MODELING AND ANALYSIS OF

AC-DC SYSTEM INTERACTIONS

by
DURVESH KALKE - MT17IPS008
VIKASH KUMAR - MT17IPS015
VISHAL RAJ - MT17IPS016
 1. INTRODUCTION
The need for the interaction of the AC-DC models arised along
with development of high power rating HVDC systems.
Appropriate development of a equipment models is a must for
the analysis of AC-DC system interactions.
The system models are generally non-linear and time varying
along with power electronic controllers.
Small signal analysis is invariably used for preliminary design
of controllers and models and also to check the stability.
 2. SYSTEM MODELS
A system model basically is constructed from the component
models and identifying the interfaces between various
components.
AC & DC Models
The development of system models based on simplified or
detailed component models also facilitates analytical study of
system stability under small and large disturbances.
For accurate simulation/modeling, it is necessary to model
swithing action in converters generated by firing angle control.
 2.1 CONVERTER MODELS
Two types 1) Simplified Continous Time Converter Model &
2) Discrete Time Converter Model
Simplified Continous Time Converter Model
Consider a converter bridge fed from a transformer. The
equivalent circuit of converter bridge is as shown below.
V is the converter bus AC voltage expressed in per unit, is the delay
angle, or for the rectifier and angle of advance for the inverter. k is
defined as
3 2
=

where Vab is the base AC voltage and VdB is the base (rated) voltage.
We express Rc as commutation resistance as follows: Rc = (Xc/2)*k
3
= (2 1 +
2
3
where = ; is the overlap angle.

The transformer winding resistance and valve voltage drop can be taken
into account in a manner similar to average inductance.
Discrete Time Converter Model
The model is derived for a bridge operating in 2 & 3 valve conduction mode.

The expression for Vd in terms of transformer secondaries is as follows:

= ( )

Considering the valve 3 begins conducting at time constant . The average
DC voltage over interval ( , +1 ) is
+1
1
=


0
Assuming valves are fired regularly at 60 , = h =
3
Valve 3 being fired at instant ,

= 2 sin( + + )
3
Combining all the above equations, we get
1 2
= ( 2 cos - Xc ) ( + 1 -

)
 2.2 CONVERTER CONTROLLER MODEL
2.2.1 Power Control, Auxiliary Control and Voltage Dependent
Current Order Limiter (VDCOL). The output of this block is the
current order.
2.2.2 Constant Current and Constant Extinction Angle control; the
output of this type of controller is a control voltage that determines
the instant of gate pulse generation.
 Gate pulse generator which has input from the CC or CEA
controller and determines the instant of gate pulse generation
for each valve.
There are basically two types of firing control schemes.
(1) Individual Phase Control (IPC) and (2) Equidistant Pulse
Control (EPC). The latter can be categorized again into (a)
Pulse Frequency Control (b) Pulse Phase Control and (c)
Pulse Period Control
 2.3 DC NETWORK MODELING
The DC smoothing reactor and DC filters are represented by lumped
parameter linear elements
DC line is modelled as T or equivalent circuit.

= ( ) + ( )/ , = ( ) + ( )/

1
= ( )

= + + /2
= + + /2

= +
2

= +
2
 2.4 AC MODELS
The AC network can be assumed to in the steady state (say for
power flow analysis or long term stability analysis). In this case,
single phase representation is most often used. However, three
phase representation is also possible for analysis on unsymmetrical
networks.
In the case of transient analysis on symmetrical three phase
networks it is adequate to consider only two phase representation
using , components or D-Q components. The latter has the
advantage of eliminating the time varying coupling between AC
and DC system. Hence, it is convenient for analytical studies and
also has the advantage that, in steady state, D-Q components are
constants and as related to the phasors in power flow analysis.
2.4.1 FORMULATION OF STATE EQUATIONS
Consider formulation of state equations using , components.
The network is excited by voltage and current sources at specific
nodes. The contribution at the converter bus from the DC system in
a current source dependent on the converter DC current. The state
equations can be written as follows:
= + 1 + 2
where is the state variable for inductor currents and capacitor
voltages, [R], [S1] and [S2] are matrices which are functions of
network paramters
The sequence network is similar to sequence network. The state
equations for the network will be as follows:
= + 1 + 2
Transformation to D-Q Components:

cos sin
= sin cos
where U is the identity matrix of dimensions equal to order or
,
is the angle between D axis and reference axis.

