POWER TECH, LAUSANNE, SWITZERLAND, JULY 1-5, 2007

Application of Control Lyapunov Functions to Voltage Source Converters-based High Voltage Direct Current for Improving Transient Stability
H.F. Latorre, Student Member, IEEE, M. Ghandhari, Member, IEEE, and L. S oder, Member, IEEE

Abstract VSC-HVdc has become an important member in the eld of power electronics with application in transmission systems thanks to its capability of fast response operation and independent control of active and reactive power. An appropriate control strategy and a correct selection of input signals allow the VSCHVdc to enhance transient stability, damp power oscillations and provide voltage support in power systems in a signicant way. This paper presents, as part of a development of a Multichoice Control for a VSC-HVdc, the derivation of a control strategy for transient stability, based on Control Lyapunov Function. The VSC-HVdc is represented by a general model, referred to as Injection Model which represents the VSC-HVdc as an element in the power system that provides adequate interaction with other system elements. Index Terms Control Lyapunov Functions, Transient Stability, VSC-HVdc.

I. I NTRODUCTION

OWER electronics became an important actor in power systems thanks to the increase of transfer of energy that systems based on these devices allow in the transmission network and the higher level of reliability and controllability they provide. A common phenomenon in power systems is power oscillations due mainly to synchronous generator rotors swinging relative to each other. Under certain types of faults, the rst oscillation may be considerable large so that the power system may lose synchronism. Power electronics based systems are a powerful alternative to mitigate power oscillations and increase the robustness of the system which will help the transmission network to keep synchronism under large disturbances. VSCHVdc is one of these systems. The fast and independent control of active and reactive power together with a correct selection of input signals and appropriate control strategy allow the VSC-HVdc to damp power oscillations, enhance the transient stability and provide voltage support in an effective and robust way. An interesting application of this system is the analysis of a power system when the VSC-HVdc is connected in parallel with ac transmission lines. The control strategy for transient stability is based on the theory of Control Lyapunov Function. This theory basically consists in the construction of a Lyapunov function for the uncontrolled system. This function is then a candidate in the
The authors are with Royal Institute of Technology, Department of Electric Power Systems, Sweden. Emails: hector.latorre@ee.kth.se, mehrdad.ghandhari@ee.kth.se and lennart.soder@ee.kth.se. Contact and additional information can be found in the webpage: http://www.eps.ee.kth.se

feedback design by making the Lyapunov function derivative negative. Lyapunov theory deals with dynamical systems without inputs. For this reason, it has traditionally been only applied to closed-loop control systems, that is, systems for which the input has been eliminated through the substitution of a predetermined feedback control. However, in this paper, we use Lyapunov function candidates in feedback design itself by making the Lyapunov derivative negative when choosing the control. This control strategy is called Control Lyapunov Function (CLF) for systems with control inputs. A simple model, which represents the VSC-HVdc as an element in the power system that provides adequate interaction with other systems elements, is considered in order to test the control strategy. The model is intended for analysis of power ows and electromechanical transients. It is then sufcient to consider the power frequency components of voltages and currents represented by phasors that vary with time during transients. The model is valid for symmetrical conditions, i.e. positive sequence phasors are used for the representation of the electrical state. II. I NJECTION M ODEL The formulation of the Multichoice Control is based on the connection of the VSC-HVdc in a synchronous system as illustrated in Fig. 1. From the buses of connection of the VSC-HVdc, Bus i and Bus j in Fig. 2, a VSC-HVdc can be seen as a synchronous machine without inertia where the production or consumption of the active power is independent of the production or consumption of the reactive power. This interpretation leads to modeling each VSC-HVdc converter as a controllable voltage source in series with a reactance, which represents the impedance of the power transformer.
Ui i ac line HVdc
Fig. 1. VSC-HVdc in parallel with ac transmission line

Uj j

with: U ci = Uci eji U cj = Ucj ejj (1)

POWER TECH, LAUSANNE, SWITZERLAND, JULY 1-5, 2007

Ui Ici j XTi

j XL Icj Uci Ucj j XTj

Uj

The expressions of active and reactive power can also be written in a similar way: Psi = Psio + Psi Qsi = Qsio + Qsi Psj = Psjo + Psj Qsj = Qsjo + Qsj (11) (12)

Fig. 2.

