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Recent Advances in High-Voltage Direct-Current Power Transmission

Systems

Conference Paper · January 2007

DOI: 10.1109/ICIT.2006.372391 · Source: IEEE Xplore

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Recent Advances in High-Voltage Direct-Current Power Transmission Systems

* ** *
Vassilios G. Agelidis Georgios D. Demetriades Nikolas Flourentzou
* **
School of Electrical, Energy and Process Engineering ABB AB Corporate Research
Murdoch University, Perth, 6150, WA SE-721 78 Västerås
AUSTRALIA SWEDEN
v.agelidis@murdoch.edu.au nflourentzou@ieee.org georgios.demetriades@se.abb.com

Abstract— The ever increasing progress of high-voltage Typically, it is desirable that a VSC application
high-power fully-controlled semiconductor technology generates PWM waveforms of higher frequency when
continues to have a significant impact on the development of compared to the thyristor-based systems. However, the
advanced power electronic apparatus used to support operating frequency of these devices is also determined by
optimised operations and efficient management of electrical the losses and the design of the heat sink, both of which are
grids, which in many cases, are fully or partially deregulated
networks. Developments advance both the high-voltage
related to the power through the component. Switching
direct-current (HVDC) power transmission and the flexible losses, directly linked to high frequency PWM operation,
alternating current transmission system (FACTS) are one of the most serious issues that need to be dealt with
technologies. In this paper, an overview of the recent in VSC-based applications.
advances in the area of voltage-source converter (VSC) HVDC and FACTS systems are important technologies,
HVDC technology is provided. Selected key multilevel supporting in their own way the modern power systems,
converter topologies are presented. Control and modelling which in many cases are fully partially deregulated in
methods are discussed. A list of VSC-based HVDC several countries [32]. In the near future, even higher
installations worldwide is provided. It is confirmed that the integration of electrical grids and market driven
continuous development of power electronics presents
developments are expected as, for instance, countries in
cost-effective opportunities for the utilities to exploit and
HVDC remains a key technology. In particular, VSC-HVDC the Middle-East, China, India and South America require
can address not only conventional network issues such as infrastructure to power their growth [33]-[37].
bulk power transmission, asynchronous network Today, there are more than 92 HVDC projects
interconnections, back-to-back AC system linking and worldwide transmitting more than 75GW of power
voltage/stability support to mention a few, but also niche employing two distinct technologies as follows [38]:
markets such as the integration of large scale renewable 1. Line-commutated current-source converters (CSCs)
energy sources with the grid. using thyristors (Fig. 1, CSC-HVDC). This technology
I. INTRODUCTION is well established for high power, typically around
1000MW, with the largest project being the Itaipu
igh-voltage direct-current (HVDC) power
H transmission systems and technologies associated
with the flexible alternating current transmission
system (FACTS) continue to advance as they make their
system in Brazil at 6300MW power level [38].
2. Forced-commutated voltage-source converters (VSCs)
using gate-turn-off thyristors (GTOs) or in most
industrial cases insulated gate bipolar transistors
way to commercial applications [1]-[25]. Both HVDC and (IGBTs) (Fig. 2, VSC-HVDC). It is well established
FACTS systems underwent research and development for technology for medium power levels thus far, with the
many years and they were based initially on thyristor largest size project being the latest one named Estlink
technology and more recently on fully-controlled at 350MW level (Table 2) [38], [42]-[52].
semiconductors and voltage-source converter (VSC) CSC-HVDC systems represent mature technology
topologies [1]-[25]. The ever increasing penetration of the today (i.e., also referred to as “classic” HVDC) and
power electronics technologies into the power systems is recently, there have been a number of significant advances
mainly due to the continuous progress of the high-voltage [39]-[41].