The equations can be written as:

= + 1 + 2
= + 1 + 2
Where , , and are components of stator voltages and
currents respectively.
3. TORSIONAL INTERACTION WITH HVDC SYSTEM
5.1 GENERAL INTRODUCTION:-
Rotor circuit of synchronous generator contributes negative resistance at sub-
synchronous frequencies to the generator impedance, when viewed from
stator terminal.
This is due to induction generator effect and the phenomena is termed as self
excitation when sustained oscillation occur due to system interactions.
The compensating series capacitors introduce a series resonant frequency in
the electrical circuit, comparising gen. stator, T/F and Tx line.
= /( + + )
The rotor oscillation frequency , cause armature voltage components at
frequency of = ; generally ( < )
+ for supersynchronous freq. components and for subsynchronous
The SSR due to torsional interactions can occur when is close to
 The SSR caused by series compensation results in severe damage
of shaft. Shaft damage can also occur due to fatigue when the
peak torque is exceeds a limits.
*This is affected by net Mech. Damping which is influenced by
the torsional interaction. At the subsynchronous freq. ,the
negative damping (torque coefficient) is
= ( R)/(2 . 2 )
This is more severe than induction gen. effect. Even if the
resistance of rotor circuits are neglected, the problem exist.
Torsional effect with HVDC system is much less severe and can
be tackled by adding an aux. subsynchronous damping
contrller(SSDC) to damp SSO.
 3.2 Factor affecting the phenomena:-
The torsional interaction is significant only at turbine-generators in the close
vicinity of HVDC converters relative to other units.
Converter control has a major effect. The problem is more acute with EPC, than
IPC, although this can be compensated by adding synchronizing circuit with
sufficient bandwidth. The use of an auxiliary control in the current control loop to
damp subsynchronous oscillations is beneficial.
The negative damping is of main concern for the torsional modes that lie in the
frequency range of 10 to 20 Hz.
The negative damping increases with the power level.
For a given power level, the damping introduced by the DC system is sensitive to
the level of the DC voltage. This effect can be traced to the changes in the
operating values of the delay angle (0L) caused by the voltage changes. The
negative damping is less for smaller values of the delay angle.
The strength of the AC system adjacent to the converter is a major factor. The
adverse torsional interactions are most significant for the radial operation of the
DC link.
 3.4 Control of Torsional Interaction
Adverse TI is much less than compared to that caused by fixed series compensation
(adverse interaction exists only if radial operation of HVDC link connected to turbine
generator is expected/envisaged.
There are 2 ways by which adverse TI can be overcome. 1.
Modifications of convertor control
2. Providing a SSDC (subsynchronous damping control)
The 1rst option is feasible only if modification does not affect the usual function of the
controller during normal and abnormal contingency.
a).DC line fault b). Recovery from ac line fault.
Whenever the 1rst TI mode of TG has freq.. Hig=gher than 15Hz.the TI is minimal and can
be solved with minor modification of existing convertor control
The second approach of providing SSDC to modulate firing angle of the converter to damp
SSO ,is more flexible. The input signal can be taken from the rotor speed or bus freq.
 Continued
The SSDC can be designed based on:
A). wide bandwidth approach
B). Narrow bandwidth approach
In the former, sharp band pass filter is used to isolate the TI mode of concern
and has adv. of minimizing the interference with existing HVDC converter
controls.
The o/p of SSDC goes directly to the firing angle controller to modulate the delay
angle . In designing a SSDC, care must be taken to ensure that it does not
amplify the chars or non-chars harmonics
 3.5 Torsional Interactions with MTDC Systems
1. A rectifier on current control contributes to maximum negative damping of torsional
modes, when the generator is connected to the rectifier terminal. The torsional mode
with the lowest frequency (mode 1) is most affected. The voltage controller at the
inverter contributes to the negative damping to some extent.
2. The torsional modes are better damped when the rectifier is chosen as Voltage
Setting Terminal (V ST) as opposed to the case when the inverter is chosen as VST.
3.6 Torsional Interactions with VSC-HVDC :-
1. DC Voltage Control of the VSC(rectifier
or inverter) near the generator results
in better damping of the torsional modes.

2. The constant power control of the rectifier

station situated close to the generator
contributes small negative damping
 3. The constant power control of the inverter station situated close to the
generator can destabilize the torsional modes in a narrow range of lower
frequencies..
4. Unlike LCC-based HVDC systems, the problem of TI with VSC-HVDC is minor
except when the converter is operated as an inverter with constant power
control. However , DC voltage control of VSC actuallaly provides small positive
damping. Thus ,there may no need for SSDC.
4. HARMONIC INTERACTIONS
 4.1.1 GENERAL OVERVIEW:
The converters in HVDC stations genertae harmonics both AC and DC.
Some of these harmonics are called characteristics harmonics that will be
always be present under ideal conditions, others are called non-
characteristics(abnormal) harmonics which are caused by
i. Firing angle errors
ii. Negative sequence components in the converter bus AC voltage
iii. Unequal converter transformer leakage impedances
 While AC and DC harmonic filters are employed invariably to filter out the
characteristic harmonics, the cost considerations do not allow the provisions of filters at
other harmonic frequencies except under special circumstances.