Simple model of the VSC-HVdc

where the subindex o denotes the uncontrolled P and Q. P and Q correspond to the modulative parts. Considering (2)-(5) and (9)-(10), the right hand side terms in (11) and (12) become: Psio = Qsio = Psjo = Qsjo = Psi = Psj = bT i Ui (sin i Uci1o cos i Uci2o ) bT i [Ui2
2 bT j [Uj

where Uc and are the controllable variables (magnitude and angle) of the voltage sources. It is assumed that the dc voltage control keeps the dc voltage magnitude close to the rated voltage; in this way, the losses of the converters are basically constant, independent of the magnitude of the current through the converters. Losses are consequently represented in the Simple Model by a constant active load. The losses of the dc cables are neglected. The relation between buses i and j is given by the active power: Psi = Psj ; the reactive power is independent at each bus. Fig. 3 shows the Injection Model.

(13) (14) (15) (16) (17) (18) (19) (20) (21) (22)

Ui (cos i Uci1o + sin i Uci2o )] Uj (cos j Ucj 1o + sin j Ucj 2o )]

bT j Uj (sin j Ucj 1o cos j Ucj 2o )

Psjo = Psio bT i Ui (sin i Uci1 cos i Uci2 ) bT j Uj (sin j Ucj 1 cos j Ucj 2 ) Qsi = bT i Ui (cos i Uci1 + sin i Uci2 ) Qsj = bT j Uj (cos j Ucj 1 + sin j Ucj 2 ) Psj = Psi III. M ULTICHOICE C ONTROL

Ui i j XL

Uj j

Psi + j Qsi

Psj + j Qsj

Plosses

Fig. 3.

Injection model of the VSC-HVdc

The active and reactive power are dened by the following expressions: S si = Psi + jQsi Psi = bT i Ui (sin i Uci1 cos i Uci2 ) Qsi = bT i [Ui2 Ui (cos i Uci1 + sin i Uci2 )] S sj = Psj + jQsj Psj = bT j Uj (sin j Ucj 1 cos j Ucj 2 )
2 Uj (cos j Ucj 1 + sin j Ucj 2 )] Qsj = bT j [Uj

In general terms, the operation of the Multichoice Control consists in the selection of the correct input signal that will allow the VSC-HVdc to enhance the transient stability, damp power oscillations, provide voltage support or change the power ow condition. The inputs are power signals (active and reactive power) which describe the transient period of the system. The output of the Multichoice Control are the controllable variables voltage magnitude, Uc and voltage angle c of the voltage sources described in section II. Fig. 4 shows an scheme of the Multichoice Control.
Po P1 P2 P3 Qi Qj
MULTICHOICE CONTROL

(2) (3) (4) (5) (6)

Qoi

Uc i,j
c i,j

and Psj = Psi where: Uci1 = Uci cos i Uci2 = Uci sin i bT i = 1/XT i Ucj 1 = Ucj cos j Ucj 2 = Ucj sin j bT j = 1/XT j (7) (8)
Fig. 4.

