120

Chapter-4
STABILITY OF HVDC SYSTEM
4.1 INTRODUCTION

With rapid increase of HVDC, utilization in the electric utility for

either transmission or back-to- back applications the relative portion of

the DC power to the total system power is growing. In other words, AC

systems at the terminals of HVDC schemes are becoming relatively

weaker. When the receiving end AC system is weak, the stability of

converter AC bus becomes an important problem for the operation of the

HVDC system. One approach to solve this problem is to install

synchronous condensers and Static Var Compensators, which increases

the cost of the converter station. The other way is to select appropriate

control strategy for the HVDC system, which is a good approach. In this

chapter the concept of Control Sensitivity Index (CSI) for the analysis of

stability of HVDC converters, connected to weak AC systems have been

presented.

Sensitivity Analysis “Asses the variation in the value of a given

function caused by the changes in one or more arguments of the

function” [65].Sensitivity analysis is also aimed at establishing a mere

relationship between a response in one or several parameters of the

system. The index is calculated based on the steady state equations of

the combined AC –DC system and assumes fundamental frequency

 121

quantities. The theoretical results are validated with digital simulation in

PSCAD/EMTDC and are presented. The system considered for the study

is CIGRE benchmark system. Here Critical Short Circuit Ratio(CSCR)

represents the borderline between stable and unstable operating regions.

4.2 EARLIER APPROACHES

Several authors[56] [66],[67] have presented methods for the

stability analysis of HVDC converters terminating at AC system locations

having low short circuit capacities. These methods have been based on

steady state models, assuming fundamental frequency operation. They

provide valuable insight into the basic mechanisms of phenomena such

as voltage instability. They are more realistic than earlier approaches

which used concepts such as the Short Circuit Ratio (SCR) or the

effective short circuit ratio (ESCR).

Ainsworth [66] has introduced the concept of Maximum Available

Power (MAP) for the case of a transmission system with the rectifier in

constant power control and the inverter in constant extinction angle (γ)

control. Hammed et al. [67] have introduced the concept of Voltage

Stability Factor (VSF) which is the incremental change in the AC bus bar

voltage at the converter bus due to a change in reactive power supply at

that bus, i.e., dV/dQ. VSF is positive (voltage increases with reactive

power increase); a negative value indicates voltage instability. Hammed et

al. used this method to develop optimal methods for voltage control at
 122

the converter bus. Franken and Anderson [56] used a similar technique

to study the voltage stability under various converter control modes and

tap changer control and an equivalence between the MAP index of

Ainsworth[66] and the VSF [56], [67] of Hammed et al have been

presented. Pilotto et al. [68] demonstrated the application of the VSF

method in the analysis of a converter connected to a weak ac system and

verified their results with EMTP simulation.

4.3 ALGORITHM FOR CSI

4.3.1Power flow formulation

The system shown in Fig.4.1 is used to obtain the control

sensitivity Index used to specify the best control mode for stability of

HVDC system inverter operated with weak ac system. The figure shows

an HVDC inverter connected to an ac system with equivalent impedance

Zs (i.e., SCR=│1/Zs │).The ac filters and fixed capacitors shown are

represented as an impedance Zf .It supply reactive power of 0.56 pu (base

1000MW) 1 pu (base230KV) voltage.

Fig 4.1 Inverter connected to AC system

 123

Following equations are used to evaluate the sensitive indices:

From the figure 4.1

Zs = Rs + jXs

1 1
Zf = 
Y f G f  jB f
At Vt bus

I = IS+IF

Where

Is: Source current

If: Filter current

Vt  Es 
IS =
Zs
Vt
If =
Zf
Complex Power S = VI*

S = P-jQ (  depends on lag & Lead of Load)

At reference bus V= Vt 00

Apply conjugate on both sides

S* = V* I 

V* = Vt* = Vt 00

P+jQ = Vt 00 [Is + If ]

 124

After substituting Is and If, compare the real and imaginary terms.