high-power fully-controlled semiconductors [26]-[31].
The fully-controlled semiconductor devices available Table 1: Summary of fully-controlled high-power semiconductors.
today for high-voltage high-power converters can be either Acronym Type Full Name
thyristors or transistors. These devices can be used for a IGBT Transistor Insulated Gate Bipolar Transistor
VSC with pulse-width modulation (PWM), operating at IEGT Transistor Injection Enhanced Gate Transistor
GTO Thyristor Gate Turn-off Thyristor
frequencies higher than the line frequency (Table 1) and
IGCT Thyristor Integrated Gate Commutated Thyristor
are self-commuted via a gate pulse. GCT Thyristor Gate Commutated Turn-off Thyristor
 VSC-HVDC installations are summarised in Section VII.
Sending End Receiving End Finally, the paper concludes in Section VIII.
II. HVDC SYSTEM CONFIGURATIONS
AC 2
Depending upon the function and location of the
AC 1 Reactive Reactive
Power Real Power converter stations, various configurations of HVDC
Power systems can be identified. The ones drawn in this section
Fig. 1: HVDC system based on CSC technology with thyristors. involve CSC-HVDC configurations but similar types of
configurations exist for VSC-HVDC with or without
transformers depending upon the project in question.
A. Back-to-back HVDC system.
AC 1 Reactive Reactive AC 2 In this case, the two converter stations are located at the
Power Real Power same site and there is no transmission of power with a DC
Power
link over a long distance. A block diagram of a
Fig. 2: HVDC system based on VSC technology built with IGBTs.
back-to-back CSC-HVDC system with 12-pulse
It is beyond the scope of this paper to discuss converters is shown in Fig. 3. The two AC systems
developments associated with the CSC-HVDC which are interconnected may have the same or different frequency
well-documented [38]-[41]. (asynchronous interconnection).
On the other hand, VSC-HVDC systems (i.e., also B. Monopolar HVDC system.
referred to as HVDC Light® [38]) represent recent In this configuration, two converters are used which are
developments in the area of DC power transmission separated by a single pole line and a positive or a negative
technology. Experience with VSC-HVDC at commercial DC voltage is used. Many of the cable transmissions with
level scatters over the last ten 10 years [38], [42]-[51]. The submarine connections use monopolar system. The ground
breakthrough was made when the world’s first VSC-based is used to return current. Fig. 4 shows a block diagram of a
PWM controlled HVDC system using IGBTs was installed monopolar CSC-HVDC system with 12-pulse converters.
in March 1997 by ABB (Helljsön project, Sweden, 3MW,
C. Bipolar HVDC system.
10km distance, ±10kV, the only project where overhead
lines were used) [38], [42], [43]. Since then, more This is the most commonly used configuration of a
VSC-HVDC systems have been installed worldwide CSC-HVDC system in applications where overhead lines
(Table 2) [38], [45]-[51]. Other relevant and important are used to transmit power. In fact, the bipolar system is
developments that assisted the success of VSC-HVDC two monopolar systems.
(i.e., HVDC Light®), which are worth mentioning involve The advantage of such system is that one pole can
advanced extruded DC cable technology [53]-[54]. continue to transmit power in the case that the other one is
The objective of this paper is to provide an overview of out of service for whatever reason. In other words, each
the HVDC technologies associated with VSC-based system can operate on its own as an independent system
systems including converter topologies. Modelling and with the earth return. Since one is positive and one is
control is another area of importance and recent negative, in case that both poles have equal currents, the
contributions presented in the technical literature are ground current is zero theoretically, or in practise within a
analysed briefly. Finally, emerging applications of 1% difference. The 12-pulse based bipolar CSC-HVDC
VSC-HVDC systems and multiterminal DC configurations system is depicted in Fig. 5.
that can be used to interconnect large scale wind energy AC 1 AC 2
sources with the grid are discussed. DC
The paper is organised in the following way. Section II Filters
provides a summary of the CSC-HVDC system AC AC
configurations, which also apply, with some Filters Filters

