Notice of Violation of IEEE Publication Principles "Modified Load Flow Analysis for Integrated AC/DC Power Systems" by Youssef

A. Mobarak in the 2008 12th International Middle-East Power System Conference (MEPCON 2008), 2008, pp. 402 405 After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles. This paper contains significant portions of original text from the paper cited below. The original text was copied with insufficient attribution (including appropriate references to the original author(s) and/or paper title) and without permission. Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article: "Modified Newton-Raphson Load Flow Analysis For Integrated AC/DC Power Systems" by A. Panosyan, B.R. Oswald in the 2004 39th International Universities Power Engineering Conference (UPEC 2004), 2004, pp. 1223 - 1227

Modified Load Flow Analysis for Integrated AC/DC Power Systems

Youssef A. Mobarak

Abstract-- Two-terminal High Voltage Direct Current HVDC transmission links are in operation throughout the world. They are key elements in electrical power networks, their representation is oversimplified or ignored in most power system studies. It is therefore necessary to adequately model the HVDC transmission links and integrate them in the load flow analysis of the complete AC/DC system. In this paper, the well known Newton-Raphson method for the load flow analysis is modified to achieve compatibility for AC/DC systems with integrated DC links in the AC network. The modified Jacobian equation includes the DC real and reactive power at the AC/DC buses, and their dependency on the AC system variables. The modified Newton-Raphson method is evaluated on an AC/DC test system with a load flow computation in Power World Simulator PWS and the results are presented.
Index Terms-- Power Systems Modeling, HVDC, Load Flow

IGH Voltage Direct Current HVDC transmission constitutes a key application of the power electronics technology to electrical power networks. The economics of bulk power transmission by underground means is increasingly moving in favour of direct current. The HVDC links have the ability to exert instantaneous power control in neighbouring AC systems. Great many research efforts have been directed towards realising HVDC models for stability studies and power flows [16]. However, HVDC models for OPF studies have received limited attention and are underdeveloped [7,8]. De Martinis et al. have developed an HVDC model but the solution algorithm is a sequential gradient restoration algorithm [7]. Lu et al. also developed an HVDC model, which was incorporated in a sequential quadratic programming techniques [8]. H. Ambriz et al. have developed a simultaneous solution in which the DC equations are combined with the AC equations in a single frame-ofreference for a unified iterative solution using Newtons method [9]. The basic model of the HVDC link is based on the formulation given in [10, 11]. The significant increase in planned offshore wind parks and the tendency towards large parks in considerable distances offshore poses a new challenge to grid operators. Although, present pilot farms with limited capacity can be connected to the main grid onshore relatively easily and inexpensively using conventional ac transmission, connecting larger wind
Author is with the Department of Electrical Engineering, High Institute of Energy, South Valley University, Aswan, Egypt, (E-mail: y_a_mubarak@yahoo.com)

I. INTRODUCTION

farms further offshore is considerably more difficult. The main disadvantage of an ac connection to these remote offshore parks is the great amount of charging current produced by long AC submarine cables due to the high capacitance of AC cables, which reduces the active current carrying capacity of the cable and requires reactive power compensation. Thus, the greater the distance of these large wind farms to the grid onshore become and the higher the transmission voltage is the more convenient technical and economical solution HVDC transmission becomes for connecting distant large offshore wind parks to the main grid. Although the new Voltage Sourced Converter VSC based HVDC technology allows higher flexibility over the conventional Current Source Converter CVC based HVDC and an independent reactive power control in addition to other advantages, the VSC transmission technology is still in its early stages and is still economically not feasible at power levels of 500MW or more due to the high cost of multiple converters and cables that are required. The conventional HVDC will therefore be the more logical choice at the present for the connection of the planned offshore wind farms to the main grid. These large wind farms connected to the main grid through two-terminal HVDC links represent a challenge for the simulation of analysis of the overall AC/DC power system. Therefore, these new network elements should be appropriately modeled and represented in the different simulation programs. In this paper, the adequate modeling of a two-terminal HVDC link and its integration into the well known Newton-Raphson method for the load flow analysis is looked into, taking into account the control strategies of the HVDC converter stations. The elements of the residual vector and the Jacobian matrix for the AC network are kept unchanged and are merely complemented by a new vector and a new matrix, which represent the modifications due to the DC link. II. CONSIDERATIONS The simplest way of integrating a DC link into the AC load flow is representing it by constant active and reactive power injections at the two terminal buses in the AC systems. Thus the two terminal AC/DC buses are represented as a PQ-bus with a constant voltage independent active and reactive power. However this is clearly an inadequate representation where the links contribution to AC system reactive power and voltage conditions is significant, since the accurate operating modes of the link and its terminal equipment are ignored. A more advanced and accurate method is representing buses connected to an HVDC as a PQ-bus with a voltage dependant