Where the variables are:

Vt: Line to line voltage at the AC bus bar

Xc: Commutation impedance

Id: DC Current

T: Transformer turns ratio

α: Inverter firing angle

γ: Inverter Extinction angle

φ: Power factor angle of inverter ac current

Vd: Inverter dc voltage

Pd: Inverter dc power

Zf: Ac filter impedance

Es: AC system source voltage magnitude

δ: Phase angle between Es and Vt

Zs: AC system impedance, (Rs+jXs)

Design variables from the power flow equations are represented as a

vector X.

XT =[ Vt Id α γ φ T Vd Es δ Pd Bf]
 125

By the power flow solution only a reduced set of variables are determined

and remaining quantities are specified.

The reduced set of variables are represented as vector XrT

XrT= [α, φ, Vd, Es, δ Pd]

Equations (4.1) to (4.6) are represented in the matrix form

F (Xo) = 0 (4.7)

X0 is the vector X with steady state solution values.

Relation between estimated solution and steady state solution is given as

F(Xo) = F(X) + ∆F(X) (4.8)

F(X) =-∆F(X)

Where ∆F(X) =

Is the jacobian J of matrix F at X

= Xo – X (4.9)

F(X) =-J∆X (4.10)

With reduced variables Xr equation (4.10) can be represented as

F(X) =-Jr ∆Xr

∆Xr = - Jr-1 F(X) (4.11)

New values of Xr is calculated as

Xr =Xr + ∆Xr (4.12)

For steady state solution equation (4.11) and (4.12)

are solved iteratively until F(X) is zero.

 126

4.3.2 CSI Formulation

The quantities that vary during dynamic operation are known as

operating variables. Out of the total design variables, seven quantities

are set up as operating variables out of which one is controlled. An

HVDC controller is designed such that one of the operating variables is

directly controlled and others are indirectly affected by varying the other

operating variable. The parameters are specified as controlled parameter

and controlling parameter. The control sensitivity index[69][70] is defined

as rate of change of controlled parameter to the controlling parameter.

After obtaining the power flow solution, the control sensitivity index is

Calculated as the equation (4.10) can be written as

J∆X = Jv ∆Xv + Jy dy (4.13)

Xv: operating variables except controlling parameter

Y: controlling parameter

Jv: square matrix consisting the columns of Jacobin J related to Xv

variables

Jy: one column of Jacobin J that corresponds to the controlling

parameter

At steady state, equation (4.10) is zero

i.e., J∆X =0

Therefore =- Jv-1Jy

CSIx: Control Sensitivity Index for desired controller

 127

CSIx = - Jv-1Jy (4.14)

HVDC systems are operated in various control modes such as Constant

Extinction Angle (CEA) mode, Constant Power Control (CPC) mode and

Constant Voltage Control (CVC) mode.

Table4.1 presents the various controlling modes of HVDC system and

shows the controlled and controlling parameter for each control mode.

Table 4.1 Modes of operation of HVDC system

Mode of operation Controlled Controlling Control

Parameter parameter sensitivity Index
Constant Extinction Γ α CSI =
Angle (CEA) mode
Constant Power Pd Id CSI
Control (CPC)mode
Constant Voltage Vd α CSI
Control (CVC) mode

4.4 CSI FOR DIFFERENT CONTROL MODES

Assume the rectifier is in constant current control and inverter

constant extinction angle control mode as shown in Fig.4.2. The gamma

controller shown in Fig 4.3 operates under the implicit assumption that,

increasing the firing angle α will result in decrease in γ i.e., <0. For

strong systems it is true, when α+ μ + γ =π, if μ is not well behaved, then

the above assumption is not satisfied.

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Fig4.2 Rectifier at Constant Current and Inverter at CEA

If the system SCR is changed it causes CSI to become positive, then the

system becomes unstable. Test system data is presented in the appendix.