Qoj

Input - output signals Multichoice Control

Eq. (7) and (8) can be divided into two terms, expressing the uncontrolled variables Uci1o , Uci2o , Ucj 1o and Ucj 2o ; and the controlled variables Uci1 , Uci2 , Ucj 1 and Ucj 2 . The expressions of the controlled variables are obtained in section IV-B.2. Uci1 = Uci1o + Uci1 Uci2 = Uci2o + Uci2 Ucj 1 = Ucj 1o + Ucj 1 Ucj 2 = Ucj 2o + Ucj 2 (9) (10)

where: P1 : P2 : P3 : Qi : Qj : Po : Qoi : Qoj : Uci,j :

Large disturbances (based on CLF) Small disturbances (based on linear analysis) Power ow control Voltage control bus i Voltage control bus j Set value active power Set value reactive power bus i Set value reactive power bus j Controllable magnitude of voltage source

H.LATORRE et al.: APPLICATION OF CLF TO VSC-HVDC FOR IMPROVING TRANSIENT STABILITY

ci,j :

Controllable angle of voltage source

B. Construction of the Energy Function 1) Energy Function Uncontrolled System: Power systems are most naturally described by a set of Differential Algebraic Equations (DAE) models of the form: x = f (x, y ) 0 = g (x, y )

In the case of power oscillation damping, the active power input signal is based on small signal analysis, i.e., linear control, meanwhile transient stability is based on nonlinear control and the active power input signal is calculated from Lyapunov theory. Power ow control and voltage support are based on the difference between the online measured values and the set values specied by the operator. The priority of the Multichoice Control is to prevent the system from losing synchronism when there is a large disturbance in the power system. In this case the control only selects the signal that comes from transient stability and the other inputs are blocked. Once the rst swing has been controlled, the control switches to the input of small signal analysis in order to provide damping and may also provide voltage support, if the rating of the VSC allows it. In this case, signals from transient stability and power ow control are zero. Power ow control is only allowed when the modulative signals P1 and P2 are zero. This paper describes the theory and derivation of the signal for transient stability. IV. C ONTROL LYAPUNOV F UNCTION A. Theoretical Considerations Consider the uncontrolled system: x = fo (x) (23)

(27)

The algebraic variables y are related to the dynamic states x through the algebraic equations g . The general form of the energy function of a power system in the COI reference frame with n-generators (one-axis model) and n + N -load buses with constant active loads is of the form [5]:
8

) = V1 + E , U, V ( , , q
k=1

V2k + Co

(28)

where: 1 2
n 2 Mk k , n

V1 = V22 =

V21 =
k=1 2n+N

k Pmk QLk dUk Uk

k=1 2n+N

k , PLk
k=n+1 2n

V23 =
k=n+1

and let V (x) be a Lyapunov function; that is, V (x) is positive denite (i.e., V (0) = 0 and V (x) > 0 for x = 0) and its time derivative is given by: (x) = V uncontrolled = V (x) fo (x) 0 V (24)

V24 =

1 2 2 [E qkn + Uk 2xdkn k=n+1 2Eqk n Uk 1 2

2n+N 2n+N

kn k )] cos(

Now consider the controlled system (afne system) dened by:

nu

V25 =

k l ) Bkl Uk Ul cos(
k=n+1 l=n+1

x = f (x, u) = fo (x) +
i=1

ui fi (x)

(25)

V26 =

where ui is the control variable and nu the number of controllable variables. Applying the Lyapunov function of the uncontrolled system to the controlled system, the time derivative of the Lyapunov function along the trajectories of (25) is given by:
nu

x dkn xqkn [U 2 4x xqkn k dk n k=n+1 2 kn k ))] Uk cos(2(

n Ef dk Eqk xdk x dk n

2n

V27 =
k=1

V28 =
k=1

E qk 2(xdk x dk )

(x) = V (x) V

fo (x) +
i=1 nu

ui fi (x) ui V (x) fi (x) (26)

(x) = V (x) fo (x) + V

i=1

with: V1 : total change in the kinetic energy V2k : total change in the potential energy Co : constant, such that the energy function is zero at the stable equilibrium point
V d V ] for , and similarly for the Using the notation [ d dt dt other states, V (x) becomes:

(x) = V uncontrolled + V controlled V controlled V The objective of the Control Lyapunov Function is to select controlled is non-positive. ui in such way that V Detailed description about CLF, can be found in [1]- [4].

