AJUSTE DE CONTROLADORES EN ESTACIONES DE CONVERSIÓN HVDC TIPO VSC. Juan Sebastián Laverde Mario Alberto Ríos

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1 AJUSTE DE CONTROLADORES EN ESTACIONES DE CONVERSIÓN HVDC TIPO VSC Juan Sebastián Laverde Mario Alberto Ríos

2 2 Contenido Presentación del problema Estrategia de Control Sintonización de Controladores en estaciones de conversión Análisis Dinámico Limitaciones y Alternativas de Solución Conclusiones y Trabajos Futuros

3 3 Presentación del Problema Emplear una metodología para ajustar los parámetros de los controladores PI en las estaciones de conversión. Bipolar VSC-HVDC ~ ~ = = GEN 5 ~ = ~ = L 7-8 A 8 L 8-9 A L A GEN 1 L 7-8 B L 8-9 B L B GEN 3 2 C7 L7 L9 C9 4 GEN 2 AC System 2 Weak System GEN 4 S.Henry, O. Despouys, R.Adapa, Influence of Embedded HVDC Transmission on System Security and AC Network Performance, CIGRE C4/B4/C1.604 Brochure 536, April 2013.

4 4 Estrategia de Control Vectorial Permite Controlar la potencia activa y reactiva de manera independiente a través de un control interno de corriente. Utiliza el marco de referencia dq para representar cantidades trifásicas como un vector constante en estado estable. Transformación de sistema de coordenadas trifásicas a marco de referencia α β Transformación de sistema de coordenadas estacionario α β a marco de referencia dq S.Henry, O. Despouys, R.Adapa, Influence of Embedded HVDC Transmission on System Security and AC Network Performance, CIGRE C4/B4/C1.604 Brochure 536, April 2013.

5 5 Estrategia de Control Vectorial V s Voltage Source Converter (VSC) U dc ~ PQ Calculator P Q ABC to dq is dq PLL Active Power Controller P ref Vc a Vc b Vc c dq to ABC θ Vcd ref Vcq ref Current Controller id ref iq ref Direct Voltage Controller Reactive Power Controller U dcref Q ref AC Voltage Controller Vac ref C. Bajracharya, Control of VSC-HVDC for wind power. Master s Thesis, Norwegian University of Science and Technology, Norway, 2008.

6 6 Control de Corriente interno Control DC o Control de potencia activa Control AC o Control de potencia reactiva C. Bajracharya, Control of VSC-HVDC for wind power. Master s Thesis, Norwegian University of Science and Technology, Norway, 2008.

7 7 Sintonización controlador PI Estrategia control: IMC (Internal Mode Control) F s = I C s G s 1 C(s) Etapas: 1. Factorizar el proceso G s = G A s G M s 2. Especificar controlador de la forma C = 1 G M s f, donde f = α s+α 3. Aproximar función de transferencia PI a partir de la estructura obtenida con IMC O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

8 8 Estrategia control: IMC (Internal Mode Control) Ecuaciones de voltaje de eje de cuadratura y directo di d t v d = Ri d ωl q i q t + L d dt di q (t) v q = Ri q + ωl d i d t + L q dt Definiendo las siguientes entradas y salidas Sintonización controlador PI v d s = R + sl d I d s ωl q I q s v q s = R + sl q I q s ωl d I d s U S = v d(s) v q (s), G S = 1 1 R + sl d ωl q 1 1 ωl d R + sl q = G M s Y S = I d(s) I q (s) O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

9 9 Estrategia control: IMC (Internal Mode Control) Sintonización controlador PI C = 1 G M s F s = I C s G s 1 C s = I α α + s α α + s 1 1 G M s Remplazando la matriz de transferencia obtenida anteriormente α α + s = α s 1 G M s F(s) = α s R + sl d ωl d ωl q R + sl q = α L d 1 + R sl d ωl d s L q ωl q s 1 + R sl q O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

10 10 Estrategia control: IMC (Internal Mode Control) Sintonización controlador PI F(s) = α L d 1 + R sl d ωl d s L q ωl q s 1 + R sl d FPI(s) = k d st id 0 0 k q st iq k pd = αl d, T id = L d R, k pq = αl q T iq = L q R Estrategia control voltaje DC: IMC (Internal Mode Control) k pdc = α dc C, k idc = α dc 2 C 2 O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

11 11 Sintonización controlador PI Parámetro Valor Frecuencia de Switcheo [Hz] 1320 α [rad/s] 816 αdc [rad/s] 81,6 L [mh] 50 R [Ω] 1,57 C[µF] 23,44 Control de corriente interno, Potencia activa y reactiva Control de voltaje DC y AC k p = 0, 36, T i = 0, 0318, k i = 11, 3 k p = 0, 98, T i = 0, 2776, k i = 3, 53 O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

12 12 Resultados Apertura de línea O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

13 13 Limitaciones No garantiza estabilidad ante una condición crítica de operación Apertura línea de interconexión O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

14 14 Alternativas de solución Control Suplementario en la estación de conversión POD O. Lennerhag, V. Traff, Modelling of VSC-HVDC for Slow Dynamic Studies. Master s Thesis, Chalmers University of Techonology, Gothenburg, Sweden, L. Harnefors, H.Nee, Model-Based Current Control of AC Machines Using the Internal Model Control Method IEEE Transactions on Industry Applications, Vol. 34, No.1, January 1998

15 15 Conclusiones y trabajo futuro La estrategia de control IMC permite garantizar la estabilidad del sistema para una contingencia menor. Para garantizar la estabilidad del sistema en una condición crítica de operación se debe implementar un control suplementario en la estación de conversión. En trabajos futuros se planea utilizar otra estrategia de control para comparar el desempeño del controlador.

16 16 Referencias [1] P. Kundur, Power System Stability and Control, New York: McGraw-Hill, [2] S.Henry, O. Despouys, R.Adapa, Influence of Embedded HVDC Transmission on System Security and AC Network Performance, CIGRE C4/B4/C1.604 Brochure 536, April [3] O. LENNERHAG, Modelling of VSC-HVDC for Slow Dynamic, Sweden: Chalmers University of Technology, [4] C. Bajracharya, Control of VSC-HVDC for wind power. Master s Thesis, Norwegian University of Science and Technology, Norway, [5] L. Harnefors y H.-P. Nee, «Model-Based Current Control of AC Machines Using the Internal Model Control Method,» IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS,, vol. 34, p. 9, [6] J. Chow, Power System Coherency and Power System, New York: Springer, [7] Mohapatra. B.: Dynamic Stability Improvement of Power System with VSC-HVDC Transmission. Master s thesis, National Institute of Technology Rourkela, [8] Chandra. B.: Control of VSC-HVDC for wind power. Master s thesis, Norwegian University of Science and Technology, 2013 [9] Mohapatra. B.: Dynamic Stability Improvement of Power System with VSC-HVDC Transmission. Master s thesis, National Institute of Technology Rourkela, 2014.