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Voltage-Source Converters (VSCs), by themselves, are .................................................................
defenseless against dc faults. During such faults, the anti- i A S AC2
'
parallel diodes conduct as rectifier bridges. Because the VSCl vsc2
fault current continues to be fed, it does not extinguish.
.................... Node 1
Meanwhile, the IGBTs, IGCTs or GTOs, which are in
Line 5 Line 2
- -
parallel to the anti-parallel diodes, have lost control. As the
viability of MTDC systems depends on the capability to IlOKm
survive this worst case scenario, a program has been AC5 AC3
initiated to research on dc fault protection. Three methods vsc5 vsc3
of extinguishing the dc fault current have been studied by
Line 4 Line 3
the authors: (1) AC Circuit Breakers on the ac side of the
VSCs (cheapest but longest interruption time); (2) IGBT- 1 4 h V 1 2 h
Circuit Breakers (IGBT-CBs) placed between each VSC
and the dc network (intermediate interruption time); (3)
IGBT-CBs at each end of a dc branch line (most expensive
Ivsc4 1
but with no interruption of service). Page limit allows only ' 5 4
the second method (2) to be presented in this paper. Future Fig. 1MTDC System
papers will address the other methods.
-2 4 l7x
sw-11
Line-to-Ground fault situated in Linel near VSC1. The
blocking of igbt(i) (and VSC(i), not shown) is shown by the
Fast DC
Switch
4 dash-dot-dash lines in Fig.4.
' I i
vsc 1
R.( ioiiny
ih5lnk
Fast
sw-5DC
1
Switch
A DC fault draws large currents from the VSCs on both
ends of the faulted line because of the large potential
differences between the dc voltages of the VSCs and the
short circuit voltage at the fault (which is close to zero).
The size of the large currents depends on the line
resistances and inductances (proportional to distance)
\ between the fault and the VSCs.
Fig. 2 Detail of VSCl and IGBT-CBs In Fig.4 the onset of the fault in Line 1 is noticed by the
sharp rise of ibllp and ibl2p. Meanwhile, the branch
currents ib23p, ib33p, ib63p from VSC3, ib45p, ib55p,
720
ib65p from VSCS and ib34p, ib44p from VSC4 are less In the first step towards restoration, the IGBT-CBs and
affected because the voltage differences between the VSCs on either side of the faulted line are unblocked so that
capacitor supported nodal voltages are very much less than the dc network becomes charged. When the other stations
the voltage differences with the fault. detect the network voltage, their IGBT-CBs and VSCs
unblock and the MTDC system resumes operation without
C. Blocking of IGBT-CB and Converter Station the isolated line.
The large currents quickly discharge the DC capacitors
of the nearest two VSCs so that their dc voltages drop IV. DC FAULT DETECTION
abruptly. These two concomitant factors: the decrease in the
dc voltages of the VSCl and VSC2 and the increase in their The blocking of igbt(i) and VSC(i) is based on the dc
dc currents, form the basis of reliable detection. On voltage at the dc network node of VSC(i) decreasing below
detection of the fault, (igbtl, VSC1) and (igbt2, VSC2) a Voltage Threshold and lAIdc(i)\,the incremental dc current
block so that the fault current ceases to be fed from the of VSC(i) injected into the dc network, simultaneously
severed Converter Stations VSCl and VSC2. The fault exceeding a Current Threshold for a Preset Time Duration.
current is then drawn from the capacitors of the VSCS and The simultaneous cross-over of the thresholds for a
VSC3. The current increase of ib55p is less than ibllp sufficiently long duration allows the dc fault to be
because of the greater distance to the fault. The conhtions distinguished from other dwturbances. The Voltage
are set for igbt5 and VSCS to block. Threshold, the Incremental Current Threshold and Preset
Time Duration will have to be determined for specific
D. Domino Blocking of IGBT-CBs and Converter Stations MTDC systems, when the parameters of the dc lines are
As VSCS and igbt5 block, they in turn set up the known (overhead or underground cables, length of dc lines,
conditions for igbt3, VSC3 and then igbt4, VSC4, which etc.).
