Presented at Student Poster Contest, on: 2002 IEEE Power Engineering Society Winter Meeting New York, NY,

USA, January 27 31, 2002.

Challenging Opportunities for Incoming Engineers in HVDC Transmission Technology

Paper Form of the Poster Aleksandar R. Katancevic IEEE Student Member Helsinki University of Technology

Abstract: HVDC Transmission Technology has had an enormous growth all around the world, in last twenty years. Continuous research and improvement in quality of HVDC Power Transmission is an occupation of many engineers today. Bright future for this technology in incoming years offers stable and healthy template for work and research. This paper, summarize variety of possibilities for the incoming engineers and researchers in HVDC Transmission Technology. Introduction HVDC came alive for a combination of technical and economic consideration, with the first commercial transmission link between the Gotland and the mainland of Sweden, in 1954. Since then, the whole HVDC transmission technology has experienced a dramatic development. Some 45 years later, a panel session has been held at the 1999 PES Winter Meeting in New York City addressed to the role that HVDC transmission technology might play in energy development during the twenty-first century. [3]. Related to that, opinions have converged in two different points, those who see bright future for HVDC transmission technology are the first one, while the second point represent view that there is a little potential for its use. However, there is some property of HVDC that guaranty its stable future. For many situations HVDC transmission technology has obvious advantage over conventional type of HVAC transmission technology. Here will be mentioned most of it. The main applications of advanced HVDC transmission technology can be fallen into four categories: 1. For a very long-distance transmission links that are goes beyond the break-even distance (8001000 km for overhead line, and 50 km for submarine cable) decisive are the construction costs. [3], [7]. 2. Asynchronous connections, for example between the networks of 50 and 60 Hz frequency. [3], [7].

3.

Costs of transmission losses caused with HVDC are far a way lower than costs of HVAC transmission losses. Transmission of only active power through the HVDC link causes around 20% lower losses than active and reactive power flow through the HVAC. (For the range of 500 1000 km link). [4]. [7]. 4. Submarine cable transmission, no matter on the length but the prior is on the different behavior, of the cable when charged with AC or DC current, in the water environment. [3], [7]. Many benefits can be achieved by using HVDC instead of HVAC, so let just mentioned some of them: 1. Higher system controllability for the wider electrical network area, which has at least one feeding of power energy from HVDC link. This feature has big importance today when deregulation opens electrical energy market and needs for electrical energy trading increases. That is pushing system to works on the edge of stability in order to use maximum of the system capacity. This is possible to achieve only with good controllability of the whole system. HVDC system controllability is important feature today, in did. 2. Increased stability of the network feed by HVDC link is not just something what follows as a result of increased controllability. Stability of the system is improved, also, by possibility of HVDC to supply network-island and to help the fast recovery after the unavoidable black-out kick the system. 3. HVDC has stable operation even with a lowpower interconnection. [4]. 4. HVDC do not increase the short-circuit power A grid that is supplied with HVDC does not increase the Short-circuit current. The converters ensure that the current added never exceeds a value that is adapted to other power sources and loads. This means that in a grid of this kind: cheaper circuit-breakers, simpler bus-bar

