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Voltage-Sourced Converters In Power Systems eBook.pdf

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    VOLTAGE-SOURCED CONVERTERS IN POWER SYSTEMS
    CONTENTS
    PREFACE
    ACKNOWLEDGMENTS
    ACRONYMS
    1 Electronic Power Conversion
    1.1 Introduction
    1.2 Power-Electronic Converters and Converter Systems
    1.3 Applications of Electronic Converters in Power Systems
    1.4 Power-Electronic Switches
    1.4.1 Switch Classification
    1.4.2 Switch Characteristics
    1.5 Classification of Converters
    1.5.1 Classification Based on Commutation Process
    1.5.2 Classification Based on Terminal Voltage and Current Waveforms
    1.6 Voltage-Sourced Converter (VSC)
    1.7 Basic Configurations
    1.7.1 Multimodule VSC Systems
    1.7.2 Multilevel VSC Systems
    1.8 Scope of the Book
    PART I FUNDAMENTALS
    2 DC/AC Half-Bridge Converter
    2.1 Introduction
    2.2 Converter Structure
    2.3 Principles of Operation
    2.3.1 Pulse-Width Modulation (PWM)
    2.3.2 Converter Waveforms
    2.4 Converter Switched Model
    2.5 Converter Averaged Model
    2.6 Nonideal Half-Bridge Converter
    2.6.1 Analysis of Nonideal Half-Bridge Converter: Positive AC-Side Current
    2.6.2 Analysis of Nonideal Converter: Negative AC-Side Current
    2.6.3 Averaged Model of Nonideal Half-Bridge Converter
    3 Control of Half-Bridge Converter
    3.1 Introduction
    3.2 AC-Side Control Model of Half-Bridge Converter
    3.3 Control of Half-Bridge Converter
    3.4 Feed-Forward Compensation
    3.4.1 Impact on Start-Up Transient
    3.4.2 Impact on Dynamic Coupling Between Converter System and AC System
    3.4.3 Impact on Disturbance Rejection Capability
    3.5 Sinusoidal Command Following
    4 Space Phasors and Two-Dimensional Frames
    4.1 Introduction
    4.2 Space-Phasor Representation of a Balanced Three-Phase Function
    4.2.1 Definition of Space Phasor
    4.2.2 Changing the Amplitude and Phase Angle of a Three-phase Signal
    4.2.3 Generating a Controllable-Amplitude/Controllable-Frequency Three-Phase Signal
    4.2.4 Space-Phasor Representation of Harmonics
    4.3 Space-Phasor Representation of Three-Phase Systems
    4.3.1 Decoupled Symmetrical Three-Phase Systems
    4.3.2 Coupled Symmetrical Three-Phase Systems
    4.3.3 Asymmetrical Three-Phase Systems
    4.4 Power in Three-Wire Three-Phase Systems
    4.5 αβ-Frame Representation and Control of Three-Phase Signals and Systems
    4.5.1 αβ-Frame Representation of a Space Phasor
    4.5.2 Realization of Signal Generators/Conditioners in αβ-Frame
    4.5.3 Formulation of Power in αβ-Frame
    4.5.4 Control in αβ-Frame
    4.5.5 Representation of Systems in αβ-Frame
    4.6 dq-Frame Representation and Control of Three-Phase Systems
    4.6.1 dq-Frame Representation of a Space Phasor
    4.6.2 Formulation of Power in dq-Frame
    4.6.3 Control in dq-Frame
    4.6.4 Representation of Systems in dq-Frame
    5 Two-Level, Three-Phase Voltage-Sourced Converter
    5.1 Introduction
    5.2 Two-Level Voltage-Sourced Converter
    5.2.1 Circuit Structure
    5.2.2 Principles of Operation
    5.2.3 Power Loss of Nonideal Two-Level VSC
    5.3 Models and Control of Two-Level VSC
    5.3.1 Averaged Model of Two-Level VSC
    5.3.2 Model of Two-Level VSC in αβ-Frame
    5.3.3 Model and Control of Two-Level VSC in dq-Frame
    5.4 Classification of VSC Systems
    6 Three-Level, Three-Phase, Neutral-Point Clamped, Voltage-Sourced Converter
    6.1 Introduction
    6.2 Three-Level Half-Bridge NPC
    6.2.1 Generating Positive AC-Side Voltages
    6.2.2 Generating Negative AC-Side Voltages
