TSTE25 Power Electronics. Lecture 14 Tomas Jonsson ISY/EKS

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1 TSTE25 Power Electronics Lecture 14 Tomas Jonsson ISY/EKS

2 Outline HVDC Introduction Classic HVDC Basic principles VSC HVDC Basic principles VSC in the power grid - Wind applications VSC in the power grid - DC-grid applications

3 HVDC Introduction

4 Electric Power Systems What is the purpose of the electric power system? Why is the system based on AC power? When is DC power preferred or needed?

reinforcement For increased trading Share

5 Market drivers for HVDC transmission Environmentally friendly grid expansion Integration of renewable energy Remote hydro Offshore wind Solar power Grid reinforcement For increased trading Share spinning reserves To support intermittent renewable energy

6 Tackling society s challenges on path to low-carbon era means helping utilities do more using less 16,500 12,500 20,000 29,000 30,000 Terawatt-hours (TWh) 20,000 10,000 Forecast rise in electricity consumption by 2030 Source: IEA, World Energy Outlook % Others NAM Europe India China Solutions are needed for: Rising demand for electricity more generation Increasing energy efficiency - improving capacity of existing network Reducing CO 2 emissions Introduce high level of renewable integration Meeting the rise in demand will mean adding a 1 GW power plant and all related infrastructure every week for the next 20 years

7 IEA World Energy Outlook GW of capacity additions (> the total installed capacity in 2011) is required One third of this is to replace retiring plants; the rest is to meet growing electricity demand. Renewables represent half : 3000 GW. Gas 1400 GW. The power sector requires investment of $16.9 trillion, ca. half the total energy supply infrastructure investment Two fifths of this investment is for electricity networks, while the rest is for generation capacity. Investment in generation capacity, > 60% is for renewables: wind (22%), hydro (16%), solar PV (13%).

8 The evolution of grids: Connect remote renewables Europe & Germany are planning large scale VSC-HVDC Source: DG Energy, European Commission European Visions Hydro power & pump storage -Scandinavia >50 GW wind power in North Sea and Baltic Sea Hydro power & pump storage plants - Alps Solar power in S.Europe, N.Africa & Middle East Germany (draft grid master plan) Alternatives to nuclear-distributed generation Role of offshore wind / other renewables Political commitment Investment demand and conditions Need to strengthen existing grid ABB Group December 20, 2016 Slide 8

9 Customers Grid Customers Grid Customers Grid Customers Grid What is an HVDC Transmission System? HVDC Converter Station > 6400 MW, Classic Overhead Lines Two conductors HVDC Converter Station > 6400 MW, Classic Hydro Alt. Submarine cables Solar Solar HVDC Converter Station < 1200 MW, Light Land or Submarine cables HVDC Converter Station < 1200 MW, Light Power/Energy direction

10 Transmission capacity (MW) The transmission grid becomes increasingly important Continued development of AC and DC technologies Different technologies :Same power transmitted Traditional overhead line with AC 6,000 4,000 2,000 HVDC Classic Voltage kv HVDC Light Losses % 3 1 Overhead AC line with FACTS* Capacity up 6x since 2000; Voltage up from +/- 100kV to +/- 800kV since Capacity up 10x ; losses down from 3% to 1% per converter station since Longer transmission distances HVDC (high voltage direct current) Classic overhead line Underground line with HVDC Light or AC cable More power - lower losses - reduced cost per megawatt (MW) Development of power electronics, cable and semiconductor technology

11 Why HVDC is ideal for long distance transmission? Capacitance and Inductance of power line Transmission Capacity [MW] Transmission Capacity [MW] ABB Group In cable > 50 km, most of AC current is needed to charge and discharge the C (capacitance) of the cable December 20, 2016 Slide 11 G I = I 0 - I C U I 0 0 load G C Cable I C = wcu 0 U L = wli 0 U=U 0 -U L In overhead lines > 200 km, most of AC voltage is needed to overcome the L (inductance) of the line C& L can be compensated by reactors/capacitors or FACTS or by use of DC, which means w = 2pn = 0 AC 500 kv DC ±320 kv AC 345 kv AC 230 kv Length of Cable [km] Overhead Line HVAC L HVDC load Length of Transmission Line [km] 800 kv 500 kv 765 kv 500 kv