Fig 4.3 Gamma

Controller

Vdi = Vdo cos γ - (Xc Id) (4.15)

Vdi = -Vdr

But Vdr = Vdo cos α -3/π (Xc Id) (4.16)

Vdi = -Vdo cos α +3/π (Xc Id)

Considering the line resistance R of the system

Vdi =Vdr-R*Id (4.17)

Solving for Id
 129

Id = =

(4.18)

On differentiation

CSI =-[ (4.19)

For inverter operation sinα>0 and sinγ >0 and R>

<0

If CSI then system is stable

This agrees the analysis purely based on the characteristics

discussed above. From the Fig4.4 as the power gain is not available

below Idcrit, it is not advantageous to operate at Id > Idcrit.

If the controller assumes that Id must be increased with increased

power than the system will be unstable in constant power control mode.

So in Maximum Available Power analysis a normal power controller

increases Id to increase the power i.e., it operates under the assumption

that CSI .Beyond the peak of the Maximum Power Curve, this

assumption is no longer true and the system is unstable in constant

power control. If the output of the controller is multiplied by -1 then the

area to the right of MAP would be stable and then the controller operate

on the assumption that CSI <0 .

 130

Fig 4.4: Maximum Power Curve

4.4.1 Constant Extinction Angle Control Mode

The flow chart presented in Fig 4.5 shows the approach to obtain

CSI for one particular mode as SCR changes. Plots for CSI are developed

as magnitude of SCR changes from large value to small where the point

of instability occurs. Assume in all these case inverter is fully

compensated. Converter dynamics are neglected. Fig 4.2 indicates a CEA

controller, in this the gains Kp and Ki of the controller are normally

positive, which means that if the measured extinction angle γ is larger

than the order γref, the error causes the firing angle order a to increase.
 131

START

Specify Initial conditions

& Design Specifications

Load flow solution

Calculate CSI

Change SCR

Check if
calculation is
over or not

NO

END

Fig 4.5 Flow Chart for Calculating CSI

 132

This strategy assumes that the increase in a will cause γ to decrease, i.e.,

that the quantity dγ/dα is negative. A positive value of CSIγ, would

indicate instability.

For calculating Control Sensitivity Index (CSI)

XT= Vt I d    T Vd Es  Pd B f 

XVT = [ X(1) X(2) X(3) X(4) X(5) X(6) Xx(7) X(9) X(10) X(11)]

The operating variables

XvT =[Vt γ φ Vd δ Pd]

XvT = [X(1) X(4) X(5) X(7) X(9) X(10)]

Y =[X (3)]

 J (1,1) J (1, 4) J (1,5) J (1, 7) J (1,9) J (1,10) 

......... ......... ......... ......... ......... ......... 
Jv=  
 J (6,1) J (6, 4) J (6,5) J (6, 7) J (6,9) J (6,10)  6 x 6

J Ty = [ J(1,3) J(2,3) J(3,3) J(4,3) J(5,3) J(6,3)]

CSIv =∆X(4)γ/dy

dγ/dα =- Jv-1Jy

A MATLAB program is developed for the above method. The results

so obtained are presented in the Table4.3. Using these results a plot is

drawn between as a function of SCR for three different SCR angles

65°,75° and 90°. From Fig 4.6 and from Table 4.3 it is clear that the

Critical SCR for 75° angle is 0.85 and CSCR for 65° angle is 1.05. For a
 133

smaller angle i.e., 65° the SCR value is high. For 90° angle the system is

stable even at low SCR values. To validate the results the inverter was

operated at steady state condition .A step change is given to alpha(∆α)

then change in ∆γ is measured from which the index is calculated for

each SCR value with 75° angle. The results so obtained are presented in

Table4.2

Table 4.2 Comparison Theoritical and Simulated Results of CSI for

CEA Mode

SCR Simulated Theoritical

2.5 -1.877 -1.877
2.0 -1.7308 -1.7407
1.6 -1.458 -1.558

Fig4.5a System Data

 134

Table4.3:Control Sensitivity Index for Constant Extinction Angle(

CEA) mode for a fixed DC Current (Id = 1pu)