modifications, to the VSC-HVDC ones as well. Section III Fig. 3: Back-to-back CSC-HVDC system with 12-pulse converters.
discusses in detail the fundamental concepts associated DC Line

with the VSC-HVDC system. The various multilevel AC 1 AC 2

converter topologies suitable for VSC-HVDC are briefly DC
Filters
presented in Section IV. Modelling and control issues are
AC AC
analysed in Section V. Emerging applications involving Filters Filters
the integration of large scale wind energy systems are Fig. 4: Monopolar CSC-HVDC system with 12-pulse converters.
presented in Section VI. The various worldwide
 DC needed in order to ensure the four-quadrant operation of
Line the converter. The DC bus capacitor provides the required
DC storage of the energy so that the power flow can be
AC 1 Filters AC 2 controlled and offers filtering for the DC harmonics. The
VSC-HVDC system can be built with many VSC
topologies and the key ones are presented in Section IV.
AC
AC The converter is typically controlled through sinusoidal
DC Filters
Filters Line PWM (SPWM) and the harmonics are directly associated
with the switching frequency of each converter leg. Fig. 8
DC presents the basic waveforms associated with SPWM and
Filters
the line-to-neutral voltage waveform of the two-level
Fig. 5: Bipolar CSC-HVDC system with one 12-pulse converter per pole.
converter (Fig. 7). Each phase-leg of the converter is
connected through a reactor to the AC system. Filters are
also included on the AC side to further reduce the
AC 2
harmonic content flowing into the AC system.
AC 1
A generalised two AC voltage sources connected via a
AC reactor is shown in Fig. 9. Fig. 10 shows the relative
Filters
location of the vectors of the two AC quantities and their
AC
AC AC 3
Filters relationship through the voltage drop across the line
Filters
reactor (Fig. 9). One vector is generated by the VSC and
Converter 1 Converter 3 Converter 2 the other one is the vector of the AC system. At the
fundamental frequency the active and reactive powers are
Fig. 6: Multi-terminal CSC-HVDC system – parallel connected.
defined by the following relationships, assuming the
+ + reactor between the converter and the AC system is ideal
Vdc (i.e. lossless):
_
2 V sin δ
Vdc P= s ⋅ Vr (1)
O A B C XL
V cos δ − Vr
+

_
Vdc Q= s ⋅ Vr (2)
_ 2 XL
where δ is the phase angle between the voltage vectors Vs
Fig. 7: Conventional two-level VSC three-phase topology.
(sending) and Vr (receiving) at the fundamental
D. Multi-terminal HVDC system. frequency.
In this configuration there are more than two sets of 1
converters like the bipolar version. In this case, converters
0
1 and 3 can operate as rectifiers while converter 2 operates
as an inverter. Working in the other order, converter 2 can -1
operate as a rectifier and converters 1 and 3 as inverters. Fundamental Carrier Reference
By mechanically switching the connections of a given
converter other combinations can be achieved. A
0
multi-terminal CSC-HVDC system with 12-pulse
converters per pole is shown in Fig. 6.
0 2π
III. VSC-HVDC FUNDAMENTAL CONCEPTS Time

A basic VSC-HVDC system comprises of two converter Fig. 8: Two-level sinusoidal PWM method: reference (sinusoidal) and
carrier (triangular) signals and line-to-neutral voltage waveform.
stations built with VSC topologies (Fig. 2). The simplest
I XL
VSC topology is the conventional two-level three-phase
bridge shown in Fig. 7. ΔV
Typically, many series connected IGBTs are used for
Sending End Receiving End
each semiconductor shown (Fig. 7) in order to deliver a
higher blocking voltage capability for the converter and Vs Vr
therefore increase the DC bus voltage level of the HVDC Fig. 9: Interconnection of two AC voltage sources through a lossless
system. It should be noted that an antiparallel diode is also reactor.
 +
Im Vs
+
Vdc
ΔV
δ 2
_
O
Vr Vdc A O B O C

+
Vdc
Re 2_
_
I N

Fig. 10: Vector diagram of power transmission based on two AC voltage Fig. 12: Three-level three-phase neutral-point-clamped (NPC-diode
sources interconnected through a lossless reactor. clamped) VSC.
Q [p.u.]
1.0
+
Vdc
4 +
P [p.u.] _
Vdc
-1.0 1.0 4
_ +
+
Vdc Vdc
4 4
-1.0 _
+ _ +
+ Vdc
Fig. 11: Active-reactive (PQ) locus diagram of VSC-based power Vdc
Vdc A
transmission system. 4 4
_ + _
_ +
Vdc
Vdc
Fig. 11 shows the entire active-reactive power area 4
_ 4
where the VSC can be operated with the 1.0 p.u. value + _
being the MVA rating of each converter. Vdc
4
The use of VSC as opposed to a line commutated CSC + _
offers the following advantages: Vdc

• Avoidance of commutation failures due to disturbances 4

_
in the AC network.
• Independent control of the reactive and active power Fig. 13: Five-level flying capacitor VSC phase leg topology.
consumed or generated by the converter. 1
• Possibility to connect the VSC-HVDC system to a Fundamental
“weak” AC network or even to one where no 0
generation source is available and naturally the
short-circuit level is very low. −1