978-1-4244-1933-3/08/$25.00 2008 IEEE

402

active and reactive power. However, the voltage dependency of the active and reactive power at these AC/DC buses do not obey the general rules of the conventional PQ-buses in AC systems. We have thus a new type of PQ-bus, which we define as PQ (DC-bus). In our approach the real and reactive power equations for the PQ (DC-buses), with their dependency on both the AC voltages at the terminal buses and the characteristics of the DC converters and their control strategies, are derived and integrated into the AC load flow algorithm. This approach is a combination of the two main methods most AC/DC load flow algorithms are based on: the simultaneous solution method and the sequential solution method. Unlike the sequential method, in which successive iterations between the AC load flow and DC the load flow are taken, the AC and DC equations are all solved in the same iteration step. Nevertheless the DC variables are not explicitly included in the state vector as in the simultaneous solution method. In the Newton-Raphson method for the load flow analysis, with the basic Jacobian equation: Jx = y (1) This leads to modifications on the elements of the residual vector (y) and of the Jacobian matrix (J) affiliated to the AC/DC buses, without adding new elements to the residual vector and the Jacobian matrix. In this approach, the real and reactive power and the AC voltages at the converter buses are considered the interface between the AC and DC equations in each iteration step. A further point to be determined is whether the AC network components which are attached to the two-terminal HVDC links should be considered as part of the AC system or included in the DC system equations. These components are usually the AC filters and the converter transformers. The AC filters can be included in the AC network as fixed real and reactive power injections at the AC buses connected to the HVDC link. The tap-changing converter transformers are however included in DC network, since the tap-changing of the transformers is an integral part of the DC control systems. Consequently, the primary sides of the transformers are chosen as the interface buses between the AC and DC systems. Leaving the transformers out of the AC network helps getting around the need to update the bus admittance matrix of the AC network with each tap-changing. III. DC LINK MODELING For the analysis of the steady state converter operation, some basic and generally valid assumptions can be made. Firstly, the AC voltages at the terminal buses are perfectly balanced and sinusoidal. Thus, a perfect AC filtering of all harmonic currents and voltages generated by the converters is assumed. Correspondingly, a perfect filtering on the DC side too is assumed and the DC current and voltage contain no AC components. Furthermore, the losses and magnetizing admittance of the two-winding converter transformers are ignored.
Rdc Vr Pr+jQr Vdr ar Id Vdi ai Vi Pi+jQi

A basic schematic diagram of a two-terminal HVDC link interconnecting buses (r) (rectifier) and (i) (Inverter) is illustrated in Fig. (1). The symbols appearing in the diagram are defined as follows: V = primary line-to-line ac voltage (rms) Vd = direct voltage Id = direct current a = transformer ration P, Q = active and reactive power The basic converter equations, for both rectifier and inverter operations, describing the relationship between the AC and DC variables can be written as follows [12-14]. A. Rectifier Equations (3) Where Vdor is the ideal no-load direct voltage, k =32/, and r is the ignition delay angle. Rcr is the so called equivalent commutating resistance, which accounts for the voltage drop due to commutation overlap and is proportional to the commutation reactance, Rcr=3Xcr/. The active power at the rectifier is given by: Pr = Vdr I d (4) Since losses at the converters and transformers can be ignored (Pr=Pac), the reactive power at the rectifier can be determined as: Qr = Pr tan r (5) Where r is the phase angle between the AC voltage and the fundamental AC current, and by neglecting the commutation overlap can be calculated as:

Vdor = ka rVr Vdr = Vdor cos r Rcr I d

(2)

r = cos 1 (Vdr Vdor )

(6)

B. Inverter Equations The inverter operation of a converter can be correspondingly described by the following equations Vdoi = kaiVi (7)

Vdi = Vdoi cos i Rci I d Pi = Vdi I d Qi = Pi tan i

(8) (9) (10) (11)

i = cos (Vdi Vdoi )

1

Where i is the extinction advance angle. C. Line Equation The interdependence of the two DC voltages can be expressed by: Vdr = Vdi + Rdc I d (12) With the DC line resistance Rdc Based on eqs. (3), (8) and (12), the equivalent circuit of the two terminal HVDC link is shown in Fig. (2).

Fig. 1. Two terminal HVDC link interconnecting buses (r) and (i)

403

cos

Rcr

Rdc

- Rci

cos

Id Vdor Vdor cos Rectifier side Pdr Vdr DC line Vdi Pdi Vdoi cos Inverter side Vdoi

Fig. 2. HVDC equivalent circuit

ratio to the next highest tap position, ensuring that the control angles, which are correspondingly readjusted too, remain over their minimum values. The active and reactive DC power at each converter, corresponding to the operating state obtained above, can now be obtained through DC power equations of the rectifier and inverter. Thus, the residual vector in eq. (1) is modified as follows: y = y ac + y dc (13) Where yac is the residual vector for the ac network without the dc link, and ydc is the modification vector due to the active and reactive DC power at the converter buses, and thus contains zero elements at all other buses in the AC/DC network. Finally, the Jacobian matrix elements associated with the converter buses are to be modified. The polar coordinates form of the Jacobian matrix is the more appropriate choice, since four of the eight elements associated to each converter are then zero. This is due to the independence of the DC active and reactive power from the phase angles of the terminal AC buses (r and i ). Hence, only the partial derivatives of and in respect to the AC bus voltages Vr and Vi are to be calculated. In order to do this, the dependency of the DC power on AC voltages, for the actual operating state of the converters and transformer ratios, should first be established. The five possible operating states and the corresponding AC voltage dependency of the DC power are demonstrated in Table (1). After determining the converter operating state and formulating ydc, the corresponding partial derivatives of P and Q are calculated and the Jacobian matrix is modified: J = I ac + J dc (14) The modification matrix Jdc is dependent on the operating state and is a zero matrix for state 1. When the residual vector and the Jacobian matrix are modified for the HVDC link, the Jacobian equations are then solved and the AC voltages and angles updated. For the next iteration step the updated AC voltages at the terminal buses are used to determine the adequate operating state of the converters, and consequently the modifications on and y and J, and so on till convergence is obtained. V. APPLICATION ON TEST SYSTEM To test the algorithm, a load flow program with the integrated AC/DC algorithm has been written in PWS. The program is applied on an AC test system with an integrated two terminal HVDC link. The 10-bus test system is thus modified by adding the transmission line from bus 7 to bus 8 with a hypothetical DC link Fig. (3). The fictitious characteristics of the DC link are given in Table (2). The AC filters are not taken into consideration here, but could be included in the AC network. The rest of the system is the same as the 10-bus system.
7 1 5 6 8 9 10 3