are electrically further away from the fault, to block. At the Precautions have been taken to ensure that AC faults
end of the sequential severing of all VSCs ,the dc network cannot be mistaken by the DC Fault Detection. It has been
is isolated from any source that can feed the fault. Given found that the strategy of blocking the IGBTs of the VSC
sufficient time for the arc to de-ionize, the fault is self- when AC faults occur, isolates the effects of ac faults on
clearing. Otherwise, the fault is possibly a permanent fault the dc system. The dc capacitors of the VSC also filter out
and there is a test to confirm it. the effects of AC fault disturbances thus smoothing the
currents flowing through the IGBT-CBs. As a result, the
E. Local Identifzcation of Faulted Line currents through the IGBT-CBs have low dlAIdc(i)l/dt. In
Because of the requirement that the Protection System contrast, DC faults are associated with high ldIdc(i)l/dt since
must be based on its local measurements, each Converter there is a large voltage difference between the dc capacitor
Station must be able to identify if any one of the branch voltage and the voltage at the fault location. Thus a high
lines emanating from it has a fault. This is done by using dlAIdc(i)l/dtis essential to confirm a DC fault. This ensures
the features in the waveforms of branch currents for that an AC fault cannot be mistaken by the DC Fault
identificationas will be explained in Section V. Detection.
721
-intibl lp ---- intib5lp
0.~1
r
V
4 -2
2 -ib23p
r --- ib33p --ib63p---igbt3
Time (s)
Fig.4. Branch Currents
second feature relates to the fact that the faulted Method B - Tfigp-Rise-Timeof First Wavefiont
branch currents ibl l p and ibl2p have the longest rise time. The index T(ji)p of method B is a measurement of the
The initial long rise time is related to the growth of fault Rise-Time of the first wavefront of the branch current
currents which are drawn from the dc capacitors of VSCl ib(ji)p. Fig. 6 shows that the dominating indexes are again
and VSC2 through relatively short sections of Linel. After T1 l p and T12p.
igbtl and igbt2 have blocked, the fault currents have their
sources from the more distant VSC3 and VSC5. The Method C - ind(ijk)-Oscillation Pattern
subsequent oscillations in the current pattems bear the Fig. 7 displays the index ind(ijk)=SGN[d{ib(ji)p-
resonance frequency of the L-C-R circuits of the ib(ki)p)/dt], which is the sign [SGN] of the time derivative
transmission line models. Thus the later rise times are of the difference of the currents of the Line(j) and Line(k)
shorter. emanating from VSC(i). Fig.7 shows that this index
The features are embodied in 3 indexes which are captures the changing fkequency of the network resonance
computed from records of the measurements of the branch evident in Fig.4. The signals indl 15p and ind221p are wide
currents ibji. The computation of each index ceases when pulses with single polarity before. the IGBT-CBs block.
the IGBT-CB and its VSC block. Each index has its This feature allows Linel to be identified as the faulted
discriminant by which a dc line without a fault can be line.
distinguished from a dc line which has the fault.
VI. RESULTS OF IDENTIFICATION TESTS
Method A - intibogp-Large Initial Current Change
Fig. 5 displays the index intib(ji)p which is the time Each VSCi, i=1,2..5 will have its indexes intib(ji)p of
integral of {ib(t)-ib(to)}evaluated from to to t,+AT, where Fig. 4, T(ji)p of Fig. 5 and ind(ijk)p of Fig. 6 computed by
ib(t) is the measurement of the branch current ibjip. AT is a Digital Signal Processors (DSPs) from memory storage of
fixed short time span chosen to maximize the feature. The the recent measurements of the branch currents. Note that
time to is the instant when disturbance in the current is many of the indexes are very close to zero so that they are
detected. Only the disturbances prior to the blocking of the not visible in the graphs. As {intibl lp, T1 lp, indl 15p)
IGBT-CB and the converter are used in order to avoid false and {intibl2p, T12p, and ind22lp) dominate over other
identification. The index intib(ji)p exaggerates the initial indexes, both VSCl and VSC2 identify that the fault is in
dib(i)/dt feature which is largest in the line which contains Linel, and open the Fast DC Switches SW-11 and SW-12
the fault. after it has been verified that the fault is a permanent fault.
722
methods are prone to false crossings. To guard against false
crossings, the computed data are considered valid only
when they lie between the blocking of the IGBT-CB and a
few milliseconds before. When there is no real fault, the
IGBT-CBs will not block. Thus erroneously generated data
will not be used.
B. Polling Indexes
Although the three methods are not truly independent,
they represent different ways of extracting the features.
Polling of the three indexes ensures greater reliability.