SCR dγ/dα for 65° dγ/dα for 75° dγ/dα for 90°
2.5 -1.8087 -1.8777 -2.0035
2.45 -1.7951 -1.8668 -1.9966
2.4 -1.7808 -1.8553 -1.9894
2.35 -1.7658 -1.8433 -1.9819
2.3 -1.7499 -1.8308 -1.9742
2.25 -1.7332 -1.8176 -1.9662
2.2 -1.7156 -1.8038 -1.9579
2.15 -1.6969 -1.7893 -1.9492
2.1 -1.677 -1.774 -1.9402
2.05 -1.6559 -1.7578 -1.9309
2 -1.6334 -1.7407 -1.9211
1.95 -1.6093 -1.7225 -1.9109
1.9 -1.5835 -1.7033 -1.9003
1.85 -1.5557 -1.6828 -1.8892
1.8 -1.5258 -1.6609 -1.8776
1.75 -1.4933 -1.6374 -1.8655
1.7 -1.458 -1.6123 -1.8528
1.65 -1.4193 -1.5852 -1.8394
1.6 -1.3768 -1.5558 -1.8254
1.55 -1.3298 -1.5239 -1.8107
1.5 -1.2774 -1.4891 -1.7952
1.45 -1.2185 -1.4508 -1.7789
1.4 -1.1517 -1.4085 -1.7616
1.35 -1.0751 -1.3613 -1.7434
1.3 -0.9859 -1.3082 -1.7241
1.25 -0.8804 -1.2478 -1.7036
1.2 -0.7532 -1.1782 -1.6818
1.15 -0.5956 -1.0967 -1.6586
1.1 -0.394 -0.9993 -1.6339
1.05 -0.1245 -0.8798 -1.6074
1 0.2588 -0.728 -1.579
0.95 0.8559 -0.5261 -1.5486
0.9 1.9362 -0.2391 -1.5157
0.85 4.5632 0.2123 -1.4803
0.8 21.7184 1.0559 -1.4418
 135

CSI of dg/da
4
65deg
75deg
3
90deg

1
dg/da

-1

-2

-3

-4
0.5 1 1.5 2 2.5
SCR for fixed Id=1pu

Fig : 4.6 CSIγ for Constant Id (1pu)

CSI for various scr

-0.5

0.8
dg/da

-1

1.5
-1.5
2.0

-2 2.5

0 0.2 0.4 0.6 0.8 1 1.2

Id

Fig : 4.7 CSIγ for Variable Id

 136

The results obtained from the developed program is presented in

Table4.4 A plot is drawn for the CSIγ as a function with variable DC

current for a fixed SCR value 0.8,1.5,2.0,2.5 shown in Fig4.7.The

impedance angle is 75° in all the cases. For SCR with 0.8 the DC current

cannot exceed 1.0p.u.For stronger systems this current can be larger

than the rated indicating stable overloadcapacity.

Table4.4 Control Sensitivity Index for Constant Extinction Angle

mode for a variable DC Current with impedance angle 75°.

dγ/dα for dγ/dα for dγ/dα for dγ/dα for

Id
SCR = 2.5 SCR = 2.0 SCR = 1.5 SCR = 0.8
1 -1.8777 -1.71 -1.42 1.18
1.2 -1.8718 -1.7078 -1.4169 1.1884
1.1 -1.8774 -1.726 -1.4531 1.1412
1 -1.8777 -1.7407 -1.4891 1.0559
0.9 -1.8713 -1.75 -1.5233 0.9192
0.8 -1.8563 -1.752 -1.5535 0.7162
0.7 -1.8304 -1.744 -1.5766 0.4348
0.6 -1.7908 -1.7227 -1.5883 0.0748
0.5 -1.7343 -1.684 -1.5833 -0.3388
0.4 -1.6568 -1.6229 -1.5545 -0.7468
0.3 -1.5532 -1.5336 -1.4936 -1.0666
0.2 -1.4169 -1.4082 -1.3903 -1.2268
0.1 -1.2383 -1.2362 -1.2319 -1.1999