arrangements in switchgear, simpler safety, arrangements, etc., can be selected. [7]. So it looks like that life of HVDC transmission technology will continued actively at least in several, well known and above mentioned applications. The real worry might be in looking for the next generations of well educated HVDC engineers. In the text below, the one can find some of challenging opportunities which HVDC transmission technology offers. Simulate HVDC Nowadays HVDC technology disposes with several good tools for system simulations. Digital and Real Time Digital simulators (RTDs) are present not only at companies but they are at universities laboratories, also. Analogue simulators are still in use, as well. So lets see what the reasons for employing system simulation technology at HVDC transmission, are. There are several, good, reasons for simulating HVDC system: The HVDC System is linear within its normal operating range but when there is a big transient, it is very nonlinear. During transient conditions, it is very hard to predict the ACsystem behavior and it is necessary to simulate to find it out. [2]. Another reason to simulate is to study HVDC-HVAC interaction. Transients can trigger swinging where many components are involved, e.g. synchronous machines, exciters, power-system stabilizers, long lines and of course HVDC. With many components, it is practically impossible to do manual calculations. [2]. Regulators test can be done The stability of the regulator together with other regulators can then be tested in the simulation tool prior to being put into service in the real plant. [2]. When using a computer simulation program, it is easy to try out different designs. You only need a mathematical model that describes your model without building the real hardware. This allows you to try modifications easily. The different designs can be stored and be brought up for comparison in a second. [2]. Digital Simulators and Software Digital simulation of Power System Applications (PSA) has been a focus of research for the last 5 decades. Considerable literature has dwelt upon development of fast and numerically stable algorithms, applicable to large systems for a variety of applications. [13]. The domain of applications can

be classified into steady-state analysis, dynamic analysis, and real-time decision making /automation. Working with PSA, software development or running the simulations in HVDC technology is something what shell be offered to the potential and well educated, young engineers. Dedicated work in these fields has fast pay back in knowledge, experience, and unrepleaced position. This is something what can motivate, in did. Writing Models Mathematical modeling of HVDC components and its writing with program language for a usage in a digital transient simulator has many difficulties. Power electronic circuits present a special problem for electromagnetic transient simulation. It is associated with elements like switch, such as thyristor or GTO (Gate Turn-Off thyristor - may open and close several times in a cycle). Models for these components need to have accurate interpolation. It is gone far away in direction of interpolated models library. Interpolation is a means for accurately modeling the exact switching instant in transient simulation programs without using a small time-step. [1]. Paper [1] describes the construction of a number of control components, which perform such interpolation using PSCAD/EMTDC as the simulation platform. [1]. Model writing is good task for young engineers or last year on M.Sc. program, power systems oriented students. It has strong connection with programming and power systems theory knowledge. Also, it requires a full observing by model writing skills engineer at the early stage. Engineers, familiar with this task later becomes almost un-replaced as it is very classify knowledge. On the other side, these tasks are not easy at all, they are challenging and something what requires 100% of dedication in order to came up with accurate and confirmed results. It looks like good motivation for young engineers. RTDs (Real Time Digital simulations) RTDs technology replaces the previous generation of network analyzers, which were based on analogue technology. Real time simulation is the only means for testing control equipment and real time digital simulation represents the most flexible and efficient method of performing such tests. As well, the RTD simulator allows closed-loop protection system testing well beyond any other means of testing and verifying the equipments performance and settings. [Amplifiers are often incorporated in the loop to allow the relays to be tested using its in-service operating voltages and currents]. [11]. Paper [9] presents the use of RTDs for the verification of HVDC control and protection. Also, paper [10]

presents the use of RTDs for the real-time testing of SVC (Static Var Compensator) controller. RTDs tasks are reserved for very experience engineers, who spent many time with HVDC controls and different type of simulations. However, this new ways in process of HVDC design are very inspire and good motivation for young engineers. Good reference for exploring Digital Simulating of HVDC and HVAC, as well as RTDs, is [12]. Load Flow Software There is a wide spectrum of different type of loadflow software. The best place for good information is IEEE Computer Application in Power magazine. Load-flow software offers interactive way for basic and advance power systems studies in steady-state analyzing. For a students on the M.Sc. level who has time and interests, can be interesting to try to develop its own program for such load-flow calculation, based on well known Newton-Raphson or Gauss method (equations). Load-flow software, at present time, must be a handy tool of one young, power system oriented engineer. This software can include and simulate load flow of a system that has both type of power transmission, HVAC and HVDC, together. Analogue Simulators Real Time Analogue Simulator (RTAS) has important part in direction of power system simulators development. Today, already overcome with digital technology, but still in use because of its cheap prize according to the prize of RTDs. Set-up of the real RTAS is a part of the whole simulator development. It is very interesting and knowledgefull process, very good for kind of M.Sc. thesis writing. Today RTAS may have good application in education but looks like that it is overcome from the aspect of system design pretest. This job is today reserved for Digital and Real Time Digital simulators. Scale Modeling Scale Modeling (SM) can be used to determine the electromagnetic field distribution in and around HVDC Converter Station, as well as along and around transmission link. SM can be classified under Analogue Modeling (AM) as it is type of analogue techniques, in did. This technique, develop by Department of E.E. at The Ohio State University and financed by EPRI, AEP and NY Power Authority, has been approved in many projects including those related to the HVAC, also. Technique is based on the model that should represent the full scale equipment realistically for electric or magnetic field strength measurement purposes. Mentioned technique:

is fast, accurate and conditions can be controlled. is used as a design tool that saves money in the development stage, can generate large amounts of data in a short time. This technique is part of development of the abovementioned institution. It is not known for the moment if some of bigger power systems companies are using method of SM, but information and achieved results exists so maybe in near future it becomes more exploited way for electromagnetic field simulations. Interested students, engineers, researchers and companies can obtained more detailed information from reference [5]. Control HVDC - Control Systems, Programming and Digital Electronics for HVDC System in Presence and Future Initially, control systems for one HVDC link were entirely analog. Nowadays, control system including protection system for HVDC is a fully digital.

Future - NEURAL?

HVDC Control System

Hardware (mic ropro cess ors circ uit boards)

Digital Electronics Theory Control System Theory (SISO, MIMO) Programing (C, FORTRAN or others)

HVDC Control System Soft ware

Presen t - DIGITAL
Past - ANALOGUE

Figure 1, Control System Development Process. All functions for control, supervision, and protection of the system are implemented in software running in a family of a microprocessors circuit boards [14]. Knowledge requirements for one engineer employed in HVDC technology covers wide area of electrical engineering knowledge, control system theory for SISO (Single Input Single Output) and MIMO (Multi Input Multi Output) variable systems [15], including

programming and digital electronic skills. At the stage of control design, experience is driving force. Well-educated engineers with years of experience in control systems design are the key of success. Programming languages (usually FORTRAN and C) must be handy tools of one control systems oriented engineer at HVDC technology. Not clear line between present solutions and development in HVDC control systems is the most challenging part of whole HVDC technology, figure 1. Differences in control solutions from project to project are frequently. This objectives do not left any space for kind of serial fabricating of HVDC transmission links, but every project must be consider separately and controls must be customized on such a way that presence of HVDC link improves power quality and reliability for the whole network areas on which this new connection might have influence. However, digitalizing of controls offers new features, per example all control functions can be implemented on programmable digital platforms to permit simple modification to operational characteristics, see figure 2. Redundancy and duplication of control features is also commonplace, adding further reliability and customizing of HVDC Controls [3], [14], [15], and [16].

A B 4 4

A B

Figure 2.2, Differences in previous and new project control circuit boards. It is looks like that future development as well as the present development will have, as it has potential opportunities for electrical engineers in CS HVDC technology. Power Electronics, Transmission Innovations and HVDC

4
4 - plug in

4 - plug out

Figure 2.1, New Project Controls. Personal opinion is that future development of control system for HVDC will follow development of microprocessors, and control systems in general. That means if one day neural technology become accepted in computer design in a larger scale, with the same amount as we have Silicon (Si) today, it can be future for HVDC control systems, also. These solutions are far away from today but probably the next step forward.