12 Investment cost versus distance for HVAC and HVDC Investment Costs Critical Distance Total AC cost Total DC Cost DC terminal Costs AC Terminal costs Variables - Cost of Land - Cost of Materials - Cost of Labour - Time to Market - Permissions - etc. Distance

13 ABB Group December 20, 2016 Slide 13 More than 50 years ago ABB broke the AC/DC barrier Gotland 20 MW subsea link 1954

14 ABB s unique position in HVDC In-house converters, semiconductors Key components for HVDC transmission systems Converters High power semiconductors HV Cables Conversion of AC to DC and vice versa Silicon based devices for power switching Transmit large amounts of power- u/ground & subsea 24 April 2012 Slide 14

15 Cable ship AMC Connector

16 ABB has more than half of the 145 HVDC projects The track record of a global leader Nelson River 2 CU-project Vancouver Island Pole 1 Rapid City Square Butte Pacific Intertie Pacific Intertie Upgrading Pacific Intertie Expansion Intermountain IPP Upgrade Blackwater Highgate 58 HVDC Classic Projects since HVDC upgrades since HVDC Light Projects since 1997 Châteauguay Outaouais Quebec- New England EWIC English Channel Dürnrohr Sardinia-Italy Sapei Cross Sound Mackinac Eagle Pass Sharyland Rio Madeira Itaipu Inga-Shaba Caprivi Link Hällsjön Troll 1&2 Troll 3&4 Skagerrak 1-3 Skagerrak 4 Valhall NorNed Konti-Skan Tjæreborg BorWin1 DolWin1 Dolwin 2 Apollo Upgrade Cahora Bassa Brazil-Argentina Interconnection I&II Italy-Greece Chandrapur Phadge Vizag II Rihand-Dadri Vindhyachal North East Agra FennoSkan 1&2 Estlink Gotland 1-3 Gotland Light NordBalt SwePol Baltic Cable Kontek Hülünbeir- Liaoning Lingbao II Extension Three Gorges-Changzhou Three Gorges-Shanghai Sakuma Gezhouba-Shanghai Xiangjiaba-Shanghai Jinping - Sunan Three Gorges-Guandong Leyte-Luzon Broken Hill New Zealand 1&2 Directlink Murraylink ABB Group December 20, 2016 Slide 16

transmissions Very high power transmissions HVDC Light

17 Development of HVDC applications HVDC Classic Very long sub sea transmissions 580 km Very long overhead line transmissions Very high power transmissions HVDC Light Offshore power supply Wind power integration Underground transmission DC grids

capacity > 2x converter rating HVDC Light Voltage source converters Self-commutated IGBT valves

18 HVDC Technologies Hydro Solar Solar HVDC Classic Current source converters Line-commutated thyristor valves Requires 50% reactive compensation Converter transformers Minimum short circuit capacity > 2x converter rating HVDC Light Voltage source converters Self-commutated IGBT valves Requires no reactive power compensation Standard transformers No minimum short circuit capacity, black start

19 Classic HVDC basic principles

20 AC and DC transmission principles Power Direction HVAC X ~ ~ E 1 d E 2 0 HVDC ~ U d1 U d2 R E 1 d E 2 0 ~ Power flow independent from system angles

21 HVDC - Controllability of power flow Normal Power direction: Power reversal: Pd1 1W Pd2 1W ~ +100 kv +99 kv 1kA Rectifier Inverter ~ ~ -99 kv -100 kv 1kA Inverter Rectifier ~ U d1 U d2 R d I d P d1 P d Fast and stable power flow control