dV1 dV24 dV26 dV21 ] + + ] +[ dt dt dt dt

n

=
k=1

Dk ( k )2

(29)

POWER TECH, LAUSANNE, SWITZERLAND, JULY 1-5, 2007

dV24 dV25 dV26 dV22 + + + ] dt dt dt dt = (Pk + PLk ) k =0 dV24 dV25 dV26 dV23 + + + ]U dt dt dt dt k U = (Qk + QLk ) =0 Uk dV28 dV24 dV27 + + ]E q dt dt dt n Tdok qk )2 = (E xdk x dk [
k=1

(30)

dV23 dV24 dV25 dV26 dVHV dco + + + + ]Ui dt dt dt dt dt (37) i U =0 = (Qi + QLi + Qsio ) Ui uncontrolled remains the same Similarly for bus j . Thus V when the VSC-HVdc is connected, but without control. [ 2) Energy Function Modulative Part: The introduction of the modulative part of the VSC-HVdc means that Uci is not constant anymore since Uci1 and Uci2 are not set to zero. Analogously for bus j . That is, we are dealing with a controlled system similar to (25). Using the energy function (35) in the controlled system, then time derivative of the energy function along the trajectories of this controlled system is given by: controlled (x) = V uncontrolled + V V uncontrolled is dened by (33) and V controlled is where V dened by: controlled = Psi V i Psj j i j U U Qsi Qsj Ui Uj which is resulted from: [ dV22 dV24 dV25 dV26 dVHV dc + + + + ] dt dt dt dt dt = Psi i Psj j dV23 dV24 dV25 dV26 dVHV dc + + + + ]U dt dt dt dt dt i j U U = Qsi Qsj Ui Uj

(31)

(32)

Thus, the time derivative of the energy function is: dV (x) = dt

n n Tdok qk )2 (E xdk x dk

Dk ( k )
k=1 k=1

(33)

uncontrolled =V which is non-positive. The construction of the energy function of the VSC-HVdc (based on the injection model) follows the procedure of [6]. It is important to mention that the control of the VSC-HVdc is not active, which means U ci becomes constant since Uci1 = Uci2 = 0 and Uci1o and Uci2o are constants. The same considerations apply for bus j . The result is: bT i 2 [U 2Ui (cos i Uci1o + sin i Uci2o )] 2 i (34) bT j 2 + [Uj 2Uj (cos j Ucj 1o + sin j Ucj 2o )] 2

(38)

VHV dco =

The obtained energy function is an additional term to (28) and all of them conform the energy function of the uncontrolled system when the VSC-HVdc is connected in the system. The energy function is then:
8

The objective of Control Lyapunov Function is to keep controlled non-positive; therefore the following denition V and criterion are adopted: 1) Psj = Psi which follows (6) 2) During the transient stability, the VSC-HVdc only modulates the active power, which means Qsi = Qsj = 0 Thus, (38) becomes: controlled = Psi ( V i j ) + 0 + 0 controlled is made negative by dening: V Psi = k ( i j ) Psi = kfij where:

) E , U, V ( , , q

= V1 +
k=1

V2k + VHV dco + Co

(35)

The presence of the VSC-HVdc does not alter the negativeness of the derivative of the energy function of the uncontrolled system. The terms that involve the VSC-HVdc (x) are (30) and (31). Considering the in the calculation of V buses where the VSC-HVdc is connected, the i-th term in (30) and (31) becomes: dV24 dV25 dV26 dVHV dco dV22 + + + + ] [ i dt dt dt dt dt = (Pi + PLi + Psio ) i =0

(36)

H.LATORRE et al.: APPLICATION OF CLF TO VSC-HVDC FOR IMPROVING TRANSIENT STABILITY

k : positive gain fij : difference of the frequency of the buses where the VSC-HVdc is connected Since Qsi = Psi = Qsj = 0 kfij