IV. DC ACTIVE, REACTIVE EQUATIONS AND MODIFICATIONS ON JACOBIAN EQUATIONS Equations (4), (5), (9) and (10) represent the PQ(DC-buses) in the AC system. The active and reactive power at the PQ(DC-buses) depend on the AC bus voltages, the characteristics of the converters and their operating modes. To determine the dependency of P and Q on the AC bus-voltages for a given pair of converters, four control specifications are required. These are usually the direct current or the DC power at one of the converters, the nominal DC voltage at one of the converters (usually the inverter), and the optimum value of the control angles, which are usually the minimum control angles min and min, since the ignition delay angle and extinction advance angle are kept as close to their minimum value as possible to keep the reactive power consumption of the converters at its minimum [15,16]. With the given converter parameter and control specifications and with the latest updated AC bus voltages at each iteration step, the transformer ratios ar and ai corresponding the optimum value of the control angles are calculated [17]. However, critical operation conditions may result in one or both converter transformer ratios reaching their upper or lower limits. When one of the transformers reaches a limiting ratio, the inverter DC voltage and subsequently the rectifier DC voltage is freed and readjusted, keeping the direct current fixed. And when both transformer ratios reach their upper and lower limits respectively, or is freed, depending on whether the rectifier transformer ratio or the inverter transformer ratio has reached its maximum level, since and can not fall below their minimum value. These five operating states of the converters are summarized in Table (1). In case the ignition and extinction angles are to be kept fixed at their minimum values, the direct current can be freed instead [13]. Table 1. Converter operating states and the AC voltage dependency of DC active and reactive power
State 1
min

State 2
min

State 3
min

State 4
min

State 5
f(Vr,Vi) min ar.min ai.max f(Vi) f(Vr, Vi) f(Vi) f(Vi)

ar ai Pr Qr Pi Qi

min ar.min<ar<ar.max ai.min<ai<ai.max Constant Constant Constant Constant

min ar.max/min ar.min<ar<ar.max f(Vr) f(Vr) f(Vr) f(Vr)

min ar.min<ar<ar.max ai.max/min f(Vi) f(Vi) f(Vi) f(Vi)

f(Vr,Vi) ar.max ai.min f(Vr) f(Vr) f(Vr) f(Vr,Vi)

Once the operating state of the converters and the corresponding transformer ratios are determined, the transformer ratios need to be readjusted to match one of the actual tap position of the transformers, since the tap ratios can vary only in steps. This is done by rounding the calculated
404

2 1159 MW 212 MVR

1575 MW 288 MVR

VI. CONCLUSIONS
Fig. 3. 10-bus test system with integrated dc link

Convergence within a tolerance of max(x)=0.0001 is achieved in 6-iteration steps, which is one step more than the load flow for the 10-bus system without the DC link. The AC and DC load flow results are given in Table (3), Table (4), and Table (5) respectively. Table 2. Characteristics of the DC link
Bus number Commutation reactance Minimum control angle Transformer regulation range Number of tap positions Resistance of the DC line Rated DC power at inverter Rated DC voltage at inverter Rectifier Inverter 7 8 5.7 ohms 5.8 ohms o o min = 5.0 min = 10.0 15% 15% 25 21 0.55 ohms 100MW 300kV