22 Principles of AC/DC conversion, 6-pulse bridge Id U R IR R US IS S Ud UT IT T U RT U ST U R U S U T wt

23 Relation between firing delay and phase displacement (a) 0 i a1 e a i a wt Ea Ia1 (b) 30 I d Ea Ia1 (c) 60 Ea I a1 Ea (d) 90 I a1 Ea (e) 120 Ia1 Ea (f) 150 Ia1

24 Classic HVDC, Active vs Reactive Power How the Reactive Power Balance varies with the Direct Current for a Classic Converter... QQ 0,5 converter Shunt Banks Harmoni Harmonic c Filters 0,13 Classic converter filter filter converter filter unbalance unbalance 1,0 I unbalance d unbalance I d

25 Baltic Cable 600 MW HVDC link L36994

reactor AC bus DC filter Shunt capacitors or other

26 The HVDC Classic Monopolar Converter Station Converter station Transmission line or cable Converter Smoothing reactor AC bus DC filter Shunt capacitors or other reactive equipment AC filters Telecommunication ~~ Control system

27 Monopolar Converter station, 600 MW AC line AC Switchyard Converter Transformers Valve Hall DC line Shunt Capacitors Harmonic Filters Approximately 80 x 180 meters DC Switchyard

28 Longquan, China HVDC Classic

29 VSC HVDC basic principles

30 Introduction 1. Why VSC HVDC Particular advantages with VSC HVDC 1. Voltage source functionality U v U v amplitude adjustable phase angle frequency Rapid, independent control of active and reactive power No need for a strong grid

31 Introduction 1. Why VSC HVDC Particular advantages of VSC HVDC 2. Power direction reversal through DC current reversal P 3 + U d - I d 3 Lightweight, less expensive, extruded polymer DC cables can be used Extruded plastic cable Mass impregnated oil cable

32 Introduction 1. Why VSC HVDC Particular advantages of VSC HVDC 3. Pulse width modulation of AC voltages Small filters, both on AC and DC side

33 VSC HVDC basic principles U d 2. VSC converter topologies U d Two-level voltage source converter. Converts a DC voltage into a three-phase AC voltage by means of switching between two voltage levels. U d U d Basic operation of a phase leg: + U d + U d + U d u i u i u i - U d - U d - U d + U d - U d u i t

34 VSC HVDC basic principles 2. VSC converter topologies Multilevel topologies - basics + Phase voltages are multi-level (>2). + Pulse number and switching frequency are decoupled. + The output voltage swing is reduced less insulation stress + Series-connected semiconductors can be avoided for high voltage applications - More complicated converter topologies are required - More semiconductors required Typical applications: high-power converters operating at medium or high voltage. 1 2 levels levels levels levels

35 VSC HVDC basic principles 2. VSC converter topologies Multilevel converter topologies Neutral point clamped (NPC) topologies Flying capacitor topologies Cascaded topologies Modular Multilevel Converters (MMC) Half-bridge and full-bridge variants Module N Ud,m U d U d Module 2 Module 1 Ud,m U d U d U d Ud,m Module N Ud,m Module 2 One phase leg, or equivalent, shown in each case Module 1

36 VSC HVDC basic principles Modular multi-level converter (MMC) Modular multi-level converter (MMC) Prof. Marquardt, Univ. Munich Module N Ud,m Ud,m Ud,m DC capacitors distributed in the phase legs DC capacitors handle fundamental current Scalable with regard to the number of levels Twice the total blocking voltage required (twice no of semiconductor devices) compared to two-level converter Redundancy possible by shorting failing cells Module 2 Module 1 Ud,m Ud,m Ud,m Ud,m Ud,m Ud,m DC terminal Module N Ud,m Ud,m Ud,m Module 2 Ud,m Ud,m Ud,m Module 1 Ud,m Ud,m Ud,m AC terminal

VSC HVDC basic principles MMC-converter, switching principle +U d D1 T1 C I vpa I vpa L v D1 T1 C D2 T2 I v D2 T2 U cp1a U v L v I vna C D1 T1 U cp1a D2 T2 C D1 T1 D2 T2 Three operating states of the