4.4.2 CONSTANT POWER CONTROL MODE

When the rectifier is in constant power control operation, the

power controller normally adjusts the current order so that the ordered

power is maintained. Thus the index dp/dId could be used as the

Control Sensitivity Index (CSI,).This criterion is the same as the

Maximum Available Power criterion by Ainsworth[ 2] and has been

shown to be exactly equivalent to the VSF at the critical point by

 137

Franken et al. [4]. The inverter is assumed to be in constant extinction

angle (CEA) control.For calculating CSIp

XT= Vt I d    T Vd Es  Pd B f 

XVT = [ X(1) X(2) X(3) X(4) X(5) X(6) Xx(7) X(9) X(10) X(11)]

The reduced operating variables from the designed variables

XvT =[ Vt α φ Vd δ Pd]

XvT = [X(1) X(4) X(5) X(7) X(9) X(10)]

Y =[X (2)]

 J (1,1) J (1, 4) J (1,5) J (1, 7) J (1,9) J (1,10) 

......... ......... ......... ......... ......... ......... 
Jv=  
 J (6,1) J (6, 4) J (6,5) J (6, 7) J (6,9) J (6,10)  6 x 6

J Ty = [ J(1,2) J(2,2) J(3,2) J(4,2) J(5,2) J(6,2)]

CSIp=∆X(10)γ/dy = dPd/dI =- Jv-1Jy

The results obtained from the above method are presented in Table4.5
 138

Table4.5 Control Sensitivity Index for Constant Power Mode for

Various SCR Values with Different Impedance Angle 65°,75° and 90°

SCR dP/dId at 65° dP/dId at 75° dP/dId at 90°

2.5 0.9025 0.9799 0.81
2.45 0.8913 0.9702 0.7977
2.4 0.8794 0.9597 0.7847
2.35 0.8666 0.9484 0.7708
2.3 0.8528 0.9361 0.756
2.25 0.838 0.9228 0.7402
2.2 0.822 0.9083 0.7233
2.15 0.8047 0.8925 0.7051
2.1 0.786 0.8753 0.6857
2.05 0.7656 0.8564 0.6647
2.0 0.7433 0.8356 0.642
1.95 0.719 0.8126 0.6175
1.9 0.6923 0.7872 0.591
1.85 0.663 0.7589 0.562
1.8 0.6305 0.7274 0.5305
1.75 0.5945 0.6919 0.4959
1.7 0.5543 0.652 0.4579
1.65 0.5094 0.6066 0.416
1.6 0.4587 0.5549 0.3696
1.55 0.4014 0.4954 0.3179
1.5 0.336 0.4264 0.2601
1.45 0.2609 0.3458 0.1951
1.4 0.1739 0.2505 0.1216
1.35 0.0722 0.1365 0.0377
1.3 -0.0481 -0.0018 -0.0586
1.25 -0.1919 -0.1725 -0.1702
1.2 -0.3667 -0.3875 -0.3008
1.15 -0.5828 -0.6652 -0.4553
1.1 -0.8558 -1.0359 -0.6407
1.05 -1.2102 -1.5522 -0.8667
1 -1.6864 -2.3156 -1.1474
0.95 -2.3563 -3.5485 -1.5044
0.9 -3.3621 -5.851 -1.9719
0.85 -5.027 -11.594 -2.6082
0.8 -8.2815 -49.734 -3.52
 139

The graph shown in Fig 4.8 indicates the control sensitivity index

for constant power mode for various SCR values, for different impedance

angles such as 65°,75° and 90°.For strong systems CSIp is greater than

zero and the system is stable. For weak AC networks CSIp is less than

zero and system is unstable. The Critical Short Circuit Ratio (CSCR) is

1.3 obtained from the Fig4.8 and from Table4.5 .