    6.3 PWM Scheme For Three-Level Half-Bridge NPC
    6.4 Switched Model of Three-Level Half-Bridge NPC
    6.4.1 Switched AC-Side Terminal Voltage
    6.4.2 Switched DC-Side Terminal Currents
    6.5 Averaged Model of Three-Level Half-Bridge NPC
    6.5.1 Averaged AC-Side Terminal Voltage
    6.5.2 Averaged DC-Side Terminal Currents
    6.6 Three-Level NPC
    6.6.1 Circuit Structure
    6.6.2 Principles of Operation
    6.6.3 Midpoint Current
    6.6.4 Three-Level NPC with Impressed DC-Side Voltages
    6.7 Three-Level NPC with Capacitive DC-Side Voltage Divider
    6.7.1 Partial DC-Side Voltage Drift Phenomenon
    6.7.2 DC-Side Voltage Equalization
    6.7.3 Derivation of DC-Side Currents
    6.7.4 Unified Models of Three-Level NPC and Two-Level VSC
    6.7.5 Impact of DC Capacitors Voltage Ripple on AC-Side Harmonics
    7 Grid-Imposed Frequency VSC System: Control in αβ-Frame
    7.1 Introduction
    7.2 Structure of Grid-Imposed Frequency VSC System
    7.3 Real-/Reactive-Power Controller
    7.3.1 Current-Mode Versus Voltage-Mode Control
    7.3.2 Dynamic Model of Real-/Reactive-Power Controller
    7.3.3 Current-Mode Control of Real-/Reactive-Power Controller
    7.3.4 Selection of DC-Bus Voltage Level
    7.3.5 Trade-Offs and Practical Considerations
    7.3.6 PWM with Third-Harmonic Injection
    7.4 Real-/Reactive-Power Controller Based on Three-Level NPC
    7.4.1 Midpoint Current of Three-level NPC Based on Third-Harmonic Injected PWM
    7.5 Controlled DC-Voltage Power Port
    7.5.1 Model of Controlled DC-Voltage Power Port
    7.5.2 DC-Bus Voltage Control in Controlled DC-Voltage Power Port
    7.5.3 Simplified and Accurate Models
    8 Grid-Imposed Frequency VSC System: Control in dq-Frame
    8.1 Introduction
    8.2 Structure of Grid-Imposed Frequency VSC System
    8.3 Real-/Reactive-Power Controller
    8.3.1 Current-Mode Versus Voltage-Mode Control
    8.3.2 Representation of Space Phasors in dq-Frame
    8.3.3 Dynamic Model of Real-/Reactive-Power Controller
    8.3.4 Phase-Locked Loop (PLL)
    8.3.5 Compensator Design for PLL
    8.4 Current-Mode Control of Real-/Reactive-Power Controller
    8.4.1 VSC Current Control
    8.4.2 Selection of DC-Bus Voltage Level
    8.4.3 AC-Side Equivalent Circuit
    8.4.4 PWM with Third-Harmonic Injection
    8.5 Real-/Reactive-Power Controller Based on Three-Level NPC
    8.6 Controlled DC-Voltage Power Port
    8.6.1 Model of Controlled DC-Voltage Power Port
    8.6.2 Control of Controlled DC-Voltage Power Port
    8.6.3 Simplified and Accurate Models
    9 Controlled-Frequency VSC System
    9.1 Introduction
    9.2 Structure of Controlled-Frequency VSC System
    9.3 Model of Controlled-Frequency VSC System
    9.4 Voltage Control
    9.4.1 Autonomous Operation
    10 Variable-Frequency VSC System
    10.1 Introduction
    10.2 Structure of Variable-Frequency VSC System
    10.3 Control of Variable-Frequency VSC System
    10.3.1 Asynchronous Machine
    10.3.2 Doubly-Fed Asynchronous Machine
    10.3.3 Permanent-Magnet Synchronous Machine
    PART II APPLICATIONS
    11 Static Compensator (STATCOM)
    11.1 Introduction
    11.2 Controlled DC-Voltage Power Port
    11.3 STATCOM Structure
    11.4 Dynamic Model for PCC Voltage Control
    11.4.1 Large-Signal Model of PCC Voltage Dynamics
    11.4.2 Small-Signal Model of PCC Voltage Dynamics
    11.4.3 Steady-State Operating Point
    11.5 Approximate Model of PCC Voltage Dynamics
    11.6 STATCOM Control
    11.7 Compensator Design for PCC Voltage Controller
    11.8 Model Evaluation
    12 Back-to-Back HVDC Conversion System
    12.1 Introduction
    12.2 HVDC System Structure
    12.3 HVDC System Model
