electrical design
HVDC Grid Simulator RequirementsHardware
ModelRTDSMach2Communication
PSCAD studies
© ABB Group August 24, 2012 | Slide 16© ABB Group August 24, 2012 | Slide 16© ABB Power TechnologiesAugust 24, 2012 | Slide 16
HVDC Grid FST General principle
HVDC control system
HVDC process
© ABB Group August 24, 2012 | Slide 17
Multiterminal HVDC operation in an AC grid Closed loop control overview for one station
© ABB Group August 24, 2012 | Slide 17
1
1
1
1
1
1
1
1
I/O’s
PC’s
HMI
DC Voltage ref
To PC
AC & DC Voltage and Current
Firing pulsesValve Control Unit
RTDS
Verification of the new control and protection functions in a real system (Mach2 hardware & software) in a combined multi-terminal HVDC and AC Grid in real time to be at the
forefront of DC Grid technologies
The Grid
The Valve
© ABB Group August 24, 2012 | Slide 18© ABB Group August 24, 2012 | Slide 18
Verify Master Control & Converter Controller
Control modes, examples of objectives Power control, islanded network operation, dc voltage control Keep a well defined load flow Keep dc voltage within acceptable limits at disturbances AC system interactions
© ABB Group August 24, 2012 | Slide 19© ABB Group August 24, 2012 | Slide 19
Verify selective line protection features
© ABB Group August 24, 2012 | Slide 20
Summary
HVDC Light technology is mature and available for renewable connections
HVDC grids can be planned today – technology will not be a stumbling block
Real-time hardware-in-the-loop simulations are needed for equipment manufacturers to develop and verify DC Grids operations and characteristics
HVDC Light Generation 4
BorWin1 Off-shore platform
© ABB Group August 24, 2012 | Slide 21
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