Grondin Slides Modeling and Closed-Loop Validation of PSS4B
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Modeling and closedModeling and closed--loop validation loop validation of a new PSS concept, the Multiof a new PSS concept, the Multi--
Band PSSBand PSS
An ABB An ABB -- HydroHydro--Québec joint Québec joint development development
R. Grondin, I. R. Grondin, I. KamwaKamwa, G. , G. TrudelTrudel, L., L.--G. G. Lajoie Lajoie -- HydroHydro--QuébecQuébec
and and J. J. Taborda Taborda -- ABBABB
PlanPlan
Context
MB-PSS concept
Model : IEEE PSS4B
Results based on simulations : Hydro-Québec system
Close loop tests in the field : LG2 power plant
Conclusions
ContextContextDeregulated power systems :
Power flows are increased (stressed systems)New interconnexions and new modes of oscillationStability margins are reduced
Subject to multiple modes of oscillations :Local modes : - plants (0.8 to 2.0 Hz)
- Intermachines (1.5 Hz to 4.0 Hz )Interarea modes : (0.2 to 1.0 Hz)Global (common) mode : < 0.2 Hz (Hydro-Québec system is 0.05 Hz)is 0.05 Hz)
ConceptProblem :Provide an efficient mean to damp multi-modal oscillations for a frequency range approaching 2 decades (0,04 Hz to 4 Hz)
Concept :Divide the problem in multiple frequency bandsProvide appropriate compensation for each of these bands
Proposed solution :A Multi-Band PSS (Delta Omega PSS) with 3 bands :
Low band : common modeIntermediate band : inter-area modesHigh band : local modes
Model: IEEE PSS4B
+ +
+
∆ω LI
∆ω H
VHmax
VHmin
VLmax
VLmin
Σ
KL
KL2KL17 + sTL7
1+ sTL8
1+ sTL2
KL11 + sTL1KL11+ sTL3 +
-Σ
1+ sTL4
1+ sTL51+ sTL6
1+ sTL9
1+ sTL10
1+ sTL11
1+ sTL12
VImax
VImin
VSTmax
VSTmin
KI
KI2KI17 + sTI7
1+ sTI8
1+ sTI2
KI11 + sTI1KI11+ sTI3 +
-Σ
1+ sTI4
1+ sTI51+ sTI6
1+ sTI9
1+ sTI10
1+ sTI11
1+ sTI12
KH
KH2KL17 + sTH7
1+ sTH8
1+ sTH2
KH11 + sTH1KH11+ sTH3 +
-Σ
1+ sTH4
1+ sTH51+ sTH6
1+ sTH9
1+ sTH10
1+ sTH11
1+ sTH12
- 1.759e-3s + 1
1.2739e-4s2+1.7823e-2s+1
80s2
S2+ 82s + 161s + 80
Bank of2 tuneable
notch filters
∆ω
∆ω H
∆ω LI
MB-PSS-Speed Deviation Transducers IEEE PSS4B model of the MB-PSS-
Model: IEEE PSS4B
VH MIN
VSTMIN
VSTMAX
∑
VIMIN
VLMIN
VH MAX
VST
∆ω L-I
∆ωH
∆ω SpeedTransducers
KI
VIMAX
VLMAX
FI
FH
KH
FL
KL
Symetrical filters
KH11 = KH17 = 1 (lead-lag blocks) (1)
TH2 = TH7 = 1 (2) 2π FH R½
TH1 = TH2 / R (3)
TH8 = TH7 * R (4)
KH1 = KH2 = (R2 + R) / (R2 – 2R + 1) (5)
MB-PSS Simplified Model
Simplified Model: A typical setting
KL = 5.0 FL= 0.04 Hz
KI = 25.0 FI = 0.70 Hz
KH = 120.0 FH= 8.0 Hz
10−3
10−2
10−1
100
101
102
20
40
60
80
100
120
Ga
in
10−3
10−2
10−1
100
101
102
−100
−50
0
50
100
Hz
Ph
ase
(D
eg
.)
Total outputIndividual bands
10−3
10−2
10−1
100
101
102
20
40
60
80
100
120
Ga
in
10−3
10−2
10−1
100
101
102
−150
−100
−50
0
50
100
Hz
Ph
ase
(D
eg
.)
Without transducersWith transducers
Bode locus of the 3 bands (without transducers)
Bode locus of MB-PSS (with and without transducers)
Hydro-Québec System: Modes of Oscillation
JACQUES-CARTIER
MANICOUAGAN
600 km
CHURCHILL-FALLSCOMPLEX (5 600 MW)
JAMES-BAYCOMPLEX (15 000 MW)
MANIC-OUTARDESCOMPLEX (8100 MW)
34 %
MONTAGNAIS
CHURCHILL
ARNAUD
MICOUACHIBOUGAMAU
RADISSON
NEMISCAU
LG - 3CHIS.
