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Modelling and Control of an ACDC System with Significant Generation from Wind

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Modelling and Control of an ACDC System with Significant Generation from Wind Modelling and control of an ACDC system with significant generation from wind Author: Stefanie Tatjana Gertraud Supervisor: Ingeborg Kuenzel Prof. Bikash C. Pal (CID: 00485684) A report submitted in fulfilment of requirements for PhD examination. Control and Power Group Dept. of Electrical and Electronic Engineering Imperial College London July 2, 2014 1 Declaration of Originality and Copyright Declaration The work in this thesis is my own and all other material used is referenced accordingly. The copyright of this thesis rests with the author and is made available under a Creative Commons Attribution Non-Commercial No Derivatives licence. Researchers are free to copy, distribute or transmit the thesis on the condition that they attribute it, that they do not use it for commercial purposes and that they do not alter, transform or build upon it. For any reuse or redistribution, researchers must make clear to others the licence terms of this work. 2 Abstract This PhD project investigates the modelling and analysis of an AC-DC system with synchronous and asynchronous generation (wind farms). The GB network is undergoing major changes including the installation of large amounts of wind generation. Wind farm developments further offshore will be connected via DC connections, such as the eastern link. The first two chapters of the thesis will provide an outline of these changes to the GB system, and the impact of those changes on the frequency response capability of the GB system. In continuation the thesis will engage in modelling details of an AC system with integration of DC technology and wind. The modelling aim is a comprehensive grid representation in a multi-machine small signal stability framework. The inclusion of multi-terminal voltage source converter HVDC links adds further complexities giving rise to difficult research issues. First the solution of an ACDC power flow is described. This solution is then used for the initialization of a dynamic model of the GB network. This model includes the eastern link (represented by a six voltage source converter multi- terminal DC grid) and three offshore wind farms (representing Doggerbank, Hornsea and East Anglia ONE). The modelling and results of this simulation will be discussed in detail. The impact of increased wind integration into the GB system is further discussed with respect to the wind farm inertial response capability. An important factor for the inertial response capability is the wake effect. The wake effect describes a reduction in wind speed throughout a wind farm, caused by upstream wind turbines. The reduced wind speed at downstream turbines impacts the inertial response that can be expected from the wind farm. The thesis will conclude by summarising how the inclusion of more wind and HVDC technology impacts on the GB system and the modelling required. 3 List of publications The following publications have been written during this work: 1. S. Kuenzel , P. L. Kunjumuhamed , B. C. Pal and I. Erlich, ”Impact of Wakes on Wind Farm Inertial Response”, IEEE Trans. On Sustainable Energy, Vol.5, no.1, pp.237-245, Jan. 2014 Further accepted for presentation and publication in the Proceedings of the 2014 IEEE PES General Meeting, Washington DC, Jul. 2014 2. S. Kuenzel , P. L. Kunjumuhamed and B. C. Pal, ”Frequency Response Capacity of the GB System in 2030”, 12th Wind Integration Workshop, London, Oct. 2013 3. S. Kuenzel , P. L. Kunjumuhamed , B. C. Pal and I. Erlich, ”Windfarm inertial response capability considering wake effect”, 11th Wind Integration Workshop, Lis- bon, Nov. 2012 4 Acknowledgements I would like to thank those who have supported me during my PhD. This work would never have been possible without my supervisor Prof. Bikash Pal. I am very grateful for his continuous guidance, research direction and feedback throughout this research. His support motivated me to learn more and more. I enjoyed working with him, since he is both extremely knowledgeable and kind. I would further like to express my gratitude to Dr. Linash Kunjumuhammed from whom I picked up a lot of the required day-to-day power systems knowledge. He was always there to help and explain. My examiners Dr. Lie Xu and Prof. Thomas Parisini had to dedicate time for reading my thesis and for the examination. Hence I would like to voice my appreciation for their significant effort. My sincere gratitude lies with Dr. Jenny Cooper at National Grid. It was my wish to be able to pursue a PhD degree, while keeping up-to-date with the industry. It is thanks to her that I was able to maintain regular visits to National Grid, who helped to fund this work. During those visits I worked with the teams of Mark Perry, Dr. Mark Osborn and Dr. Vandad Hamidi. I would like to thank them and their teams for taking the time for discussions, organizing my visits and inviting me for the PowerFactory training course. A thank you also goes to Mark Horley, who invited me to attend the frequency response testing at Ormonde wind farm. I would like to thank Prof. Istvan Erlich, for the three month I spent at his institute in Duisburg, giving me the chance to work at another university and learning from the experience. I would like to thank my colleagues, friends and extended family for being there. They have been a source of great support. 