High-voltage direct-current (HVDC) systems for constant or intermittent power delivery have recently been developed further to support grid frequency regulation (GFR). This paper proposes a new control strategy for a line-commutated converter-based (LCC) HVDC system, wherein the DC-link voltage and current are optimally regulated to improve real-time GFR in both rectifier- and inverter-side AC networks. A dynamic model of an LCC HVDC system is developed using the DC voltage and current as input variables, and is integrated with feedback loops for inertia emulation and droop control. A linear quadratic Gaussian (LQG) controller is also designed for optimal secondary frequency control, while mitigating conflict between the droop controllers of the HVDC converters. An eigenvalue analysis is then conducted, focusing on the effects of model parameters and controller gains on the proposed strategy. Simulation case studies are also performed using the Jeju-Haenam HVDC system as a test bed. The results of the case study confirm that the proposed strategy enables the HVDC system to improve GFR, in coordination with generators in both-side grids, by exploiting the fast dynamics of HVDC converters. The proposed strategy is also effective under various conditions for the LQG weighting coefficients, inertia emulation, and droop control.
Recent advances in data sensing and processing technologies enable data-driven control of high-voltage direct-current (HVDC) systems for improving the operational stability of interfacing power grids. This paper proposes an optimal data-driven control strategy for an HVDC system with line-commutated converters (LCCs), wherein the dc-link voltage and current are optimally regulated at distinct HVDC terminals to improve frequency regulation (FR) in both rectifier- and inverter-side grids. Each HVDC converter is integrated with feedback loops for regulation of grid frequency and dc-link voltage i…
Due to generation retirements and growth of renewable energy sources integration, there will be widespread changes in the real and reactive power flow in nowadays power systems. These changes also bring about challenges on system operation and stability. High voltage direct current (HVDC) technology seems to be a promising solution to these new challenges. A study on the impact of the replacement of 500KV AC transmission lines by VSC-HVDC transmission line on system voltage security is conducted. The analysis is based on reactive load margin method and implemented on one of the Dominion Energy…
The adjustable capacity of a line-commutated-converter High Voltage Direct Current (LCC-HVDC) connected to a power system, called the LCC-HVDC maximum emergency power capability or HVDC-MC for short, plays an important role in determining the response of that system to a large disturbance. However, it is a challenging task to obtain an accurate HVDC-MC due to system model uncertainties as well as to contingencies. To address this problem, this paper proposes to estimate the HVDC-MC using a Thevenin equivalent (TE) of the system seen at the HVDC terminal bus of connection with the power system,…
The false data injection (FDI) attack is a crucial form of cyber-physical security problems facing cyber-physical power systems. However, there is no research revealing the problem of FDI attacks facing voltage source converter based high voltage direct current transmission (VSC-HVDC) systems. Firstly, the general form of the model of FDI attack strategies is proposed and the essence of the problem of FDI attack strategies is further analyzed. Moreover, the model of FDI attack strategies aiming at disrupting the operation security of converter stations in VSC-HVDC systems is proposed and its s…
Unlike conventional converters, modular multilevel converter (MMC) has a higher switching frequency -- which has direct implication on important parameters like converter loss and reliability -- mainly due to increased number of switching components. However, conventional switching techniques, where submodule sorting is just based on capacitor voltage balancing, are not able to achieve switching frequency reduction objective. A novel modulation algorithm for modular multilevel converters (MMCs) is proposed in this paper to reduce the switching frequency of MMC operation by defining a constrain…
Multi-terminal high voltage direct current (MTHVDC) technology is a promising technology for the offshore wind farm integration, which requires the new control and operation scheme. Therefore, the optimal power flow problem for this system is important to achieve the optimal economic operation. In this paper, convex relaxation model based on semidefinite programming for the MT-HVDC system considering DC/DC converters is proposed to solve the optimal power flow problem. A hybrid AC and MT-HVDC system for offshore wind farm integration is used for the test. The simulation results validate the ef…