If someone can say that Control System (CS) of the HVDC is the brain of the system then its hart must be Power Electronic Devices (PE). Future development is of the same importance, for both parts. Functionality, effects and consequences on power quality and ratability of the system, related to CS and PE, are equal in the sense of possible distortion that can be caused with the failure or non-proper operating of any of those. Present situation in PE devices that are employed in AC/DC/AC Conversion for HVDC Transmission is set on usage of three types of devices: ETT - Electrically Triggered Thyristor LTT - Light Triggered Thyristor GTO - Gate Turn-Off Thyristor IGBT Insulated Gate Bipolar Transistor ETT and LTT are employed mostly at conventional tip of HVDC Transmission e.g. Transmission at greater power transfer levels, while GTO and IGBT are becoming often present at lower power transfer levels. In order to make the converting process more efficient, valves with LTT were developed. Driving idea was simplifying the Thyristor Control Unit (TCU) at high potential levels. However, the advantages of simpler TCU have not shown to be interesting enough to displace the ETT valves, even today ten years later. Several reasons might be for that but different kind of increased costs in case of valve failure or steady state losses were the most decisive factors. [12]. In recent years a new type of valve, based on IGBT, has been under very active development. IGBT device can satisfy requirements of one GTO in

addition to faster pace and with less energy consumption. This leads to the development of new HVDC applications using IGBT. Voltage Source Converters (VSC) with Pulse Width Modulation (PWM) is one of those new trends. With PWM type of operation the inverter can be connected into an extremely weak, or altogether black AC net. The complete concept has different names like HVDC Light, or LVDC (Low Voltage DC). This special type of transmission system has ratings around 50 60 MVA and it is very suitable for connections of different kind of alternative power sources (like windmills) to the rest of Medium Voltage network. Opportunities for engineers and researchers focused on PE developing within HVDC technology are more related to the useful applications development. Per example, just few applications that have been developed in recent years: Contune AC Filters, Active DC Filters, VSC with PWM. HVDC System Engineering System Engineering (SE) is the most common part of many different technologies. It is suitable place for working as it self requires only well understanding of technology but not necessarily deeper understanding of development, planning, or research fields. For a young engineer, SE is the best place to start. At HVDC technology SE offers: possibility for well understanding how HVDC System Operates in total (Some companies offer Guidelines to their new employees. Guidelines represent very practical collection of knowledge that helps and makes shorter freshmen period). equipping with practical knowledge of parts and components of a HVDC System, Team-working experience, experience in Technical Reports writing, getting skills with Tenders and Biding for a project. Trough the experience with SE task one engineer can find him self-interested in some fields of HVDC technology, more than working with it in general. Important characteristic for SE task is that it exists at companies that are producing HVDC transmission systems and as such it is not present at universities or institutes who are dealing with HVDC development. However, after some time spent at SE task in some company it can be possible to switch with task in a field of bigger interest. Also, engineers interested in management or dealing with the markets of HVDC can get the big goal if spent some time with SE tasks. It will help them to get feeling for the straight relation between the quality and ratability of used equipment

vs. prize of the project. Students who are looking forward for internship may try with SE tasks, they will not regret for sure, and very soon will be aware if HVDC is their life or not. Possible Fields for Research, M.Sc. or Ph.D. Thesis in HVDC Technology Sub-Synchronous resonance or sub-synchronous torque interaction (SSTI) is a well-known phenomenon in HVAC networks. It can be sustained and amplified in power systems with series compensated lines or active devices for power flow or voltage control. These devices introduce negative damping for the turbinegenerator system critical frequencies. It is known that also a HVDC link may have a similar effect particularly when connected near a turbine generator as the only load. [8]. Further investigations on this problem are still going on. Parallel operating of HVDC and HVAC lines, as common case, needs always pre tests to be performed. Research on power quality delivered by HVDC is always active. Harmonics caused by converters rectifying are big problem. Especially in this manner harmonics filter design is common solution. Radio Frequency Noise (RFN) emitted by HVDC finds out on a lot of complying by local citizens who are living close to the link. Serious research is going in direction to reduce it in better. Research on different type of power modulation that can be applied to HVDC or HVDC light can be the one of future or today thesis occupation. As was pointed, different types of controls developing for HVDC converters and additional helping devices are always going on. Studies on Electrical and Magnetic field calculations and its influence on the environment and human bodies may be still interesting for some authority; despite to the achieved and investigated results we have today. And at the end, probably the most challenging task can be software developing in different aspects, but related to the HVDC transmission technology.