• Faster dynamic response due to higher (PWM) than the 0 2π

Time
fundamental switching frequency (phase-controlled) Fig. 14: Three-level PWM line-to-neutral voltage waveform.
operation, which further results in reduced need for
2
filtering and hence smaller filter size. Fundamental
• No need of transformers for the conversion process. 1

IV. MULTILEVEL VSC TOPOLOGIES FOR HVDC 0

In this Section, different selected VSC topologies suitable -1

for the implementation of a VSC-HVDC system are
-2
discussed. Multilevel converters extend the well-known 0 2π
Time
advantages of low and medium power PWM converter
Fig. 15: Five-level PWM line-to-neutral voltage waveform.
technology into the high power applications suitable for
high-voltage high-power adjustable speed drives and large
diode-clamped neutral-point-clamped (NPC) converter
converters for power systems through FACTS and
(Fig. 12) [55] and the flying capacitor (FC) VSC topology
VSC-based HVDC power transmission [55]-[62].
(Fig. 13) [58]. For clarity purposes, three- and five-level
There are numerous multilevel solid-state converter
PWM voltage waveforms on the line-to-neutral basis are
topologies reported in the technical literature [57].
shown in Figs. 14 and 15 respectively.
However, there are two distinct topologies, namely, the
 Contributions for selected topologies which can be used V. MODELLING AND CONTROL
to build an HVDC system were made in numerous On the modelling and control area associated with
technical papers and are not limited to [63]-[77]. VSC-HVDC systems, there have been several technical
Specifically, PWM controlled HVDC concepts based on papers as well and such information is not limited to
the three-phase two-level converter were reported using [78]-[82]. In [78], it is shown that including a back-to-back
GTO’s in [63]. A similar system was developed and VSC-HVDC system at the mid-point of a transmission line
reported using IGBTs and digital signal processing (DSP) can increase the transmissibility of the line by a factor of
control in [64]. Using modular approach and phase-shifted 1.68. In [79], it is shown that the VSC-HVDC system can
SPWM concepts a number of advantages can be gained as be operated as a static synchronous series compensator
far as the harmonic performance of the overall (SSSC). Using equivalent continuous-time state-space
VSC-HVDC system are concerned [65], [66]. In [67], the average modelling a DC bus voltage control system was
diode-clamped NPC topology was studied for an HVDC presented in [80]. Recently, a dynamic model for a
system in its three-level version (Fig. 12). The benefits of back-to-back HVDC system based on the three-level NPC
using such a system were brought out; however the topology was presented in [81]. Finally, in [82] a control
converter has significant challenges with voltage system for the VSC-HVDC during island operation and
balancing across the various DC bus capacitors, in addition under three-phase balanced faults was investigated and it
to the uneven loss distribution between the devices. A has been found that the current limit of the converters has a
VSC-HVDC system based on the five-level PWM flying significant influence on the dynamic response of the
capacitor (FC) topology was studied in [68] (Fig. 13). The system.
three basic topologies, namely, the two-level converter
(Fig. 7), the NPC converter (Fig. 12) and the FC converter VI. EMERGING APPLICATIONS
(Fig. 13) were compared for HVDC system in [69]. In VSC-HVDC can be effectively used in a number of key
[70], a hybrid system is proposed as a way to exploit the areas as follows [38], [42]:
benefits of both technologies, i.e., the CSC-based HVDC • Small, isolated remote loads.
and VSC-based static compensator (STATCOM) • Power supply to islands.
advantages used as a static compensator for the connection • Infeed to city centres.
of two AC systems when there is no synchronous • Remote small-scale generation.
generation to a main grid. The proposed system is shown • Off-shore generation and deep sea crossings.
in Fig. 16. The system studied through simulations
• Multi-terminal systems.
combines the robust performance and relatively lower
As a way of example, a five-terminal VSC-HVDC [89]
capital cost and operating loss through the low frequency
and a multi-terminal configuration [83] are shown in Figs.
switching with the fast dynamic response of a PWM
17 and 18 respectively.
controlled VSC STATCOM which is sized at a lot lower
From the technology point of view, wind farms and
power level when compared with the main CSC system.
off-shore wind farms in particular are well-suited for
The multilevel FC topology and its operation under fault
VSC-HVDC application [84], [85]. The discussion
AC conditions was discussed in [71]-[72]. The FC
continues as to if the DC is more cost-effective to the AC
VSC-based HVDC controlled with selective harmonic
counterpart as a means to connect wind farms with the
elimination (SHE) and a hybrid SHE and SPWM strategy
main grid [86].
were presented in [73] and [74] respectively. VSC
transmission topologies based on the multi-level
current/voltage reinjection concept reported in [75]-[77].

