On the Backstepping Approach for VSC-HVDC and VSC-MTDC Transmission Systems

Abstract

This article presents a backstepping control design strategy for the voltage source converter (VSC)-based high-voltage direct current (HVDC). First, a dynamic model is derived based on the state space description. Subject to the backstepping control design procedure strategy, a non-linear control scheme is developed in the sense of Lyapunov stability theory in order to satisfy various objectives of a stable HVDC system and guarantee a grid connection with a unity power factor. Then, the proposed control method is extended for multi-terminal (MT) HVDC transmission systems based on VSCs. In order to improve the dynamic behavior of the controlled DC bus voltage and the stability of MTDC systems, a backstepping control strategy accorded to each VSC is proposed and integrated into the voltage droop control strategy. The designed advanced controller allows to improve the overall DC grid stability and to reach the droop values, designed on static considerations, with satisfying dynamic behavior. Compared to the conventional control, the use of a backstepping control allows to exhibit excellent transient response over a wide range of operating conditions.

Keywords::

• VSC
• HVDC (High Voltage Direct Current) system
• MTDC transmission system
• backstepping control approach
• power and DC voltage control
• droop control
• Lyapunov stability theory

Additional information

Notes on contributors

Mohamed Ayari

Mohamed Ayari received his Master's degree in automatics and industrial informatics from Ecole Supérieure des Sciences et Techniques de Tunis (ESSTT), in 2012. He is currently pursuing the Ph.D. degree in the Advanced Systems Laboratory (LSA) at the Ecole Polytechnique de Tunisie (EPT). His research interests include modeling, analysis and control of HVDC transmission systems based Voltage Source Converter (VSC) and Modular Multilevel Converter (MMC).

Mohamed Moez Belhaouane

Mohamed Moez Belhaouane received the Master's degree in Automatic Control and the Ph.D. degree in Electrical Engineering from Ecole Supérieure des Sciences et Techniques de Tunis (ESSTT) and Ecole Polytechnique de Tunisie (EPT) in 2005 and 2011, respectively. He is currently, a research engineer in L2EP Laboratory (Laboratoire d'Electrotechnique et d'Electronique de Puissance) at Ecole Centrale de Lille, France. Prior to joining Ecole Centrale de Lille, he was an Associate Professor in Ecole Nationale Suprieure d'Ingénieurs de Tunis (ENSIT) and member of Advanced Systems Laboratory (LSA) at the Ecole Polytechnique de Tunisie. Earlier, he was also an Assistant Professor in Ecole Nationale d'Ingénieurs de Gabès. His main research interests are modeling, nonlinear and robust control of dynamic systems included mechanical and electrical applications. His current interests include advanced control of HVDC and MTDC systems, Modular Multilevel Converter (MMC), renewable energy, and the application of power electronics to power systems.

Chaker Jammazi

Chaker Jammazi received the D.E.A. and the Ph.D. thesis in Applied Mathematics from Ecole Nationale d.Ingénieurs de Tunis (ENIT)-Tunisia respectively, in October 2000 and in January 2008. In April 2014, he obtained the Habilitation à Diriger des Recherches (HDR) from the Ecole Polytechnique de Tunisie (EPT) - Carthage University. He is currently member of Laboratoire d.Ingénierie Mathématiques (LIM) at the EPT and an Associate Professor in Applied Mathematics at the Faculté des Sciences de Bizerte, Tunisia, Département de Mathématiques. His main research interests include dynamical and control systems, and control of partial differential equations.

Naceur Benhadj Braiek

Naceur Benhadj Braiek obtained his Master's degree in Electrical Engineering and his Master's degree in Systems Analysis and Numerical Processing, both from Ecole Nationale d'Ingénieurs de Tunis in 1987, the Master of Automatic Control from Institut Industriel du Nord (Ecole Centrale de Lille) in 1988, a PhD in Automatic Control from Université des Sciences et Techniques de Lille, France, in 1990, and the Doctorat d'Etat in Electrical Engineering from Ecole Nationale d'Ingenieurs de Tunis in 1995. Now, he is professor of Electrical Engineering at the University of Tunis Ecole Superieure des Sciences et Techniques de Tunis. He is also Director of the LSA at the Ecole Polytechnique de Tunisie. His domain of interest is related to the modeling and analysis and control of non-linear systems with applications in electrical processes.

Xavier Guillaud

Xavier Guillaud received his Ph.D. from the University of Lille in 1992. He joined the Laboratory of Electrical Engineering and Power Electronic (L2EP) in 1993. He has been professor in Ecole Centrale of Lille since 2002. First, he worked on modeling and control of power electronic systems. Then, he studied the integration of distributed generation and especially renewable energy in 2001. He is leading the development of an experimental facility composed of actual power electronic converters interacting with virtual real-time simulated grids. He is involved in several projects about power electronic on the grid within European project and large number of projects with French electrical utilities. He is a member of the Technical Program Committee of Power System Computation Conference and associate editor of Sustainable Energy, Grids and Networks. His current research is focused on the integration of high-voltage power electronic converters in transmission system.