Constant Power mode

3

0
dP/dI

-1

-2

-3

-4 -75deg
-65deg
-90deg
-5
0 0.5 1 1.5 2 2.5
SCR

Fig : 4.8 CSIp for Constant Power Control

4.4.3 Constant Voltage Control Mode

In Constant Voltage control mode, for calculating the CSIv, the rectifier is

assumed to operate at constant current and inverter at constant voltage

by controlling the firing angle.

 140

For calculating CSIv

The reduced operating variables from the designed variables

XvT =[ Vt α φ Vd δ Pd]

XvT = [X(1) X(4) X(5) X(7) X(9) X(10)]

Y =[X (3)]

CSIp=∆X(7)γ/dy = dPd/dI =- Jv-1Jy

The results obtained from the above method are presented in Table4.5

and a graph is plotted for each impedance angle 65°,75°,90° between

dvd/dα for various SCR values .The CSIv plot is shown in Fig4.9

Constant Voltage Control

4

-90
1
dv/dalfa

0
-75
-1 -65

-2

-3 X: 0.65
Y: -3.754

-4
0 0.5 1 1.5 2 2.5 3
SCR

Fig4.9 CSIv Plot for Constant Voltage Mode

 141

Table4.6 Control Sensitivity Index for Constant Voltage Mode for

Various SCR Values
SCR dvd/dα 65° dvd/dα 75° dvd/dα 90°
2.5 1.4481 1.3852 1.2705
2.45 1.4605 1.3952 1.2768
2.4 1.4735 1.4056 1.2834
2.35 1.4872 1.4165 1.2902
2.3 1.5016 1.4279 1.2972
2.25 1.5169 1.4399 1.3045
2.2 1.533 1.4525 1.3121
2.15 1.55 1.4658 1.32
2.1 1.5681 1.4797 1.3282
2.05 1.5873 1.4945 1.3367
2 1.6079 1.5101 1.3456
1.95 1.6298 1.5266 1.3549
1.9 1.6533 1.5442 1.3646
1.85 1.6786 1.5629 1.3747
1.8 1.7059 1.5828 1.3853
1.75 1.7355 1.6042 1.3963
1.7 1.7677 1.6271 1.4079
1.65 1.803 1.6518 1.4201
1.6 1.8417 1.6786 1.4328
1.55 1.8845 1.7076 1.4462
1.5 1.9323 1.7394 1.4604
1.45 1.986 1.7743 1.4753
1.4 2.0469 1.8129 1.491
1.35 2.1167 1.8559 1.5076
1.3 2.198 1.9043 1.5252
1.25 2.2941 1.9593 1.5439
1.2 2.4101 2.0227 1.5637
1.15 2.5537 2.097 1.5849
1.1 2.7374 2.1858 1.6074
1.05 2.9831 2.2947 1.6315
1 3.3324 2.4331 1.6574
0.95 3.8766 2.6171 1.6852
0.9 4.8613 2.8786 1.7151
0.85 7.2556 3.2901 1.7474
0.8 22.8914 4.0589 1.7825
0.75 -9.9715 6.1235 1.8207
0.7 -2.7852 38.5451 1.8624
0.65 -0.9989 -3.7536 1.9085
0.6 -0.1613 -0.6734 1.9607
0.55 0.345 0.3013 1.9985
 142

Fig4.10a RMS Voltage Waveform for Step Change in Reference Voltage

Fig 4.10b: Firing Angle Waveform for Step Change in Vreference

Fig4.10c Gamma Angle Waveform for Step Change in Vreference

 143

A small change in DC voltage order for an inverter connected to a

system of SCR 2.5. Figure 4.10a.,Fig4.10b & Fig4.10c represents the

simulated waveforms of Vdcrms, firing angle, and extinction angle .A

small perturb ration in DC voltage follows a change in firing angle which

results in CSIv and it is validated by simulation as shown above in Fig

4.10a,b,c. From the Table4.5 and Fig 4.9 the control sensitivity index

for constant Voltage mode has Critical Short Circuit Ratio(CSCR) for 75°

impedance angle as 0.65 and Critical Short Circuit Ratio(CSCR) for 65°

impedance angle is 0.75.