C. Extensive Tests
Simulation tests on DC Faults have been conducted in
each of the 6 lines of Fig. 1. Three types of fault have been
simulated for every line, at each end of the line. The three
types of fault conducted are: (1) Positive Line-to-Ground
Fault; (2) Negative Line-to-Ground Fault; (3) Line-to-Line
Fault. The same Voltage Threshold and Incremental
Current Threshold have been used to block the VSCs and
the IGBT-CBs in all the three types of fault. In all cases, the
three indexes identifying the faulted dc line stand out as
U
clearly as in Fig. 5, 6 and 7 and a common discriminant for
0.144 0.146 0.148 0.15 each index exists which can classify a line as containing a
fault or as being free of faults.
Time (s)
Fig.6. Method B VII. COMPLETE PROTECTION CYCLE
723
U
0.15 0.2 0.25 0.3 0.35 t (s)
CO)
+
a r
ib44p
!’ I I I I I
-2
0.15 0.2 0.25 0.3 0.35 t(S)
(c)
Fig.8 Complete Protection Cycle (Lto-L Line-to-Line Voltage; Gto-G Line-to-Ground Voltages)
(a) Voltages of nodes between VSC and IGBT-CB (b) Voltages of nodes between IGBT-CB and DC Network (c) Branch Currents
one of its branch lines so that the Fast DC Switches [ 5 ] F.Schettler, H.Huang and N.Christ1, “HVDC Transmission System
belonging to the faulted line will be opened to isolate it, if a using Voltage Sourced Converters-Design and Applications”, IEEE
PES Summer Meeting, July 2000.
verification test shows that the fault is permanent. [6] H.Jiang and A.Ekstrom, “Multiterminal HVDC Systems in Urban
Thereafter, the IGBT-CBs and the Converter Stations Areas of Large Cities”, IEEE Transactions on Power Delivery,
unblock and the MTDC system resumes service, as will V01.13, N0.4, October 1998, pp 1278-1284.
[7] Weixing Lu and Boon Teck Ooi, “ Multi-terminal DC transmission
also be for the case of a temporary fault. system for wind-farms.” Power Engineering Society Winter
Meeting, 2001. IEEE, Volume: 3 ,2001 Page@): 1091 -1096
M. ACKNOWLEDGEMENT [8] Weixing Lu and Boon Teck Ooi, “Multi-Terminal LVDC System for
Optimal Acquisition of Power in Wind-Farm Using Induction
Generators,” Power Electronics Specialists’ Conference, June 2001,
The authors thank Mr. Mats Hyttinen, Dr. Ying Jiang- Vancouver.
Hafker and Mr. Gunnar Asplund for their guidance, [9] Weixing Lu and Boon Teck Ooi, “Multi-Terminal HVDC as Enabling
direction and encouragement. The research is supported by Technology of Premium Power Quality Park,” IEEE Power
a contract from ABB Power Systems, AB, Ludvika, Engineering Society, 2002 Winter Meeting, New York.
Sweden.
XI. BIOGRAPHIES
X. REFERENCES Lianxiang Tang (tanglx4310@yahoo.com) was bom in Yiyang City,
Hunan Province, China, 1970. He received his Bachelor’s degree in July
[ 11 B.T. Ooi and X. Wang, “Voltage Angle Lock Loop Control of Boost 1993 and his Master’s degree in March 1996, both in the Department of
Type PWM Converter for HVDC Application,” IEEE Transactions Electrical Engineering, Tsinghua University, China. He was working with
on Power Electronics, Vol. 5, April 1990, pp. 229-235. Xuji Group Corporation in China from April 1996 to October 1999.
[2] B.T.Ooi and X.Wang, “Boost Type PWM-HVDC Transmission Presently he is a Ph.D candidate in the Department of Electrical and
System,” IEEE Transactions on Power Delivery, Vol. 6, No.4, Computer Engineering, McGill University.
October 1991, pp. 1557-1563.
[3] G.Asplund, KEriksson, K. Svensson, “DC Transmission based on Boon-Teck Ooi was bom in Kuala Lumpur, Malaysia. He received the
Voltage Source Converters,’’ CIGRE SC14 Colloquium in South B.Eng. (Honours) from the University of Adelaide, Australia, the S.M.
Atiica 1997. from the Massachusetts Institute of Technology, USA and the Ph.D. from
[4] T.Nakjima et al, “Field Testing of 53 MVA Three-Terminal DC Link McGill University, Canada. He is presently Professor in the Department of
between Power Systems Using GTO Converters,” International Electrical and Computer Engineering, McGill University.
Power Electronics Conference-Tokyo 2000.
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