dc grid modeling emtp-rv ugm
DESCRIPTION
DC Grid Modeling EMTP-RV UGMTRANSCRIPT
DC grid modeling with EMTP-RV
EMTP-RV User Group Meeting April 3, 2012
Sébastien Dennetière – Rte / National Center for Grid Expertise
C1
C2
D1
E1
F1B6
B3
B1
B4
A1
B2
B5
1500 MW 500 MW
500 MW
1000 MW
100 MW
500 MW
Vdc control
1500 MW
1500 MW
+
380kVRMSLL /_0
C1
+
155kVRMSLL /_0
+
155kVRMSLL /_0
+
155kVRMSLL /_0
+
155kVRMSLL /_0
C2
D1
E1
A1
+155kVRMSLL /_0
F1
B1
B3
B2
+
380kVRMSLL /_0
EMTP-RV User Group Meeting - April 3, 2012
PRESENTATION LAYOUT
01. HVDC Grid – Context & Requirements
02. Available models in EMTP-RV
03. Next step : HVDC Grid CIGRE Benchmark
2
EMTP-RV User Group Meeting - April 3, 2012
01
HVDC Grids Context and requirements
3
EMTP-RV User Group Meeting - April 3, 2012
HVDC Grids
New contraints Increase in renewable power generation Increase in power trade across national borders Impossible to get permission to build new overhead lines
Technologies opportunities VSC HVDC Transmission well suited to DC Grid : change of power direction does not
require a change of polarity Smaller footprint of VSC well suited to offshore platform
Organisations to support the development of DC grids : Friends of SuperGrid
MedGrid TWENTIES …
Context
4
EMTP-RV User Group Meeting - April 3, 2012
HVDC Grids
Concepts
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EMTP-RV User Group Meeting - April 3, 2012
HVDC Grids
Power flow control Each converter can control on DC side : P or Vdc Which converters will act as a slack bus (Vdc control) ? Global dispatcher is required
Very fast protections system and DC Circuit Breakers DC fault currents : higher magnitudes and steeper derivatives (only R) Initial transient mainly consists of capacitive discharging very high amplitude
Fast detection and tripping with DC CB(< 5ms)
Need for standardisation and functional specifications DC grids will grow organically
Converters from different manufacturers Functional specifications : DC fault withstand requirements Insulation co-ordination on DC side DC Grid master control Dynamic Performance Studies with control systems of every manufacturers…
Main challenges
6
Models for phasor domain studies : load-flow and
transient stability
Detailed models for EMT studies
Detailed and protected models for offline and real-
time EMT studies
EMTP-RV User Group Meeting - April 3, 2012
DC Grids modeling
TWENTIES : European R&D project http://www.twenties-project.eu Rte proposed and developed in EMTP-RV a HVDC grid model A scale-down HVDC grid prototype will be built in 2012 and connected to a real-time
simulator
CIGRE B4 Study Committee : In 2009 WG B4-52 “HVDC Grid Feasibility Study”
In 2011 : B4-56: Guidelines for the preparation of “Grid Codes” for HVDC Grids B4-57: Guide for the development of models for HVDC converters in a HVDC grid B4-58: Load flow control and direct voltage control in a meshed HVDC Grid B4-59: Protection of HVDC Grids B4-60: Designing HVDC Grids for Optimal Reliability and Availability performance.