5 Contents List of Figures 9 1 Introduction 18 1.1InternationalPerspective............................ 19 1.2EuropeanPerspective.............................. 21 1.3UKPerspective................................. 22 1.4TrendinoffshoreandDCdevelopments.................... 23 1.5ResearchContributions............................. 26 2 Ancillary services in UK system 28 2.1 GB system in 2030 ............................... 29 2.1.1 Generation............................... 29 2.1.2 Load................................... 30 2.2FrequencyResponse.............................. 30 2.3Responsebytechnology............................ 31 2.3.1 Conventionalgeneration........................ 32 2.3.2 Wind................................... 32 2.3.3 Otherrenewables............................ 33 2.3.4 Interconnector.............................. 34 2.3.5 Nuclear................................. 35 2.3.6 Loads.................................. 35 2.4Conclusion.................................... 36 3 Powerflow solution and validation for CSC and VSC links 37 3.1Introduction................................... 37 3.2NewtonRaphsonMethod........................... 38 3.3ACpowerflow.................................. 42 3.4ACDCpowerflowwithCurrentSourceConverter(CSC).......... 44 3.5Initialvalidation................................ 47 3.6ACDCsimulationPowerfactoryvs.Matlab.................. 48 3.7ACDCpowerflowwithVSC.......................... 52 3.8Conclusion.................................... 55 4 Modelling of the GB system with multi-terminal VSC connected wind farms 56 4.1Introduction................................... 56 6 CONTENTS 4.2Selectionofparameters............................. 59 4.3 Representation of the physical system through modelling components . 61 4.4Multi-areaACDCpowerflowcalculation................... 63 4.4.1 ACpowerflowandconvertervariables................. 65 4.4.2 PowerflowinDCGrid......................... 66 4.4.3 Reverseslackconvertercalculation.................. 68 4.4.4 Powerflowsolution........................... 70 4.5 Dynamic modelling of the VSC MTDC grid . .............. 73 4.6 Dynamic modelling and initialization of the offshore AC grids ....... 82 4.7Conclusion.................................... 84 5 Small signal analysis of the GB system with multi-terminal VSC con- nected wind farms 86 5.1Evaluationofstatematrixandeigenvalues.................. 94 5.2EigenvalueAnalysis...............................103 5.2.1 Controllertuning............................111 5.3Conclusion....................................121 6 Impact of Wakes on Wind Farm Inertial Response 122 6.1Introduction...................................122 6.2WakeEffect...................................124 6.2.1 Reviewofpreviouswork........................124 6.2.2 Jensen’smodelindetail........................125 6.3Windenergyconversionprocess........................127 6.3.1 Inertialresponseprovisionmechanism................127 6.3.2 DFIGmodel...............................130 6.4Wakeeffectvalidation.............................131 6.5Quantifyingtheimpactofwakeoninertialresponse.............135 6.6 Evaluating the duration of wind turbine response according to wind speed 139 6.7Conclusion....................................142 7 Conclusion and Future Work 144 Appendices 147 A Dynamic modelling of wind power plants 148 A.1 Dynamic modelling of DFIG . .........................148 A.2 Dynamic modelling of generic wind park model . ..............151 B Dynamic modelling of synchronous machines 154 B.1Excitationsystem................................154 B.2Governorcontrol................................154 B.3Machinemodel.................................155 C Test system parameters 157 D GB system parameters 158 7 CONTENTS References 161 8 List of Figures 1.1Trendinincreasingwindturbinesize[1]................... 19 1.2Historicalinstalledwindcapacityglobally[2]................. 19 1.3 Worldwide installed wind capacity by June 2013 [3] ............. 20 1.4 Additional installed wind capacity during first half of 2013 [3] ....... 21 1.5InstalledgenerationcapacityinEurope[4].................. 21 1.6 Additional installed capacity in Europe during 2013 [4] ........... 22 1.7 Historical wind power installation in the UK, showing installed capacity [5,
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