AUAS SVC, PERFORMANCE VERIFICATION BY RTDS AND FIELD TESTS. S. Boshoff C. van Dyk L Becker M Halonen, S Rudin, J Lidholm Dr T Maguire
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1 AUAS SVC, PERFORMANCE VERIFICATION BY RTDS AND FIELD TESTS S. Boshoff C. van Dyk L Becker M Halonen, S Rudin, J Lidholm Dr T Maguire S Boshoff Consulting TAP NamPower, ABB Power Systems, Sweden RTDS, Canada South Africa South Africa Namibia Sweden Canada INTRODUCTION BACKGROUND The new 400 kv interconnection between Namibia and South Africa was successfully commissioned in the last quarter of The 890 km single circuit 400 kv AC transmission line interconnects the two systems, ESKOM and NamPower, at Aries substation near Kenhardt in South Africa and Auas substation near Windhoek in Namibia. With the new interconnection, the NamPower system is strengthened but the new 400 kv line is also very long with a large charging capacitance which aggravates the inherent problems in the NamPower system; namely voltage stability and near 50 Hz resonance. The charging capacitance shifts the existing parallel resonance very close to 50 Hz and makes the network more voltage sensitive during system transients such as 400 kv line energisation or recovery after clearing of line faults. The NamPower network consists of a radial network with its main generation at Ruacana (hydro) in the north and interconnected to Eskom in the south. At Auas substation, a SVC (80 MVAr capacitive to 250 MVAr inductive) was installed as part of the new interconnection with the primary function of controlling the system voltage and in particular the extreme (up to 1.6 p.u.) overvoltages expected due to the near 50 Hz resonance[1]. The Auas SVC is geographically located in the middle of the NamPower network, near one of its major load centres. The use of this SVC (330 MVAR dynamic range) is unique in that it is installed in a system with very long lines, little local generation and low fault levels (from 1500 MVA to less than 300 MVA). Low frequency system eigen-frequencies (resonances), well below the second harmonic, is a result of that configuration. This required careful design considerations and verification methods for the Auas SVC. Extensive digital simulations were carried out during various phases of the project as classical steady state load flow methods were proven to be inaccurate and unable to verify the near 50 Hz resonance. The SVC control system was tested thoroughly on a real time simulator. This was required due to the difficult and different network conditions that could occur, making traditional testing methods or simplifications impossible. Detailed modelling was required to ensure that the NamPower system (the hydro generators including controls, long transmission lines, distributed loads) as well as the SVC control system were correctly modelled to give the correct behaviour. SYSTEM DESIGN AND SIMULATION STRATEGY General design approach Figure 1 NamPower network The 330 MVAr dynamic range of the Auas SVC makes it one of the dominating devices in the NamPower network with the ability to control or blackout the network. The key role that the Auas SVC has in the
2 400 kv interconnection between the NamPower network and Eskom, placed the emphasis on correct modelling of the SVC and network, to minimise risk to the NamPower network. For this project, the following system design, simulation and verification strategy was used. A transient network study was done to determine the impact that the near 50-Hz network resonance will have on the network equipment. With the introduction of a SVC to control the resonance, a typical textbook type SVC was used to derive the values to compile a SVC specification. After the contract was awarded to the manufacturer, a detailed design of the SVC was undertaken. At this stage, a unique resonance controller was developed and patented. To verify that the SVC could control the resonance, a digital simulator, RTDS, was used for the controller verification tests. Before the controller was send to site, a thorough verification of the interaction of the SVC with the network was conducted on the digital simulator. On site, commissioning verification was the final step in the process to prove that the installed SVC is operating as required. Closed loop control The closed loop control and the control and protection functions of the SVC are realised with MACH2. MACH2 is a microprocessor based control system and it is one of the most advanced and highest performance control and protection systems for high voltage applications on the market. The control system, MACH2, covers a wide range of applications (HVDC, SVC, SC and FACTS). Figure 2 - Blockdiagram of the SVC closed loop control Figure 2 gives an overview of the closed loop control of the Auas SVC. The normal operation mode of the SVC is steady state voltage control. The conventional voltage controller used by ABB, for this application, is of an integrating type and the positive sequence component of the fundamental frequency voltage is used as a control signal. As a supplementary function to the conventional voltage controller, a new type of resonance controller is implemented which operates during resonance conditions, i.e. during energisation of the 400 kv line and recovery after line faults[2]. The resonance controller is the most important feature in the control system and optimally uses the complete inductive range of the SVC, from 0 to 250 MVAr. Eskom network representation One of the limitations of time domain simulation software is the size of the network that can be simulated. From the NamPower network s perspective, the Eskom network looks like an infinite source compared to itself. The Eskom network was therefore modelled as a fixed source behind an equivalent impedance. In order to retain the frequency response behaviour of the Eskom network, the frequency response is represented with a combination of series and parallel connected RLC components. This complex source impedance is derived from the Eskom network frequency over a range from 5 to 600 Hz. With the frequency dependant model, the interaction between the SVC controller and the rest of the network for both sub-system resonant frequencies and low order harmonics can be modelled. NamPower network fault level considerations For the NamPower network with low fault levels (around 300 MVA), the fault current or system strength is only provided by Eskom which, as described above, is modelled as an infinite source behind and complex impedance. Normally, when a SVC controller is stable during low fault level conditions, it will also remain stable for high fault levels in the network. For the NamPower network under high fault level cases (1000 to 1500 MVA), the generators at Ruacana and synchronous condensers (SC s) at Van Eck substations are modelled as dynamic machines. This included a full representation of their field and damper windings as well as controls such as the power system stabilisers (PSS), automatic voltage regulator (AVR) and governor. This ensured that the interaction between the SVC and other dynamic equipment in the network could be simulated correctly. This proved to be very important in determining worst case conditions for the network and the SVC. For the Auas SVC, the system with the lowest fault level did not produce the most onerous condition for the voltage controller, as is normally the case in traditional SVC applications.