Fast Frequency Services from HVDC-Connected Offshore Wind Power Plants: A Review in the European Context
Vattenfall Vindkraft A/S（Vattenfall Vindkraft 股份公司）；Vattenfall Winkraft Europe GmbH（Vattenfall Winkraft 欧洲有限公司）；Department of Wind and Energy Systems, Technical University of Denmark（丹麦技术大学风能系统系）
With Europe dedicated to limiting climate change and greenhouse gas emissions, large shares of Renewable Energy Sources (RES) are being integrated in the national grids, phasing out conventional generation. The new challenges arising from the energy transition will require a better coordination between neighboring system operators to maintain system security. To this end, this paper studies the benefit of exchanging primary frequency reserves between asynchronous areas using the Supplementary Power Control (SPC) functionality of High-Voltage Direct-Current (HVDC) lines. First, we focus on the …
Multi-terminal high-voltage Direct Current technology based on Voltage-Source Converter stations (VSC-MTDC) is expected to be one of the most important contributors to the future of electric power systems. In fact, among other features, it has already been shown how this technology can contribute to improve transient stability in power systems by the use of supplementary controllers. Along this line, this paper will investigate in detail how these supplementary controllers may affect electromechanical oscillations, by means of small-signal stability analysis. The paper analyses two control str…
Low-frequency high-voltage alternating-current (LF-HVac) transmission scheme has been recently proposed as an alternative solution to conventional 50/60-Hz HVac and high-voltage direct-current (HVdc) schemes for bulk power transfer. This paper proposes an optimal planning and operation for loss minimization in a multi-frequency HVac transmission system. In such a system, conventional HVac and LF-HVac grids are interconnected using back-to-back (BTB) converters. The dependence of system MW losses on converter dispatch as well as the operating voltage and frequency in the LF-HVac is discussed an…
With the continuous development of large-scale complex hybrid AC-DC grids, the fast adjustability of HVDC systems is required by the grid to provide frequency regulation services. This paper develops a fully data-driven linear quadratic regulator (LQR) for the HVDC to provide temporal frequency support. The main technical challenge is the complexity and the nonlinearity of multi-infeed hybrid AC-DC (MIDC) systems dynamics that make the LQR intractable. Based on Koopman operator (KO) theory, a Koopman eigenpairs construction method is developed to fit a global linear dynamic model of MIDC syste…
With the large scale penetration of electric vehicles (EVs) and the advent of bidirectional chargers, EV aggregators will become a major player in the voltage regulation market. This paper proposes a novel false data injection attack (FDIA) against the voltage regulation capacity estimation of EV charging stations, the process that underpins voltage regulation in distribution system. The proposed FDIA takes into account the uncertainty in EV mobility and network conditions. The attack vector with the largest expected adverse impact is the solution of a stochastic optimization problem subject t…
High penetrations of photovoltaic (PV) systems can cause severe voltage quality problems in distribution networks. This paper proposes a distributed control strategy based on the dynamic formation of coalitions to coordinate a large number of PV inverters for voltage regulation. In this strategy, a rule-based coalition formation scheme deals with the zonal voltage difference caused by the uneven integration of PV capacity. Under this scheme, PV inverters form into separate voltage regulation coalitions autonomously according to local, neighbor as well as coalition voltage magnitude and regulat…
This paper proposes a new distributed consensus-based control method for voltage and frequency control of fully inverter-based islanded microgrids (MGs). The proposed method includes the active power sharing in voltage control to improve the reactive power sharing accuracy and thus generalizes some existing secondary frequency and voltage control methods. Firstly, frequency is regulated by distributed secondary frequency control. Secondly, voltage is regulated by distributed average voltage control and decentralized individual voltage control. It offers a tunable trade-off between voltage regu…