4.4.4 Comparision of Three Modes

CSI for three control modes

4
const.Angle CSIg=0.85
Const.Voltage CSIv =0.65
3
Const.Power CSIp 1.35

2
CSIcec,CVM,CPM

-1

-2

-3

-4
0.5 1 1.5 2 2.5
SCR

Fig 4.11 Comparison of CSI for all Three Control Modes

 144

Table4.7 Control Sensitivity Index for all Three Modes

SCR dVd/dα dγ/dα dPd/dId
2.5 1.3852 -1.8777 0.9025
2.45 1.3952 -1.8668 0.8913
2.4 1.4056 -1.8553 0.8794
2.35 1.4165 -1.8433 0.8666
2.3 1.4279 -1.8308 0.8528
2.25 1.4399 -1.8176 0.838
2.2 1.4525 -1.8038 0.822
2.15 1.4658 -1.7893 0.8047
2.1 1.4797 -1.774 0.786
2.05 1.4945 -1.7578 0.7656
2 1.5101 -1.7407 0.7433
1.95 1.5266 -1.7225 0.719
1.9 1.5442 -1.7033 0.6923
1.85 1.5629 -1.6828 0.663
1.8 1.5828 -1.6609 0.6305
1.75 1.6042 -1.6374 0.5945
1.7 1.6271 -1.6123 0.5543
1.65 1.6518 -1.5852 0.5094
1.6 1.6786 -1.5558 0.4587
1.55 1.7076 -1.5239 0.4014
1.5 1.7394 -1.4891 0.336
1.45 1.7743 -1.4508 0.2609
1.4 1.8129 -1.4085 0.1739
1.35 1.8559 -1.3613 0.0722
1.3 1.9043 -1.3082 -0.0481
1.25 1.9593 -1.2478 -0.1919
1.2 2.0227 -1.1782 -0.3667
1.15 2.097 -1.0967 -0.5828
1.1 2.1858 -0.9993 -0.8558
1.05 2.2947 -0.8798 -1.2102
1 2.4331 -0.728 -1.6864
0.95 2.6171 -0.5261 -2.3563
0.9 2.8786 -0.2391 -3.3621
0.85 3.2901 0.2123 -5.027
0.8 4.0589 1.0559 -8.2815
0.75 6.1235 3.3211 -17.31
0.7 38.5451 38.8934 -162.8
0.65 -3.7536 -7.5158 27.5543
0.6 0.3013 -4.1363 14.0065
0.55 -0.6734 -2.5088 9.9549
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Table4.8 Summary of Critical SCR Values

Rectifier Control Inverter Control CSI Critical SCR

Constant current Const.Ext Angle CSI = 0.9

Constant Power Const.Ext Angle CSIp = 1.3

Constant current Constant CSI

Voltage

Table 4.7 indicates the CSI values for all the three control modes

for an impedance angle 75°. A graph is plotted between CSI of different

control modes and SCR shown in Fig4.11. From the results presented in

Table4.8 the CSI at CSCR is 0.65 indicates stable operation.

The following chapter deals with CCC principle, analytical steady

state behavior of both conventional and capacitor commutated HVDC

system and to demonstrate the suitability of CCC in weak AC system by

comparing with LCC.

4.5 SUMMARY

The Control Sensitivity Index is an approach for analysis of HVDC

converters connected to weak AC systems. This method establishes a

direct association between the system instability and the control mode.

In this Critical Short Circuit Ratio (CSCR) represents the border line

between stable system and unstable system. This demonstrates how the

knowledge of this association can be used in the design of a stable

controller. The theoretical calculations of CSI confirm very well with the

digital simulation results. The CSI calculations for all three control
 146

modes of the conventional Line commutated converter HVDC system are

presented. It indicates that constant voltage control mode is superior

when inverters are connected to weak AC networks. For a weak inverter

system, the most stable control option is to have the inverter in voltage

control mode and the rectifier in constant current control.