Psj = Psi it is possible to solve the system of equations (18) to (21) for Uci1 , Uci2 , Ucj 1 and Ucj 2 , which results in: Uci1 = Uci2 Ucj 1 Ucj 2 where: Uimi Urei Uimj Urej i Ui sin Uimi = kfij 2 2 Ui Ui Ui cos i Urei = kfij = kfij 2 Ui2 Ui Uj sin j Uimj = kfij = kfij 2 2 Uj Uj j Uj cos Urej = kfij = kfij 2 2 Uj Uj kfij

ABB intended for electromechanical transients and positive sequence analysis. One case is reported in this paper. The fault consists of a disconnection of 100 Mvar of the shunt compensation at Bus 7. Fig. 6 illustrates the result. Together with some other simulations not reported here, results show that the estimation of considering the VSC-HVdc system as a couple of synchronous machines without inertia is very satisfying and sufcient for derivation and test of the control strategies for the Multichoice Control.
Voltage Profile
1

0.995

0.99

[ pu ]
0.985 0.98 Simple model ABBs model 0.975 0 5 10 15

[s]

Fig. 6.

Variation of Voltage at Bus 7 vs. Time

: : : :

i imaginary part of U real part of Ui j imaginary part of U real part of Uj V. N UMERICAL E XAMPLE

C. Numerical Examples A three phase short circuit is applied at Bus 8 during 100 ms, followed by the disconnection of one of the lines between Bus 7 - Bus 8. CLF is applied continuously during all the transient period, even if transient stability has successfully been achieved. This is not the purpose of the CLF in the Multichoice Control, but since the POD signal based on small signal analysis will be developed in a future step, the CLF is also used to provide damping. Fig. 7 shows the comparison of the variation of the rotor angle of generator 1 without and with control. The CLF allows the system to remain in synchronism and additionally provides some damping once the rst swing has been controlled.
Rotor Angle
200 180 160 No Control Control

A. Power System The test system is based on the topology network and technical data of generators in [7]; see Fig. 5. Generators are modeled as two-axis; AVR, turbines, governors and PSS are included in each synchronous machine. The derivation of the Lyapunov functions and the control strategy were based on the simple model and active constant loads. However in the simulations, the loads are voltage dependent. Magnitude of the loads and power in generators are set in such way that the power system runs out of step during the rst swing.
1 5 6
P Gen1 HVdc Gen2 Gen3

10

11

[ degrees ]

140 120 100 80

2
Load 1 Load 2

Gen4.1 Gen4.2

Fig. 5.

Test Power System

60 40 0 5 10 15

All simulations are performed by using SIMPOW [8] and the results plotted in MATLAB.
Fig. 7.

[s]

Variation of Rotor Angle in Generator 1 vs. Time

B. Simple Model In order to know how good is the approximation of the Simple Model, different fault cases were simulated and the results were compared with a model of the VSC-HVdc developed by

The transfer of active power is now increased through the ac lines between Bus 7 and Bus 9 and the same fault is applied. This simulation also conrms the correct formulation of the CLF, but also shows that there is a need for voltage

POWER TECH, LAUSANNE, SWITZERLAND, JULY 1-5, 2007

support. The rst swing is successfully controlled, although some seconds later the power system runs out of synchronism due to voltage instability. The dashed curves in Fig. 8 shows the variation of P indicated in Fig. 5. The variation of voltage at Bus 8 is also illustrated in Fig. 9. A third simulation is run in this fault-case. Voltage support based on a PI-controller is applied at ac buses where the HVdc is connected. The active and reactive power control work in parallel. The solid lines in Fig. 8 and Fig. 9 shows that the power system is now fully stable. Even though the nal magnitude of the voltage is slightly below 0.9 p.u., the reactive power control prevented the system from falling out of synchronism due to voltage instability.
Power Oscillations
18 17 16 15