Rte involvement
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EMTP-RV User Group Meeting - April 3, 2012
02
Available models
8
EMTP-RV User Group Meeting - April 3, 2012
HVDC Grid
Test System Description
9
600 MW1000 MW
1000 MW 400 MW
1000 MW
CBL_100km
CB
L_
75
km
CB
L_
50
km
+
SYS1
+
SYS2
R1P
BK
IIp
BK
II
BKIpBKI
BKR2 BK
IVp
BK
IV
BKR1
CBL_25km
+
WindFarm2BKB
BKIII
BK
IIIp
CB
L_
10
0km
R1N
+-1|1E15|0
SW1+
WindFarm1
+
WindFarm3
Detailed model (DM)
MMC 801Levels
ACpn
Station_1
Detailed model (DM)
MMC 801Levels
ACpn
Station_2
Detailed model (DM)
MMC 801Levels
ACpn
Station_3
Detailed model (DM)
MMC 801Levels
ACpn
Station_4
Detailed model (DM)
MMC 801Levels
ACpn
Station_5
VM+
?v
S1VM+
?v
S2
VM+
?v
S3VM+
?v
S4
VM+
?v
S5
EMTP-RV User Group Meeting - April 3, 2012
5-node test system
Converters MMC 801 levels (400 Submodules / valves) Upper level control system : standard VSC control Low level control system : Circulating Current Suppressing control, Modulation techniques (Nearest level control), Capacitor Balancing Control.
Cables Frequency dependant cable models (phase domain)
Wind Farms and AC grid Models based on Thevenin equivalent
Detailed models (DFIG and Full converter) will be included in 2012
Model description
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EMTP-RV User Group Meeting - April 3, 2012
Available Converters Models
First model : Full detailed model (reference model)
Second model : Detailed equivalent model
Third model : Average value model
2 EMTP-RV models
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EMTP-RV User Group Meeting - April 3, 2012
Available models
Description from converter topologies to semi conductors
Full detailed model
12
Id
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
Vd
Ls
LsLsLs
Ls Ls
Sub-
Module
Multi-
valve
Arm
iua
ib
ic
vc
iub iuc
ila ilbilc
vsua
vb
ia
va
vsla
+
vci
-
p
n
g
C
g
p
n
S1
S2K2K1
+R
LC
0 1000 2000 3000 4000 5000 60000
0.2
0.4
0.6
0.8
1
Current (A)
Voltage (
V)
EMTP-RV User Group Meeting - April 3, 2012
Available models
A solution to limit electrical nodes in converter
Detailed equivalent models
13
Id
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
Vd
Ls
LsLsLs
Ls Ls
Sub-
Module
Multi-
valve
Arm
iua
ib
ic
vc
iub iuc
ila ilbilc
vsua
vb
ia
va
vsla
SMv t
MVi t
_SM eqr t
_SM eqv t T
++
_1
_1
SM
eq
v t
r t
_ 2
_ 2
SM
eq
v t
r t
_ 3
_ 3
SM
eq
v t
r t
_ 4
_ 4
SM
eq
v t
r t
_ 5
_ 5
SM
eq
v t
r t
_ 6
_ 6
SM
eq
v t
r t _ 6eqr t
_ 5eqr t
_ 4eqr t
_3eqr t
_ 2eqr t
_1eqr t
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ + +
DC_PLUS
DC_MINUS
a
b
cAC
EMTP-RV User Group Meeting - April 3, 2012
Available models
To get a fast solution only valid on AC side
Average value model
14
Id
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
SM-1
SM-2
SM-400
:
Vd
Ls
LsLsLs
Ls Ls
Sub-
Module
Multi-
valve
Arm
iua
ib
ic
vc
iub iuc
ila ilbilc
vsua
vb
ia
va
vsla
suav subv sucv
slcvslbvslav
av
bv
cv
+ + +
+ + +
cIlossI
+
+
++
on AC side
on DC side
EMTP-RV User Group Meeting - April 3, 2012
Available models
Same control system for every models
15
G +
Vdc
-
VSC-MMC Iv I
VPCC
Idc
Vf
ej
gate signal
Vac
NLC
Capa. Balancing
algorithm (CBA)