This paper proposes a novel switching algorithm for modular multilevel converters (MMCs) that significantly reduces the switching frequency while fulfilling all control objectives required for their proper operation. Unlike in the conventional capacitor voltage-balancing strategies, in addition to submodule (SM) capacitor voltages, the proposed algorithm considers previous switching statuses during sorting. The algorithm is applied to a seven-level back-to-back MMC-HVDC system and tested under various operating conditions. Significant reduction in the switching frequency with trivial impacts o…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the dynamic performance of the conventional proportional-integral-derivative (PID) controller. Robustness of the proposed control scheme has been validated through simulations under worst-case and stochastic uncertainties to mitigate real-time variability in RES output and load. The performance of the proposed control technique is compared to well established te…
Fast and safe voltage regulation algorithms can serve as fundamental schemes for achieving a high level of renewable penetration in the modern distribution power grids. Faced with uncertain or even unknown distribution grid models and fast-changing power injections, model-free deep reinforcement learning (DRL) algorithms have been proposed to find the reactive power injections for inverters while optimizing the voltage profiles. However, such data-driven controllers can not guarantee satisfaction of the hard operational constraints, such as maintaining voltage profiles within a certain range o…
This paper proposes a new single input multiple output power supply by integrating a flyback converter and several buck converters. The flyback converter works as the main regulator, and the buck converters provide series voltage compensation with the aim of tight regulation. A time multiplexing switching scheme is proposed to deliver multiple output voltage levels via a two winding transformer and to eliminate the cross regulation between output channels. This configuration reduces the size of flyback transformer and filter capacitors, and consequently improves the overall form factor. A deta…
Rapid developments in power distribution systems and renewable energy have widened the applications of dc--dc buck--boost converters in dc voltage regulation. Applications include vehicular power systems, renewable energy sources that generate power at a low voltage, and dc microgrids. It is noted that the cascade--connection of converters in these applications may cause instability due to the fact that converters acting as loads have a constant power load (CPL) behavior. In this paper, the output voltage regulation problem of a buck--boost converter feeding a CPL is addressed. The constructio…
We employ a novel data-enabled predictive control (DeePC) algorithm in voltage source converter (VSC) based high-voltage DC (HVDC) stations to perform safe and optimal wide-area control for power system oscillation damping. Conventional optimal wide-area control is model-based. However, in practice detailed and accurate parametric power system models are rarely available. In contrast, the DeePC algorithm uses only input/output data measured from the unknown system to predict the future trajectories and calculate the optimal control policy. We showcase that the DeePC algorithm can effectively a…
In a purely inverter-based microgrid, both grid-forming (GFM) and grid-following (GFL) inverters will have a crucial role to play in frequency/voltage regulation and maintaining power sharing through their grid support capabilities. Consequently, the coordination between these two technologies becomes increasingly important for optimal system performance. However, the existing work does not consider GFL's potential to participate in a secondary control in coordination with GFM, thus not able to utilize the full capability of inverter resources. In this paper, we show that it is possible to ful…
The imminent advent of large-scale green hydrogen (H2) production raises the central question of which of the two options, transporting "green" molecules, or transporting "green" electrons, is the most cost-effective one. This paper proposes a first-of-its-kind mathematical framework for the optimal integrated planning of electricity and H2 infrastructure for transporting large-scale variable renewable energy (VRE). In contrast to most existing works, this work incorporates essential nonlinearities such as voltage drops due to losses in high-voltage alternating current (HVAC) and high-voltage …
Photovoltaic (PV) smart inverters can improve the voltage profile of distribution networks. A multi-objective optimization framework for coordination of reactive power injection of smart inverters and tap operations of on-load tap changers (OLTCs) for multi-phase unbalanced distribution systems is proposed. The optimization objective is to minimize voltage deviations and the number of tap operations simultaneously. A novel linearization method is proposed to linearize power flow equations and to convexify the problem, which guarantees convergence of the optimization and less computation costs.…