3 Digital simulations on EMTDC During the initial development phases of the interconnection, it was established that the near 50 Hz resonance phenomena could not be studied using classical load flow and dynamic simulation software. To overcome this, the rest of the project focussed all design and system studies on simulation software utilising electromagnetic transient principles. The flexibility of EMTDC made it easy to model the NamPower Transmission network. The dynamic behaviour of the hydro generation at Ruacana, the SVC at Omburu and the SC s at Van Eck substations were all modelled. EMTDC is not only capable at solving the network equations in the time domain, but it is well suited for control applications. A detailed model of the Auas SVC and its controller were developed to incorporate the exact SVC configuration that was eventually implemented on site. EMTDC uses an interpolation technique to minimise inaccurate thyristor firing due to digital simulation timesteps. When a 50 Hz network is simulated using a 50 s timestep, the firing accuracy is in the order of 1 deg. With the interpolation technique, exact firing is achieved. SVC CONTROLLER AND SYSTEM VERIFICATION ON RTDS The sensitivity of the NamPower network as well as the risk of damage to the complete network including the end-users, required extensive measures in order to verify that the Auas SVC would perform consistently correctly during various network conditions. This necessitated an approach were the optimum verification process can be followed before the actual SVC was to be tested and commissioned on site. During the initial EMTDC system studies, it was established that the system had a large number of different configurations. Each configuration resulted in different type worst case contingencies with respect to the overvoltages, the frequency and duration thereof as well as the behaviour of the SVC controller. A simple network reduction of the NamPower network could not be considered. This resulted in a high number of critical conditions being identified. For the verification of the Auas SVC controller, it was important that the NamPower network was adequately represented over a wide range of frequencies. It was also established that other dynamic devices in the network such as generators, SVC as well as the long stretched out network of transmission lines and distribution networks played an important role. The standard controller verification methods utilising TNA (Transient Network Analyser) systems were not considered adequate due to the following reasons: 1. Correct representation of network components such as loads, transmission lines, generators, SVC s etc. are not easily facilitated in TNA systems. 2. Damping of the network plays an important role in level of the overvoltages. 3. Setting up different networks in TNA is very time consuming. 4. Optimisation of control strategies, which requires different network conditions to be evaluated in parallel, cannot be facilitated in TNA systems. For the real time digital simulator, the configuration of the RTDS was optimised but it was important that the behaviour of the whole network was not compromised. The RTDS system used for the Auas study comprised of six racks, mostly made up out of TPC cards. Three 3PC cards was used for the SVC and Ruacana hydro generator model. The Tandem Processor Card (TPC) uses two NEC processors whereas the Triple Processor Card (3PC) is a more advanced card that uses three SHARC processors. The frequency dependent source impedance that was used in EMTDC to represent the Eskom network could not be implemented directly in the RTDS. The RTDS had only a limited amount of nodes available for the source impedance and RTDS cannot implement negative resistance values. A reduction of the source impedance used in EMTDC was made to give the same response over a frequency range of 5 to 150 Hz. The NamPower network model was further optimised in order to utilise the available RTDS capacity. This was achieved through reduction of the radial systems supplying small loads into single lumped branches. The RTDS controls compiler was used to create an exact model of the Ruacana PSS, AVR and governor. All the electrical components of the SVC were modelled in the RTDS. The SVC control system used for the RTDS tests consisted of the MACH2 control system identical to the hardware implemented at site. The actual controller that was connected to the RTDS had access to the same VT and CT signals as implemented on site and returned the firing pulses to the RTDS. The 10 V analogue output signals of the RTDS are amplified to 110 V input signals to the actual MACH 2 control. The firing pulses from the Valve Control Unit (VCU) are connected to a DITS card on the RTDS. The DITS card enables the RTDS to model