This paper presents a method for including DC links in the Newton-Raphson AC load flow algorithm through simple modifications only on the elements of the residual vector and the Jacobian matrix, which are associated with an AC/DC bus. The advantages of this method over the sequential and the simultaneous solution methods respectively are omitting a separate DC iteration at each AC iteration step, and a simpler modification of the AC load flow algorithm without the need to reshape the Jacobian equation by PWS. VII. REFERENCES
[1] [2] [3] [4] Reeve J, Fahmy G, Stott B., Versatile Load Flow Method for Multiterminal HVDC Systems, IEEE Trans Power Apparatus System 1977, PAS-96, pp. 925933. Fudeh H, Ong MN., A Simple and Efficient ACDC Load-Flow Method for Multiterminal DC Systems, IEEE Trans Power Apparatus System 1981, PAS-100, pp. 43894396. Ong MN, Fudeh H., AC Power Flow Control with a Multiterminal DC Systems, IEEE Trans Power Apparatus System 1981, PAS-100, pp. 46864691. Braunagel DA, Kraft LA, Whysong JL., Inclusion of DC Converter and Transmission Equations Directly in a Newton Power Flow, IEEE Trans Power Apparatus System 1976, PAS-95, pp. 7688. Arrillaga J, Bodger P., A.C.D.C. Load Flows with Realistic Representation of the Convertor Plant, Proc IEE 1978, pp. 4146. El-Marsafawy MM, Mathur RM., A New Fast Technique for LoadFlow Solution of Integrated Multi-Terminal DC/AC Systems, IEEE Trans Power Apparatus System 1980, PAS-99, pp. 246255. De Martinis U, Gagliardi F, Losi A, Mangoni V, Rossi F., Optimal Load Flow for Electrical Power Systems with Multiterminal HVDC Links, IEE Proc 1990, pp. 139145. Lu CN, Chen SS, Ong CM., The Incorporation of HVDC Equations in Optimal Power Flow Methods Using Sequential Quadratic Programming Techniques, IEEE Trans Power Apparatus System, 1988, pp. 1005 1011. H. Ambriz-Perez et al., High Voltage Direct Current Modelling in Optimal Power Flows, International J Electric Power Energy System, 2007, pp. 6-10 Smed T, Andersson G, Sheble GB, Grigsby LL., A New Approach to AC/DC Power Flow, IEEE Trans Power System, 1991, pp. 12381244 Kimbark E., Direct Current Transmission, New-York, Wiley-Interscience, 1971. P. Kunder, Power System Stability and Control, Mc-Graw-Hill, 1994. A. B. Gamal, M. Z. El- Sadek, Y. A. Mubarak, Feasibility of Application of Artificial Neural Network (ANN) Controllers for HVDC Systems Control, Proc. 39th International UPEC2001, Bristol, UK. (UWE) , 2004. M. Z. El-Sadek, G. El-Saady, Y. A. Mubarak, Feasibility of Application of Fuzzy Logic Controller for HVDC System Control, Proc. IEEE 7th INES2003, Assuit, Egypt, 2003, pp. 272-276. M. Z. El-Sadek, G. El-Saady, Y. A. Mubarak, HVDC Systems Controlled with Artificial Intelligence Techniques, Proc. 36th International, UPEC2001, UWS, 2001. J. Arrillaga, P. Bodger, Integration of HVDC Links with FastDecoupled Load Flow Solutions, Proc. IEE, Vol. 124, No. 5, May 1977 H. A. Sanghavi, S. K. banerjee, Load Flow Analysis of Integrated ac-dc Power System, 4th IEEE Region 10th, Nov. 1989, pp. 22-24.

Table 3. AC load flow results

bus # 1 2 3 4 5 6 7 8 9 10 Voltage (kV) 20.6 20.2 20.6 20.2 232.3 230.0 225.4 223.1 230.0 232.1 Angle (degree) 3.8 -5.8 0.0 -10.1 -0.8 -10.6 -18.6 -22.9 -14.8 -4.7 P (MW) -700 -700 -721 -700 0 0 1259 1475 0 0 Q (MVAR) -102 -269 -107 -372 0 0 239.4 207.6 0 0

[5] [6] [7] [8]

Table 4. DC load flow results (Power Base 100MW)

DC voltage (kV) Control angles Transformer tap position Real power (MW) Reactive power (MVAR) DC current (kA) Rectifier 300.17 6.8 1.1125 100 (Base Value) 19.1 0.3331 Inverter 300.0 10.9 1.0875 99.9 25.5

[9] [10] [11] [12] [13]

Table 5. DC load flow results (Current Base 0.1kA)

DC voltage (kV) Control angles Transformer tap position Real power (MW) Reactive power (MVAR) DC current (kA) Rectifier Inverter 300.05 300.0 7.4 10.5 1.1187 1.1 30.005 30.0 4.6 6.2 0.1 (Base Value) [14] [15] [16] [17]

It can be clearly seen in the results that the inverter bus 8 sustains a considerable voltage drop due to the HVDC link failing to transport the reactive power consumed at the node from generator 3. The reactive power is supplied from generator 4 instead, and thus the increase in Q at bus 4. To reduce the voltage drop at bus 8, VAR compensators would be used at the bus (60MVAR). The voltage drop could be kept under 8% by compensating at least 28% of the reactive load at the bus.

405