37 VSC HVDC basic principles MMC-converter, switching principle +U d D1 T1 C I vpa I vpa L v D1 T1 C D2 T2 I v D2 T2 U cp1a U v L v I vna C D1 T1 U cp1a D2 T2 C D1 T1 D2 T2 Three operating states of the converter cell: Bypass mode. Cell capacitor is bypassed. (Green curve) Inserted mode. Cell capacitor is inserted and giving contribution to converter output voltage Blocked mode. All IGBTs non-conducting -U d

38 Uv(t) [kv] VSC HVDC basic principles MMC-converter, Output voltage Third harmonic modulation 300 M9 version 2.2, 320kV, M2LC, P=3.37, N=35, C=1mF, no 2nd harm Cell n time s VSC Toolbox version Dec :22:05 n 2-1 ABB Group Slide 38 PowDoc id

39 VSC performance Switching Principle Uvalve Uvalve 2-level ±150 kv dc MMC ±320 kv dc

40 VSC performance Converter currents Ivp Itfosec Iv Iv Ifilt 2-level MMC No filters required

41 VSC performance Valve voltages and currents Iigbt1 Idiod1 Uigbt1 Udiod1 2-level Reduced losses MMC

42 HVDC Light Generation 4 Double cell , (mm) 2, ,600 Mass 3,000 kg

43 IGBT Module

44 IGBT inner structure

HVDC Light - valve design Short Circuit Failure Mode (SCFM) ABB press pack valve design Valve control The press-pack IGBTs used by ABB are designed to withstand operation in a 2 short-circuited state.

45 HVDC Light - valve design Short Circuit Failure Mode (SCFM) ABB press pack valve design Valve control The press-pack IGBTs used by ABB are designed to withstand operation in a 2 short-circuited state. Non press-pack devices that are not designed for 1 transmission applications may fail uncontrollably (explosion resistant housing required). 4,5 kv, 2000 A 1. Safe short-circuit at single module fault 2. Press-pack IGBT designed to withstand line-to-line DC fault 3. Same short-circuit failure mode as the well-proven press pack for thyristors

46 HVDC Light Generation 4 Valve arm + -

47 Typical converter layout 700 MW

48 Typical converter layout 700 MW

49 HVDC Light Generation 4 Station layout 2 x 1000 MW 320 kv 150 m 220 m

50 VSC in the power grid Wind applications

51 Offshore Wind Power Connectors Planned installations Europe Wind farms increase in size. Most of them above 300 MW. Larger farms will require massive delivery of AC-cables, both export cables and array cables Longer distance from shore and increased size favors HVDC connectors (planned up to 1100 MW)

Offshore Wind Power Connectors Technology, AC or DC-connectors AC is the traditional technology AC DC

at sea Reliability - grid code compliance, power control, stability and black start capability

52 Offshore Wind Power Connectors Technology, AC or DC-connectors AC is the traditional technology AC DC (HVDC) is required for long distances (> km) or higher power ratings (>300 MW) Capex - reduced cable and cable installation cost. Opex - reduced power losses over long distances DC Capacity - several wind farms connected to a plug at sea Reliability - grid code compliance, power control, stability and black start capability Flexible - enables long distance underground connection to main AC grid Environmental - reduced subsea cable trenching, no magnetical fields, no oil in XLPE cable, no overhead lines

Overview Offshore AC wind power connectors Reactive Compensation Wind farms 24-72 kv Collection

MW: 72-150 kv 200 500 MW: 150-245 kv Traditional AC-substations located off-shore Key issue is to

53 Overview Offshore AC wind power connectors Reactive Compensation Wind farms kv Collection grid Offshore AC substation kv Subsea cable Onshore AC substation Main AC network MW: kv MW: kv Traditional AC-substations located off-shore Key issue is to fulfill grid code compliance (Longest AC subsea cable is the Isle of Man connector 104 km, 90kV / 40 MW)