    12.3.1 Grid and Interface Transformer Models
    12.3.2 Back-to-Back Converter System Model
    12.4 HVDC System Control
    12.4.1 Phase-Locked Loop (PLL)
    12.4.2 dq-Frame Current-Control Scheme
    12.4.3 PWM Gating Signal Generator
    12.4.4 Partial DC-Side Voltage Equalization
    12.4.5 Power Flow Control
    12.4.6 DC-Bus Voltage Regulation
    12.5 HVDC System Performance Under an Asymmetrical Fault
    12.5.1 PCC Voltage Under an Asymmetrical Fault
    12.5.2 Performance of PLL Under an Asymmetrical Fault
    12.5.3 Performance of dq-Frame Current-Control Scheme Under an Asymmetrical Fault
    12.5.4 Dynamics of DC-Bus Voltage Under an Asymmetrical Fault
    12.5.5 Generation of Low-Order Harmonics Under an Asymmetrical Fault
    12.5.6 Steady-State Power-Flow Under an Asymmetrical Fault
    12.5.7 DC-Bus Voltage Control Under an Asymmetrical Fault
    13 Variable-Speed Wind-Power System
    13.1 Introduction
    13.2 Constant-Speed and Variable-Speed Wind-Power Systems
    13.2.1 Constant-Speed Wind-Power Systems
    13.2.2 Variable-Speed Wind-Power Systems
    13.3 Wind Turbine Characteristics
    13.4 Maximum Power Extraction from A Variable-Speed Wind-Power System
    13.5 Variable-Speed Wind-Power System Based on Doubly-Fed Asynchronous Machine
    13.5.1 Structure of the Doubly-Fed Asynchronous Machine-Based Wind-Power System
    13.5.2 Machine Torque Control by Variable-Frequency VSC System
    13.5.3 DC-Bus Voltage Regulation by Controlled DC-Voltage Power Port
    13.5.4 Compensator Design for Controlled DC-Voltage Power Port
    APPENDIX A: Space-Phasor Representation of Symmetrical Three-Phase Electric Machines
    A.1 Introduction
    A.2 Structure of Symmetrical Three-Phase Machine
    A.3 Machine Electrical Model
    A.3.1 Terminal Voltage/Current Equations
    A.3.2 Stator Flux Space Phasor
    A.3.3 Rotor Flux Space Phasor
    A.3.4 Machine Electrical Torque
    A.4 Machine Equivalent Circuit
    A.4.1 Machine Dynamic Equivalent Circuit
    A.4.2 Machine Steady-State Equivalent Circuit
    A.5 Permanent-Magnet Synchronous Machine (PMSM)
    A.5.1 PMSM Electrical Model
    A.5.2 PMSM Steady-State Equivalent Circuit
    APPENDIX B: Per-Unit Values for VSC Systems
    B.1 Introduction
    B.1.1 Base Values for AC-Side Quantities
    B.1.2 Base Values for DC-Side Quantities
    REFERENCES
    INDEX
    VOLTAGE-SOURCED CONVERTERS IN POWER SYSTEMS
    VOLTAGE-SOURCED CONVERTERS IN POWER SYSTEMS Modeling, Control, and Applications Amirnaser Yazdani University of Western Ontario Reza Iravani University of Toronto
    Copyright © 2010 by John Wiley & Sons, Inc. All rights reserved Published by John Wiley & Sons, Inc., Hoboken, New Jersey Published simultaneously in Canada. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750-8400, fax (978) 750-4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008, or online at http://www.wiley.com/go/permission. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762-2974, outside the United States at (317) 572-3993 or fax (317) 572-4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com. Library of Congress Cataloging-in-Publication Data: Yazdani, Amirnaser, 1972– Voltage-sourced converters in power systems : modeling, control, and applications / Amirnaser Yazdani, Reza Iravani. p. cm. ISBN 978-0-470-52156-4 (cloth) 1. Electric current converters. 2. Electric power systems–Control. 3. Electric Interconnected electric utility systems. power systems–Equipment and supplies. 4. I. Iravani, Reza, 1955– II. Title. TK1007.Y39 2010 621.31 3–dc22 Printed in the United States of America 10 9 8 7 6 5 4 3 2 1 2009052122
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