If AC harmonic currents ( say third harmonics), are injected into the AC system, they
can cause harmonic distortion of the converter bus voltage due to resonance.

If the distortion is severe, this can lead to operational difficulties such as higher
incidence of commutation failure, etc.

Some of the major factors that affect the low order harmonic resonances are:

Control System generation of firing pulse.

1. Saturation in converter transformers.
2. Characteristics of system impedance.
3. DC system characteristics- the impedance seen by the converter terminal.
4. Induction effects.
 The possible solution to the problems are as follows:

1. Modification of the control system.

2. Use of additional filters at third harmonic.
3. Use of synchronous condeners, SVC or STATCOM at converter
station.

Harmonic distortion during transients are always present and is caused by the
changing in the firing angles due to the controller action.

The problem of harmonic instability is a staedy state phenomenon and is to be

overcome by suitable control or design of the system.
:
4.1.2 Harmonic Instability with PC Scheme of Firing
Pulse Generation

This was first studied by Ainsworth using a physical model simulator. He also den
Expressions for harmonic magnification based on certain assumptions and
approximations. The assumptions are as follow:

1. The DC current is constant-finite nature of the impedance of the DC System is

neglected.

2. The overlap due to the leakage reactances is neglected.

3. The constant firing angle type of individual phase control scheme is considered.
 The major conclusion of the study are as follows:

1. The harmonic instability can be expected with systems having low SCR at
the conventer bus. The problem may be present even at moderate values of
SCR if there is a resonating.

2. The firing control scheme has a major effect. The problem is worse with
inverse control scheme compared to the constant control scheme.

3. The performance with IPC schemes can be improved substantially using

filters in the control system such that the commutation voltages derived
from the bus voltage are free from the harmonics.

4. The problem of harmonic instability is substantially solved using the EPC

scheme of firing pulse generation as this eliminates the firing angle errors
that are caused by the shifting of the zero crossings of the commutation
voltages (due to the harmonic)
 4.1.3 Core Saturation Instability

The major causes for this type of harmonic instability are due to :

i. The DC system having genes resonance at or near the fundamental frequency.

ii. Low short circuit ratio at the converter bus.

The possible solutions to this instability are as follows:

1. Selecting smoothing reactor values to avoid the resonance in the DC system

at or near the fundamental frequency.

2. Modification of the controller by adding an additional dc flux control loop.

 4.1.4 Analysis of AC induction in DC line

The harmonic interactions can result from either :

a. Induced voltage in the DC link either from a parallel AC transmission line

or transferred from the converter the other end of the DC line.

b. Generstion of the harmonic in the DC link by voltage or harmonics in the

AC voltage source.
 4.1.5 Harmonic transfer in BTB links

A BTB link, generally has low impedance as there is no DC line and the smoothing
reactors have smaller inductances.

The magnitude depends on the characteristics of the DC and AC impedances as well

as control characteristics.

In an asynchronous HVDC link the operating frequencies at the two end may be
different even though the nominal frequencies are same.

In this case, there could be lower frequency components in the DC current.

 4.1.6 Harmonic Interactions in VSC-HVDC
Systems

Harmonic interactions are also present in VSC based HVDC systems. However,
the mechanism different.

The harmonics in the AC current are transferred to the DC side current with
frequency translation.

If switching functions for the VSC are approximated by neglecting

harmonic components, the presence of AC harmonic current order n is
manifested as DC harmonic of order (n - 1) if the AC harmonic current has
positive sequence.
 If theAC harmonic has negative sequence, then DC harmonic is of order (n + 1).

If the DC voltage (on the capacitor) has a harmonic component of order n, it

results in the AC voltage harmonics of order (n - 1) and (n. + 1).

= (Positive sequence of AC)

The frequency of the harmonic component in AC voltage resulting from the

harmonic component in dc voltage, (having frequency ),

+ = +
=
The choice of capacitor is affected by considerations of harmonic interactions.
 5. CONTROL INTERACTIONS

Some aspects of control interactions are covered under harmonic interactions

where it is shown that converter control can help to overcome problems of
harmonic instability or oscillations.

HVDC control is quite complex with several levels of control and various modes
of operations that affect system performance.

FACTS Controller for voltage control can interact with the AC network
resonance.
 Questions:
Explain the various blocks and its functions used in the
Converter Controller models.
Draw the model for DC line using model and write the state
equations.
Explain analysis of HVDC turbine generator torsional
interactions along with block diagram.
Explain the analysis of harmonic instability applied to any AC
or DC network.
 References
1] K R Padiyar, HVDC Power Transmission Systems, Third Edition
(2015), New Age International Limited Publishers.
THANK YOU