Modeling and Simulation of PI-Controllers Limiters for the Dynamic Analysis of VSC-Based Devices

The paper discusses the modeling and the simulation of the limiters of proportional integral (PI) controllers included in voltage-sourced converters. Seven PI controller models are considered. These include windup and anti-windup limiters, back calculation with different gains and delayed feedback and the model recommended by the IEEE standard 421.5-2016. The dynamic behavior and numerical issues arising for each PI implementation are thoroughly compared by means of a detailed all-island dynamic model of the Irish system including the HVDC East–West Interconnector and a simplified dynamic model of the Great Britain system; and the Nordic system with inclusion of a STATCOM device. Recommendations on the computer-based implementation of each model are provided in the concluding remarks.

[1]  Reza Iravani,et al.  Voltage-Sourced Converters in Power Systems: Modeling, Control, and Applications , 2010 .

[2]  Akihiro Ametani.  Numerical analysis of power system transients and dynamics , 2015 .

[3]  Ian A. Hiskens.  Trajectory deadlock in power system models , 2011, 2011 IEEE International Symposium of Circuits and Systems (ISCAS).

[4]  Matthew C. Turner,et al.  A tutorial on modern anti-windup design , 2009, 2009 European Control Conference (ECC).

[5]  Federico Milano,et al.  Semi-implicit formulation of differential-algebraic equations for transient stability analysis , 2017, 2017 IEEE Power & Energy Society General Meeting.

[6]  J A Martinez,et al.  Definitions and Applications of Dynamic Average Models for Analysis of Power Systems , 2010, IEEE Transactions on Power Delivery.

[7]  Federico Milano,et al.  Modeling, Simulation, and Comparison of Control Techniques for Energy Storage Systems , 2017, IEEE Transactions on Power Systems.

[8]  Wil L. Kling,et al.  Advanced Hybrid Transient Stability and EMT Simulation for VSC-HVDC Systems , 2015, IEEE Transactions on Power Delivery.

[9]  Manfred Morari,et al.  A unified framework for the study of anti-windup designs , 1994, Autom..

[10]  Simone Schweitzer,et al.  Multi Terminal Direct Current Grids Modeling Analysis And Control , 2016 .

[11]  Julio E. Normey-Rico,et al.  Analysis of Anti-windup Techniques in PID Control of Processes with Measurement Noise , 2018 .

[12]  Federico Milano,et al.  Power System Modelling and Scripting , 2010 .

[13]  Jean Mahseredjian,et al.  On a new approach for the simulation of transients in power systems , 2007 .

[14]  Goran Andersson,et al.  Dynamic modeling of a VSC-HVDC converter , 2013, 2013 48th International Universities' Power Engineering Conference (UPEC).

[15]  S. Svensson,et al.  Overview of the 500MW EirGrid East-West Interconnector, considering System Design and execution-phase issues , 2013, 2013 48th International Universities' Power Engineering Conference (UPEC).

[16]  M. Hoagland,et al.  Feedback Systems An Introduction for Scientists and Engineers SECOND EDITION , 2015 .

[17]  J. Peralta,et al.  Detailed and Averaged Models for a 401-Level MMC–HVDC System , 2012, IEEE Transactions on Power Delivery.

[18]  Tore Hägglund,et al.  Advanced PID Control , 2005 .

[19]  Lars Rundqwist,et al.  Integrator Windup and How to Avoid It , 1989, 1989 American Control Conference.

[20]  K.R.W Bell,et al.  Test system requirements for modelling future power systems , 2010, IEEE PES General Meeting.

[21]  S. Tarbouriech,et al.  Anti-windup design: an overview of some recent advances and open problems , 2009 .

[22]  A. Petersson,et al.  Holly STATCOM - FACTS to Replace Critical Generation, Operational Experience , 2006, 2005/2006 IEEE/PES Transmission and Distribution Conference and Exhibition.

[23]  I. Hiskens,et al.  Dynamics of Type-3 Wind Turbine Generator Models , 2012, IEEE Transactions on Power Systems.

[24]  Federico Milano,et al.  Test systems for voltage stability analysis and security assessment , 2015 .

[25]  R.G. Harley,et al.  Power Quality and Dynamic Performance Improvement of Wind Farms Using a STATCOM , 2007, 2007 IEEE Power Electronics Specialists Conference.

[26]  Andrew G. Alleyne,et al.  A generalized PID error governing scheme for SMART/SBLI control , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[27]  Federico Milano,et al.  Generalized Model of VSC-Based Energy Storage Systems for Transient Stability Analysis , 2015, IEEE Transactions on Power Systems.

[28]  Jean Mahseredjian,et al.  Interactions studies of HVDC–MMC link embedded in an AC grid , 2016 .

[29]  Federico Milano,et al.  Impact on Power System Dynamics of PI Control Limiters of VSC-Based Devices , 2018, 2018 Power Systems Computation Conference (PSCC).

[30]  Federico Milano,et al.  A python-based software tool for power system analysis , 2013, 2013 IEEE Power & Energy Society General Meeting.

[31]  Thierry Van Cutsem,et al.  On simplified handling of state events in time-domain simulation , 2011 .

[32]  Ian A. Hiskens.  Dynamics of type-3 wind turbine generator models , 2012, PES 2012.

[33]  Jinyu Wen,et al.  Design of Anti-Windup Compensator for Energy Storage-Based Damping Controller to Enhance Power System Stability , 2014, IEEE Transactions on Power Systems.

[34]  A. Visioli.  Modified anti-windup scheme for PID controllers , 2003 .

[35]  Ronnie Belmans,et al.  Modeling of Multi-Terminal VSC HVDC Systems With Distributed DC Voltage Control , 2014, IEEE Transactions on Power Systems.

[36]  A. Bellen,et al.  Numerical methods for delay differential equations , 2003 .