To protect the converters and minimize the power transmission interruption during dc line faults, it is necessary to detect the faults at ultra high speed for the modular multilevel converter (MMC)-based HVdc grids. This article reviews the state-of-the-art of dc fault protection methods of MMC-HVdc grids, and summarizes the underlying principles of each method. On this basis, the dc fault characteristics analysis in terms of modal-domain, time-domain, and frequency-domain are analyzed, which direct the protection design. Typical boundary protection and nonboundary protection schemes are reviewed. The advantages and disadvantages of existing fault protection methods are compared. A two-terminal MMC-HVdc prototype is developed to test the effectiveness of three fault protection methods. Comprehensive quantitative assessments of the protection methods discussed above are carried out in a four-terminal MMC-HVdc grid. Finally, the future trends of the protection schemes are discussed and the findings are concluded.

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DC Fault Protection Algorithms of MMC-HVDC Grids: Fault Analysis, Methodologies, Experimental Validations, and Future Trends

The installation of photovoltaic (PV) system for electrical power generation has gained a substantial interest in the power system for clean and green energy. However, having the intermittent characteristics of photovoltaic, its integration with the power system may cause certain uncertainties (voltage fluctuations, harmonics in output waveforms, etc.) leading towards reliability and stability issues. In PV systems, the power electronics play a significant role in energy harvesting and integration of grid-friendly power systems. Therefore, the reliability, efficiency, and cost-effectiveness of power converters are of main concern in the system design and are mainly dependent on the applied control strategy. This review article presents a comprehensive review on the grid-connected PV systems. A wide spectrum of different classifications and configurations of grid-connected inverters is presented. Different multi-level inverter topologies along with the modulation techniques are classified into many types and are elaborated in detail. Moreover, different control reference frames used in inverters are presented. In addition, different control strategies applied to inverters are discussed and a concise summary of the related literature review is presented in tabulated form. Finally, the scope of the research is briefly discussed.

https://www.mdpi.com/1996-1073/13/16/4185/pdf

A Comprehensive Review on Grid Connected Photovoltaic Inverters, Their Modulation Techniques, and Control Strategies

This paper proposes a new fault location method for transmission lines in MMC-HVDC grids based on dynamic state estimation (DSE) and gradient descent. The method only requires a short data window of 5 ms after the occurrence of the fault and therefore is applicable for MMC-HVDC grids with high-speed tripping techniques. The method first builds a high-fidelity linear dynamic model of the DC transmission line, which accurately describes physical laws of the transmission line during the fault. Afterwards, the consistency between the measurements and the linear dynamic model is evaluated through the DSE algorithm. Finally, the actual fault location which corresponds to the best consistency is determined via the gradient descent algorithm. Compared to the existing DSE based fault location methods which solve highly nonlinear DSE problems, the proposed method only needs to solve a series of linear DSE problems, which overcomes the issues such as large numerical error and high computational burden especially for transmission lines in MMC-HVDC grids. Numerical experiments validates the effectiveness of the proposed method, with different fault types, resistances and locations. In addition, the method only requires a relatively low sampling rate of 20k samples per second.

Transmission Line Fault Location in MMC-HVDC Grids Based on Dynamic State Estimation and Gradient Descent

After the occurrence of a DC-side feeder faults on HVDC transmission systems, protection and fault detection systems are anticipated to minimize their onerous effects, by initiating fault-clearing actions such as selective tripping of circuit breakers. Following the successful fault clearance, a subsequent action of significant importance, is the meticulous estimation of its location as a means to accelerate the line restoration, reduce down-time, limit recovery and repair costs, and hence elevate the overall availability and reliability of the transmission system. In order to capture DC-side fault transients for protection and fault location applications, measuring equipment is required to be placed on HVDC installations. This paper focuses primarily on reviewing the available technologies from the perspective of enabling protection, fault location and automation applications in HVDC systems. The review constitutes a mapping of protection and fault location functions, against the available voltage and current measuring technologies, ultimately unlocking insights for selecting measuring equipment based on the desirable characteristics of protection and fault location systems. The review also revealed that the frequency characteristics of each sensing scheme, primarily refers to the bandwidth of the primary sensor, whereas the overall bandwidth of the complete measuring scheme may be further restricted by the secondary converter and corresponding data acquisition system and signal processing electronics. It was also identified that the use of RC voltage dividers has prevailed for voltage measurements for HVDC applications, due to their superior advantages. The choice of a suitable device for current measurement, depends mainly on the fault detection method used and the frequency range it operates. In particular, the review revealed that fault detection and protection methods are mainly concentrated in a frequency spectrum ranging from a few kHz to 100 kHz, while fault location methods require measurements with a frequency range from 100 kHz up to 2 MHz.