Outer P/Q/Vdc et Inner Control
PLL
Ѳ
Iv I VPCC Vf
abc d-q
L
d-q
abc
SM
jlowv _
SM
jupv _ et
CCSC d-q
Modeled in Simulink and connected to the EMTP-RV model with the DLL based interface
Average Value
Model of converter
EMTP-RV User Group Meeting - April 3, 2012
Models comparisons
Simulation timings for a 3 s simulation (Time step : 40µs) :
• Detailed equivalent : ~3min • Full detailed : ~500 min
Detailed equivalent model vs full detailed model
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1 1.2 1.4 1.6 1.8 2 2.2 2.4
1
1.05
1.1
1.15
Time (s)
Voltage (
pu)
Full detailed modelDetailed equivalent model
3-phase fault at SYS 1 – DC voltage
EMTP-RV User Group Meeting - April 3, 2012
Simulation results
3-phase fault at SYS1
17
600 MW1000 MW
1000 MW 400 MW
1000 MW
100 km
75 km 50 km
25 km
100 km
+
400 kV, 50 Hz20000 MVA (SC)
SYS1
+
400 kV, 50 Hz15000 MVA (SC)
SYS2
WindFarm1+-
REC1
+-
INV1
WindFarm2
WindFarm3
+-
INV2
+-
REC2
+-
REC3
3-phase fault
1.9 2 2.1 2.2 2.3 2.4 2.5 2.6 2.7
-1000
-500
0
500
1000
Time (s)
Active P
ow
er
(MW
)
REC3 REC2 REC1
INV1 INV2
Vdc control
EMTP-RV User Group Meeting - April 3, 2012
Simulation results
DC fault
18
600 MW1000 MW
1000 MW 400 MW
1000 MW
100 km
75 km 50 km
25 km
100 km
+
400 kV, 50 Hz20000 MVA (SC)
SYS1
+
400 kV, 50 Hz15000 MVA (SC)
SYS2
WindFarm1+-
REC1
+-
INV1
WindFarm2
WindFarm3
+-
INV2
+-
REC2
+-
REC3
Pole-to_pole fault
2 2.0005 2.001 2.0015 2.002 2.0025 2.003 2.0035 2.004
0
10
20
30
40
50
60
70
Time (s)
Curr
ent (k
A)
CBL_100kmC
BL
_7
5km
CB
L_
50
km
BK
IIp
BKIplus_pBKIplusB
KIV
BKR1
BKIminus BKIminus_p
BKIplus
BKIplus_p
DC CB are modeled by ideal switch
EMTP-RV User Group Meeting - April 3, 2012
03
Next steps HVDC Grid CIGRE Benchmark
19
EMTP-RV User Group Meeting - April 3, 2012
HVDC grid CIGRE Benchmark “Load flow control and direct voltage control in a meshed DC Grid”
Defined by CIGRE WG B4-58
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A1
B4
F1
E1
C2
C1
DC Grid Test System version 2012, March 5
B1
B2
B3
B5
B6
A0
B0
D1
DC Overhead DC Cable AC Overhead
AC Cable
Will be developed by WG B4-57 members in EMTP-RV, PSCAD, OPAL-RT and Hypersim
EMTP-RV User Group Meeting - April 3, 2012
HVDC grid CIGRE Benchmark EMTP-RV preliminary model
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C1
C2
D1
E1
F1B6
B3
B1
B4
A1
B2
B5
1500 MW 500 MW
500 MW
1000 MW
100 MW
500 MW
Vdc control
1500 MW
1500 MW
+
380kVRMSLL /_0
C1
+
155kVRMSLL /_0
+
155kVRMSLL /_0
+
155kVRMSLL /_0
+
155kVRMSLL /_0
C2
D1
E1
A1
+
155kVRMSLL /_0
F1
B1
B3
B2
+
380kVRMSLL /_0
EMTP-RV User Group Meeting - April 3, 2012
DC Grids modeling
CIGRE benchmark To be developed in 2012 in EMT tools Will be delivered to DC grid WG members to perform transients studies (protection,
transient stability,…) Detailed data will be available in the B4-57 working document
Special CIGRE session on DC grid modeling in 2012 Organized by Rte to share experience on DC grid modeling
People involved in DC grid modeling are encouraged to present their work
August 28, 2012 in conjuction with CIGRE general meeting in Paris
Contribution or information : [email protected]
Next steps
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