LG4
TILLY
LG2
Nepool
DES CANTONS
APPALACHES
LÉVIS
CHÂTEAUGUAY
CHÉNIER
ALBANEL
ABITIBI
GRAND - BRÛLÉ
CHAMOUCHOUANE
SAGUENAY
LAURENTIDES
LA VÉRENDRYE
20 %20 %
32 %34 %
40 % 26 %
17 %
16 %
44 %
40 %
LEGEND
735 Kv Substation DC Converter Series Compensation DC line
1- DUVERNAY2- BOUCHERVILLE3- CARIGNAN N.Y.PA
AREA MONTRÉAL
QUÉBECAREA
NICOLET
1000 km
400km
12
3
40 %
HERTEL
INTER-AREAMODES
MODEGLOBAL
LOCALMODES
MIMO model for simulations on HQ system :MIMO model for simulations on HQ system :
449 15949 59
340MW 515 MW5100 MW 5150 MW
1 unit 1 unit10 units15 units
LG2 Churchill
External Grid
xk+1 = A xk + B uk
yk = C xk + D uk
HQ System dominant modes identified with the MIMO model
Dominant modes No PSS
Hz z1] Global 0.063 0.24
2] Inter – area 1 0.69 0.023
3] Inter – area 2 1.025 0.076
4] Local 49 1.439 0.055
5] Local 59 1.437 0.036
6] Inter – machine 49 - 449 1.484 0.246
7] Inter – machine 59 – 159 1.604 0.121
Comparison Comparison of of PSSsPSSs
2Hs
∆ω VSTIEEE PSS1A
2Hs
∆ω
VSTIEEE PSS2B
VSI2
VSI1
10−1
100
101
102
0
50
100
150
200
250
Ma
gn
itu
de
(pu
/pu
)
10−1
100
101
102
−150
−100
−50
0
50
100
150
Hz
Ph
ase
(de
g.)
IEEE PSS2BIEEE PSS4B(LG2 Large Gain)IEEE PSS4B(Churchill Falls)Existing PSS
PSS4B : LG2 large gain(+ 1 sec. wash out in intermediate band)
KL = 9.4 FL= 0.04 HzKI = 47.6 FI = 0.70 HzKH = 233.0 FH= 8.0 Hz
PSS4B : Churchill Falls
KL = 6.25 FL= 0.04 HzKI = 42.0 FI = 0.80 HzKH = 150.0 FH= 11.0 Hz
DampingDamping performances : MIMO modelperformances : MIMO model
Dominant modes No PSS
Hz ζ1] Global 0.063 0.24
2] Inter – area 1 0.69 0.023
3] Inter – area 2 1.025 0.076
4] Local 49 1.439 0.055
5] Local 59 1.437 0.036
6] Inter – machine 49 - 449 1.484 0.246
7] Inter – machine 59 – 159 1.604 0.121
Hz 0.059
0.58
0.91
2.21
2.16
2.36
2.47
Hz 0.07
0.58
0.93
1.29
1.33
4.2
4.0
ζ0.22
0.14
0.30
0.26
0.34
0.14
0.09
ζ0.35
0.24
0.28
0.4
0.4
0.31
0.37
Current PSS (at both sites) MB-PSS (at both sites)
Frequency domain Frequency domain impulse impulse response at response at LG2LG2
10−1
100
101
0.005
0.01
0.015
0.02
0.025
0.03
0.035
pu
/pu
(a) Speed(449): Gain Response to Voltage Excitation at LG2(49)
10−1
100
101
1
2
3
4
5
6
7
Hz
pu
/pu
(b) Pacc(449): Gain Response to Voltage Excitation at LG2(449)
PSS4B(Normal Gain)PSS4B(High Gain)Existing PSS
Step responses at Step responses at LG2 : LG2 : field and field and simulationsimulation
0.5 1 1.5 2 2.5
−10
0
10
MW
De
via
tio
n
+50MVARS STEP
0.5 1 1.5 2 2.5
−2
−1
0
PS
S S
ign
al(%
)
PSS4B−Normal Gain (Test #7d16)PSS4B−High Gain(Test #17d16)Existing PSS (Test #5d16)
0.5 1 1.5 2 2.5
−0.04
−0.02
0
0.02
Sp
ee
d D
evia
tio
n(H
z)
Time in seconds
0.5 1 1.5 2 2.5
−10
0
10
MW
De
via
tio
n
0.5 1 1.5 2 2.5
−2
−1
0
PS
S S
ign
al(%
)0.5 1 1.5 2 2.5
−0.04
−0.02
0
0.02
Sp
ee
d D
evia
tio
n(H
z)
Time in seconds
PSS4B(Normal Gain)PSS4B(High Gain)Existing PSS
Field : 50 MVARS step Simulation : step on Vref
LG2 power plant : unit 8LG2 power plant : unit 8
Test set-up at LG2 : in the control panel
Test set-up at Gentilly nuclear plant
ConclusionsConclusionsA new concept of PSS was presentedMB-PSS : a Delta Omega PSS with 3 working bandsIEEE model : PSS4BSimplified setting method : 3 Central Frequencies (FL, FI, FH) and 3 Gains (GL, GI, GH) Damping performances on Hydro-Québec system
Simulation results (small signal MIMO modeling) Close loop field tests
Validation of PSS4B modelMB-PSS will be used in all future projects at Hydro-Québec :
Present projects : SM3, Gentilly II, Rapid 2, Rapid 7, Outardes 3,Toulnoustuc, Duvernay & Lévis Synchronous Condensers …
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