Overview Offshore HVDC wind power connectors Large Wind

transmission Onshore HVDC Light Main AC network 100 300

Light 500 1000 MW:± 320 kv HVDC Light VSC technology for

54 Overview Offshore HVDC wind power connectors Large Wind farms Offshore AC platform Offshore HVDC Light DC cable transmission Onshore HVDC Light Main AC network MW: ± 80 kv HVDC Light (VSC) MW: ± 150 kv HVDC Light MW:± 320 kv HVDC Light VSC technology for compact solutions. ABB with 10 years experience ( 13 references)

55 Windpower Control Aspects

56 Basic Control Principle. Voltage Source Converter U v U v adjustable amplitude phase angle frequency

57 z) y (kv) y y (kv) (ka) y y (ka) (kv) y (MW,Mvar) y (deg) y (Hz) y (kv) Converter energization 0.0 F PCC1 154 kv Offshore station Station Onshore station Station 2 Phistn2 PCC2 380 kv Wind Park Offshore main breaker 1. Auxiliary power connected. Cooling system running. 2. On-shore ac breaker closed to energize transformer, filter and converter 3. On-shore converter deblocked. DCvoltage control active Pstn2 udcc2 Istn2_active Onshore station Qstn2 Diele breaker Diele Grid Istn2_reactive DC-Voltage idcp2 upcc2a upcc2b upcc2c AC-Voltage Ustn F2

58 ua,ub,uc (kv) ua,ub,uc (kv) Off-shore grid energization PCC1 154 kv Offshore station Station 1 Onshore station Station 2 PCC2 380 kv Wind Park Diele Grid Offshore main breaker 1. Off-shore converter deblocked. ACvoltage control active. 2. Smooth ramp-up of ac-voltage. 3. Off-shore main breaker closed. 4. Windpark transformers energized 5. Wind-turbines synchronized and connected Diele breaker Time (seconds)

59 Normal operation PCC1 154 kv Offshore station Station 1 Onshore station Station 2 PCC2 380 kv Wind Park Diele Grid Offshore main breaker Diele breaker 1. Off-shore converter in voltage and frequency control. 2. On-shore converter in dc-voltage and reactive power control. 3. Windpark power reduction, 4. Off-shore converter power (P1) drops, since acvoltage control results in power tracking 5. Instantaneous dc-power unbalance (P1-P2) < 0 dc-voltage drop 6. On-shore dc-voltage control quickly reduces power (P2) to restore nominal dc-voltage and power balance. P1 (offshore) U DC P2 (onshore) time

60 Automatic windpower dispatch PCC1 154 kv Offshore station Station 1 Onshore station Station 2 PCC2 380 kv Wind Park Diele Grid Offshore main breaker Diele breaker 1. Off-shore converter in voltage and frequency control. 2. Power reduction ordered by on-shore grid operator (or frequency control) 3. Off-shore converter increases off-shore grid frequency 4. Wind turbine control responds to the frequency increase by power reduction (98% per Hz) 5. Off-shore converter power (P1) drops, since acvoltage control results in power tracking 6. On-shore dc-voltage control quickly reduces P2 to restore nominal dc-voltage and power balance. Windpark power P1 ref frequency (off-shore) time

61 Isolated generation, grid fault without fault ride through Control of: U1, f1 Control of: Ud, Q1 Control of: U2, f2 u DC1 u DC2 P1, Q1 P2, Q2 U DC P2 P1 AC-voltages U2 U1

62 Fault ride through with chopper Control of: U1, f1 Control of: Ud, Q1 DC chopper: Udmax Control of: U2, f2 u DC1 u DC2 On-shore P1=f(U dc1 ) Q1 Pch With DC chopper U DC P2 P2, Q2 Off-shore Pch P1 DC-chopper decouples windpark from onshore grid Minimum impact on wind production during on-shore grid faults