Fig. 17: Five-terminal VSC-HVDC system.

Fig. 16: Hybrid CSC-based HVDC combined with VSC-based
STATCOM.
 ensure that VSC-HVDC technology remains competitive
and assists utilities worldwide in order to deliver efficient,
reliable, economic, and where possible renewable energy
to customers irrespective of how challenging the
applications are.
VIII. CONCLUSIONS
In this paper, recent advances of the VSC-HVDC
technology are presented. The development of
high-voltage high-power semiconductors has assisted
utilities to exploit the benefits of the four-quadrant static
converter interlinking two AC systems through HVDC.
The key benefits include independent control of active and
Fig. 18: Single-line multi-terminal VSC-HVDC system. reactive power through the PWM control of the converter,
Wind Turbine fast dynamic response and possibility to connect AC
To Utility
Grid islands with the grid where no synchronous generation
VSC 1 VSC 2 exists. It is confirmed that developments associated with
VSC-HVDC technology have delivered systems at voltage
DC Grid
levels up to ±150kV and power levels up to 350MW.
Generator VSC 3 VSC 4 VSC-HVDC undoubtedly will continue to provide
solutions for many challenging issues associated with the
modern deregulated power systems where installations and
Wind Turbine Wind Turbine
associated business decisions necessitate proven
technology.
Fig. 19: Four-terminal PWM VSC-based HVDC system for wind
turbines/wind parks. IX. REFERENCES
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Project Name Commissioning Power Number AC voltage DC voltage Length of Comments and reasons for
year rating of circuits DC cables choosing VSC-HVDC
Hällsjön, 1997 3 MW 1 10 kV ± 10 kV 10 km Test transmission.
Sweden (both ends) Overhead Only project where overhead
lines lines were used.
Gotland 1999 50 MW 1 80 kV ± 80 kV 2 × 70 km Wind power (voltage support).
HVDC light, (both ends) Submarine Easy to get permission for
Sweden cables underground cables.
Eagle Pass, 2000 36MW 1 132 kV ± 15.9 kV Controlled asynchronous
USA (both sides) connection for trading.
Voltage control.
Back-to-back HVDC light
station
Tjaereborg, 2000 8 MVA 1 10.5 kV ± 9 kV 4 × 4.3 km Wind power.
Denmark 7.2 MW (both sides) Submarine Demonstration project.
cables
DirectLink, 2000 180 MW 3 110 kV ± 80 kV 6 × 59 km Controlled asynchronous
Australia (Bungalora) Underground connection for trading.
132 kV cable Easy to get permission for
(Mullumbim underground cables.
by)
MurrayLink, 2002 220 MW 1 132 kV ± 150 kV 2 × 180 km Controlled asynchronous
Australia (Berri) Underground connection for trading.
220 kV cable Easy to get permission for
(Red Cliffs) underground cables.
CrossSound, 2002 330 MW 1 345 kV ± 150 kV 2 × 40 km Controlled connections for
USA (New Submarine power enhance.
Heaven) cables Submarine cables.
138 kV
(Shoreham)
Troll offshore, 2005 84 MW 2 132 kV ± 60 kV 4 × 70 km Environment, long submarine
Norway (Kollsnes) Submarine cable distance, compactness of
56 kV cables converter on platform.
(Troll)
Estlink, 2006 350 MW 1 330 kV ± 150 kV 2 × 31 km Length of land cable, sea
Estonia (Estonia) Underground crossing and non-synchronous
Finland 400 kV 2 × 74 km AC systems.
(Finland) Submarine
Valhall 2009 78 MW 1 300 kV 150 kV 292 km Reduce cost and improve
offshore, (Lista) Submarine operation efficiency of the field.
Norway 11 kV cables Minimize emission of green
(Valhall) house gases.

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