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Voltage and Current Measuring Technologies for High Voltage Direct Current Supergrids: A Technology Review Identifying the Options for Protection, Fault Location and Automation Applications

This paper presents the interaction analysis of external disturbances and internal dynamics of MMC-HVDC (Modular Multilevel Converter High Voltage Direct Current) systems considering sub-module (SM) capacitor voltage ripples, and proposes an enhanced control strategy for disturbance suppression. The disturbance equation indicating the interaction of the external MMC output currents and internal SM capacitor voltage ripples are firstly established. Then based on the disturbance equation, the dynamic analytical expressions of the differential-mode capacitor ripple voltages and the converter currents are derived in the d - q reference frame, which explains that the resultant current term i 0 can be regarded as an equivalent disturbance that will lead to transients in the capacitor voltages during external perturbations. Next, the disturbance observer is introduced to track the resultant disturbance current term and an enhanced control for the MMC based on disturbance suppression strategy is proposed to improve the system dynamic response during external transients. Furthermore, system stability characteristics under the enhanced control with different parameters are explored through theoretical analysis. Finally, a benchmark single-terminal MMC-HVDC simulation model is established in PSCAD/EMTDC to verify the proposed control.

Disturbance Interaction Analysis and Suppression Strategy of MMC-HVDC Systems Considering Sub-Module Capacitor Voltage Ripples

The performance of the traditional derivative-based non-unit traveling wave protection (TWP) in high voltage dc (HVDC) grids shows the problem of low-sensitivity when high-impedance faults occur. In this article, the characteristics of the fault initial traveling wave are analyzed first, two conclusions can be drawn: i) the distortion degree of the fault initial traveling wave is related to the fault location, ii) the amplitude of the fault initial traveling wave is related to the fault impedance. Then a zero-sequence current fitting method is proposed to obtain parameters respectively reflecting fault impedance and fault distance. When a fault occurs, a fault information extraction method based on the fitting parameters will give the estimation interval of the fault impedance, which provide reference for the adaptive threshold value selection of TWP. In this way, the influence of the fault impedance on TWP can be eliminated. A ±400 kV modular multilevel converter (MMC) HVDC grid is built in PSCAD/EMTDC. The verification of the proposed method considers different installation positions of the current limit inductor. The simulation results show that the proposed method can fast and correctly identify the dc line faults and effectively improves the protection sensitivity in detecting high-impedance faults.

An Improved Non-Unit Traveling Wave Protection Method With Adaptive Threshold Value and Its Application in HVDC Grids

The fast and selective protection using fast dc circuit breaker to break the fault current and isolate faulty lines satisfies the requirement of fault clearance in HVDC grids. However, traditional derivative-based traveling wave protection suffers from low-sensitivity problem when high-impedance faults occur. Based on the analysis of the fault initial traveling wave, it is concluded that the distortion degree of the fault initial traveling wave is related to the location of the fault, and the amplitude of the fault initial traveling wave is related to the fault impedance. Then a Levenberg–Marquart (LM) optimal approximation method is proposed to extract the fault distance information from zero-sequence fault current initial traveling wave. The optimal approximation parameters respectively reflecting the fault distance and fault impedance can be obtained. A non-unit traveling wave protection scheme is proposed based on the parameters. A ±400 kV modular multilevel converter (MMC) HVDC grid test system is built in PSCAD/EMTDC to verify the proposed method. The simulation results show that the parameters can directly correspond to the fault distance and fault impedance, and the proposed method can fast and reliably identify dc line faults. Finally, the sensitivity of the proposed method is studied by comparing with three different methods.

Non-unit Traveling Wave Protection of HVDC Grids Using Levenberg–Marquart Optimal Approximation

An improved averaged value model of MMC-HVDC for power system faults simulation

To identify the fault area more accurately and improve the reliability and sensitivity of the traditional protection principle on DC lines, an active injection for single-ended protection in the DC grid is proposed. Considering the influence of fault impedance, the effect of frequency-dependent parameters, numerical differential error, and the strength of DC boundary, high controllability of hybrid modular multilevel converter is utilized to inject sinusoidal signals with different frequencies into the line at DC terminal of each converter. Then the single-ended fault identification equation is constructed to preliminarily identify the fault area. According to the amplitude difference of the injection signals in different fault areas, the fault areas of the DC grid can be further distinguished. Simulation results verify the effectiveness of the proposed protection principle, improved reliability and sensitivity of protection, and full length protection of line without DC boundary.

Ting Wang

Papers

An Improved Non-Unit Traveling Wave Protection Method With Adaptive Threshold Value and Its Application in HVDC Grids

Non-unit Traveling Wave Protection of HVDC Grids Using Levenberg–Marquart Optimal Approximation

An improved averaged value model of MMC-HVDC for power system faults simulation

Active Injection for Single-Ended Protection in DC Grid Using Hybrid MMC

Adaptive single-phase/three-phase reclosing scheme for transmission lines in passive network supplied by MMC-HVDC