63 Chopper resistors

64 Example of offshore platform layout Crane Helipad Transformers Topside Piles Jacket J-Tubes

65 Jacket

66 Topside

67 Transport of Jacket + Topside

68 Jacket installation

69 Topside placed on jacket

70 Final platform

Borwin 1, Dolwin 1 & 2 Offshore Point-to-Point Why HVDC Light: Length of land and

In operation: 2010 2013 2015 Power rating: 400 MW 800 MW 900 MW AC Voltage

320 kv 320 kv DC underground cable: 2 x 75 km 2 x 75 km 2 x 45 km DC submarine

71 Borwin 1, Dolwin 1 & 2 Offshore Point-to-Point Why HVDC Light: Length of land and sea cable Main data Borwin 1 Dolwin 1 Dolwin 2. In operation: Power rating: 400 MW 800 MW 900 MW AC Voltage Platform: 170 kv 155 kv 155 kv Onshore 380 kv 380 kv 380 kv DC Voltage: ±150 kv 320 kv 320 kv DC underground cable: 2 x 75 km 2 x 75 km 2 x 45 km DC submarine cable: 2 x 125 km 2 x 90 km 2 x 90 km DOLWIN1: efficiently integrating power from offshore wind DOLWIN alpha platform loadout

72 VSC in the power grid DC-grid applications

73 HVDC Grids Why? Regional to continental HVDC Grids Offshore wind Solar Hydro Why HVDC Grids vs HVDC single links Only relevant offshore solution (DC-cables) Loss reduction Increased power capacity & availability combined with the AC-system Less visual impact & easier permitting (DC-cables) Why now: Offshore wind, remote solar, grid constraints HVDC Light systems and components mature Challenges: DC-fault clearing strategies DC overhead lines Regulatory framework

74 The evolution of grids: Connect remote renewables Europe & Germany are planning large scale VSC-HVDC Source: DG Energy, European Commission European Visions Hydro power & pump storage -Scandinavia >50 GW wind power in North Sea and Baltic Sea Hydro power & pump storage plants - Alps Solar power in S.Europe, N.Africa & Middle East Germany (draft grid master plan) Alternatives to nuclear-distributed generation Role of offshore wind / other renewables Political commitment Investment demand and conditions Need to strengthen existing grid ABB Group December 20, 2016 Slide 74

75 Multi-terminal operation Control of: U1, f1 Control of: Ud, Q1 Control of: P2, Q2 Control of: U2, f2 u DC1 u DC2 P1=f(U dc1 ) Q1 P2, Q2 U D P3 P2 P1 Control of: P3, Q3 P3, Q3 Control of: U3, f3 One converter station maintains a constant dc voltage (left), while the other two (right) converter operates at independant power reference given by system operator.

76 Protection philosophy Line fault handling Separation without interruption Breaker layouts x x x Primarily fast protection together with fast DC breakers isolate the faulty line. x Fast DC breakers

77 Hybrid DC Breaker is well suited for HVDC grids Fast: Breaking times of less than 2ms Powerful Current breaking capability of 16kA Efficient Transfer losses are less than 0.01% Modular Easily adapted to actual voltage & current ratings Reliable Protective current limitation, functional check while in service Proven Power electronic design similar to converter technology DC Breakers are no longer a showstopper for large HVDC grids

78 Hybrid DC Breaker Fast breaking within time delay of selective protection Normal operation: Current flows in low-loss bypass Proactive control: Load commutation switch transfer current into Main Breaker switch, the Ultra Fast Disconnector opens with very low voltage stress Current limitation: Main Breaker switch commutates fault current into parts of the sectionalized arrester bank Fault clearance: Main Breaker switch commutates fault current into arrester bank

ABB, November 2012 The high voltage DC breaker The power grid revolution. ABB 07 November 2012 Slide 1

ABB, November 2012 The high voltage DC The power grid revolution 07 November 2012 Slide 1 Solving a hundred year old technology puzzle The war of currents DC was the missing link J. P. Morgan N. Tesla