Conclusion HVDC transmission technology characterised power transmission technology at the end of 20th century. Necessity, that gives the life to HVDC, will continue to be its driving force in the future. Challenging requirements that HVDC has, must be inspiration for the new age power systems engineers and researchers.

References [1] A Fully Interpolated Controls Library for Electromagnetic Transients Simulation of Power Electronic System, A.M. Gole, S.A. Woodford University of Manitoba, J.E. Nordstrom, G.D. Irwin Manitoba HVDC Research Centre, Winnipeg, Canada. Int. Conf. on Power Syst. Transients (IPST 2001), June 25-29, 2001. [2] HVDC Transmission Course Material 01, ABB Power systems AB, Sweden. [3] Role of HVDC Transmission in Future Energy Development, T.J. Hammons, D. Woodford, J. Longhtan, M. Chamia, J. Donahoe, D. Povh, B. Bisewski, W. Long, IEEE power engineering REVIEW, Volume 20, FEB 2000, Number 2, PP.: 10 25. [4] Use of HVDC and FACTS, DUSAN POVH, FELLOW IEEE, PROCEEDINGS OF THE IEEE, FEB. 2000, pp.: 235 245. [5] Analog Modeling of AC Magnetic Flux Density Distribution in Substations, Stephen A. Sebo, Ross Caldecott, Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210, U.S.A. [6] Summary Paper Post Graduate Seminar in Electric and Magnetic Fields of Power Systems Lines (HVAC and HVDC), Substations, Calculations and Consequences, Aleksandar R. Katancevic, Helsinki University of Technology, Espoo, Finland, October 2001. Lecture: Prof. Stephen Sebo, from Ohio State University, Columbus, USA. Helsinki University of Technology, Espoo, Finland, October 2001. (availablle at http://www.hut.fi/~katale/publications ). [7] Theres a better way, ABB Power Systems AB. [8] Sub synchronous torque interaction for HVDC Light B a theoretical description, Povilas Zizliauskas, Department of Industrial Electrical Engineering and Automation Lund University, Sweden. [9] Verification of HVDC Controller Using an Advanced Hybrid Real_Time Simulator. D. Povh, M. Claus, D. Retzmann SIEMENS AG, Li Han, Han YD, ZH Wang Tsinghua University. 0-7803-4754-4/98/$10.00 IEEE.

[10] Real Time Digital Simulation Studies for SVC Controller, D. Povh, D. Retzman SIEMENS AG, Dong Shen, Yingduo Han, Zhonghong Wang - Tsinghua University. 0-7803-47544/98/$10.00 IEEE. [11] REAL TIME DIGITAL SIMULATION FOR THE POWER INDUSTRY, RTDS Technologies Inc., 200-1619 Pembina Hwy., Winnipeg, Manitoba, Canada R3T 3Y6, http://www.rtds.com. [12] AC DC POWER SYSTEM ANALYSIS, Jos Arrillaga, Bruce Smith, IEE POWER AND ENERGY SERIES, p.p. 175 271. [13] Object-Oriented Design for Power System Applications, Shubha Pandit, S.A. Soman, S.A. Khaparde Indian Institute of Technology Bombay, India. IEEE Computer Applications in Power, October 2000. p.p. 43-47. [14] http://www.abb.com. [15] Maciejowski JM. - Multivariable Feedback Design. Addison Wesley 1989. [16] Modern HVDC: State of art and development trends, Victor F. Lescale ABB Power Systems AB. Bibliography
A. R. Katancevic student on 5th year at M.Sc. program in EE at ETF Belgrade University, Yugoslavia. One year working at ABB Power Systems AB, Sweden, HVDC Division at System Simulation and System Engineering departments, selected by IAESTE organization. For the moment on the last year of International M.Sc. program in EE at Helsinki University of Technology, Finland. IEEE Student Member. Special interests are HVDC and HVAC transmission technology. Contact: katancevic@ieee.org, aleksandar.katancevic@hut.fi, http://www.hut.fi/~katale