demands a co-ordination with other control devices present in the network, will also be considered. The use of remote signal in the control strategy will make part of the study as well. VII. C ONCLUSIONS An energy function for an VSC-HVdc and a Control Lyapunov Function (CLF) for enhancing transient stability were derived. The Lyapunov function of the uncontrolled system was used as Lyapunov function candidate for the controlled system. The control laws that made the Lyapunov function candidate negative (and consequently became a CLF) resulted in the use of locally measurable input signals, specically the frequencies at the buses where the DC-system is connected. Simulations conrmed that the control strategy based on CLF effectively allowed the VSC-HVdc to improve transient stability in the power system, controlling the rst swing oscillation and providing some damping as well. However simulations also conrmed that there was a need for voltage control. ACKNOWLEDGEMENT

[ pu ]

14 13 12 11 10 9 8 0 5 10 CLF CLF + PIctrl 15

The authors would like to thank ABB for allowing the university to use its model of the VSC-HVdc in this research project and also for its help and support in the use of it. R EFERENCES
[1] Z. Artstein, Stabilization with relaxed controls, Nonlinear Analaysis, Theory, Methods and Applications, Vol. 7, No. 11, pp. 11631173, 1983. [2] E. Sontag, A universal construction of Artsteins theorem on nonlinear stabilization, Systems and Controll Letters 13, pp. 11631173, 1983. [3] V. Jurdjevic and J. P. Quinn, Controllability and Stability, Journal of Differential Equations 28, pp. 381389, 1978. [4] M. Ghandhari, G. Andersson and I. A. Hiskens, Control Lyapunov Functions for Controllable Series Devices, IEEE Transactions on Power Systems, vol. 16, no. 4, Nov. 2001. [5] M. A. Pai, Energy Function Analysis for Power System Stability, Kluwer Academic Publishers, 1989. [6] M. Pavella and P.G. Murthy, Transient Stability of Power Systems, Theory and Practice, John Wiley & Sons, 1994. [7] P. Kundur, Power System Stability and Control, New York: McGrawHill, 1994, pp. 813 [8] STRI,SIMPOW - a Digital Power System Simulator, ABB Review No. 7, 1990

[s]

Fig. 8.

Variation of P vs. Time

Voltage Profile
1 0.9 0.8

[ pu ]

0.7 0.6 0.5 0.4 0

CLF CLF + PIctrl 5 10 15

[s]

Fig. 9.

Variation of Voltage at Bus 8 vs. Time

B IOGRAPHIES
H ector F. Latorre received the M.Sc. degree in Electrical Engineering from Royal Institute of Technology, Stockholm, Sweden, in 2002. He was employed by Interconexi on El ectrica S.A. -ISA-, Colombia, in the area of design of substations for 9 years. He is currently Ph.D. student at the Royal Institute of Technology (KTH). Mehrdad Ghandhari received the M.Sc., Tech. Lic. and Ph.D. degrees in Electrical Engineering from Royal Institute of Technology, Stockholm, Sweden, in 1995, 1997, and 2000, respectively. He is currently Assistant Professor at the Royal Institute of Technology (KTH). Lennart S oder (M 91) was born in Solna, Sweden in 1956. He received his M.Sc. and Ph.D. degrees in Electrical Engineering from the Royal Institute of Technology, Stockholm, Sweden in 1982 and 1988 respectively. He is currently a professor in Electric Power Systems at the Royal Institute of Technology. He also works with projects concerning deregulated electricity markets, distribution systems, risk analysis and integration of wind power.

VI. F UTURE W ORK The formulation of the control strategy for transient stability is one part in the derivation of the Multichoice Control for a VSC-HVdc. Next steps include the derivation of the control strategy to damp power oscillation based on small signal analysis and the denition of the strategy to switch from First Swing control to Small Signal control. The POD signal would be based on modulation of either active or reactive power, since it might be useful to damp power oscillation by modulating the reactive power of the VSC-HVdc when the dc cable is out of service, but the converters are available. An implementation of the Multichoice Control in a detailed model of VSC-HVdc and use of more complex power system, which