4 the switching of the thyristors digitally with almost the same accuracy as an analogue system. The SVC controller was able to switch its 400 kv breaker in the RTDS. This made it possible to do comprehensive SVC energisation and de-energisation studies to verify that the start-up and shutdown sequences of the SVC are correct. The RTDS proved itself very accurate. During the control verification phase, a problem with the synchronising PLL (phase lock loop) for the valve firing system was detected and rectified. This problem could not be detected with an analogue simulator running at Hz or Hz while the RTDS can run at exactly 50 Hz. Using the RTDS made it possible to investigate a large number of cases despite the compressed time schedule. Extensive network simulations were done to ensure that the controller is operating correctly. A large number of fault cases and system conditions were tested, many of which can not be performed or would not be permitted on the real NamPower system. Various control irregularities were detected and improved well before the commissioning tests began which resulted in a fast, effective and successful commissioning. FIELD TESTING The new 400 kv interconnection was commissioned in October year 2000, only after the SVC had been successfully commissioned and tested. The critical nature of overvoltages on the NamPower system made it impossible to conduct system tests without the SVC. At the end of the SVC commissioning phase, in addition to the normal commissioning tests, a number of stringent acceptance tests were carried out in order to prove the effectiveness of the Auas SVC. Of particular importance was the resonance controller. The following system performance test were carried out with the Auas SVC and the NamPower transmission system: 1. Voltage step response test. An external 100 MVAr 400 kv busbar reactor was switched at Auas substation in order to determine the step response of the SVC. 2. Reactive Power control. 3. Black start of the SVC. 4. Maximum reactive power output. 5. Staged fault tests. Various phase to earth faults were applied in different branches inside the SVC such as the TCR, filter and auxiliary. 6. Staged fault tests on the SVC control and measurement system. 7. Simulated transmission line trips and re-closure. 8. Line energisation of the 400 kv line from Auas to Kokerboom and vice versa. The most onerous condition for the SVC and the system is energisation of the 400 kv line from the northern section (Auas substation) of the 400 kv line. Energising the 400 kv line from the north forces the NamPower system into the critical 50 Hz resonance. This extreme test was eventually performed in the field, based on the high degree of confidence that the simulator studies on RTDS established with respect to the effectiveness of the resonance controller. RESULTS For comparison between the simulation results in EMTDC, RTDS and the results obtained from the system performance test performed in October 2000, the following cases have been selected: 1. EMTDC and RTDS, energisation of the 400 kv system from north to south, low fault level. The simulations were performed without the resonance controller. 2. EMTDC and RTDS, line energisation from north to south, high fault level (Ruacana generators in service) - without the resonance controller. 3. RTDS and Field, energisation of the 400 kv system from north to south, (Ruacana generators in service). The results are obtained with the new resonance controller in operation. Results from EMTDC vs. RTDS In Figure 3 and Figure 4 the same line energisation is shown for a very low fault level case (no generation in the NamPower system) and a higher fault level case (Ruacana generators in service) respectively. The RTDS model shows slightly less damping than the EMTDC model. This is due to the more reduced network that is used in the representation of the NamPower system on the RTDS. It is important to note here the difference between the low and high fault level cases. For the low fault level condition (weak system), the resonance is very close to 50 Hz which was difficult for the SVC to control the voltage effectively. Under these conditions, the first voltage peak was not too critical (1.2 p.u.). However, for conditions when the fault level was higher due to the Ruacana generators or Van Eck SC s being in service, the first voltage peak was significantly higher (1.6 p.u.).
5 Figure 3 Low fault level case comparison between EMTDC and RTDS Figure 5 - RTDS, high fault level case for comparison between RTDS and field tests Figure 4 - High fault level case comparison between EMTDC and RTDS Results of RTDS vs. Field testing To compare the RTDS results with the field test results, the most onerous condition is presented here: line energisation from north (Auas) to south (Kokerboom), with Ruacana generators in service and with the new resonance controller active. Figure 5 and Figure 6 show the voltage response at Auas substation, the SVC controller output (Bref_DI) and the contribution from the resonance controller (Bref_Add). Figure 6 - Field, high fault level case for comparison between RTDS and field test From these figures, it can be seen that there are 2 resonance frequencies, 56 Hz and 81 Hz, corresponding to the first and second pole in the system. The resulting overvoltage at Auas during energisation of the 400 kv line is below 1.21 p.u. It can be seen that the additional contribution from the resonance controller is rapidly forcing the SVC to go inductive. Comparison of results from the RTDS test and the system performance test
6 shows good agreement and illustrates the improvement capability of the new resonance controller under resonance conditions. It was found that the results from RTDS have less damping than the results obtained from the system performance tests. However, the frequencies and time constants showed very good corresponding results. The most significant factor here is the remarkable reduction in the first voltage peak to around 1.2 p.u. compared to the results obtained as shown in Figure 4. This is attributed to the effectiveness of the new resonance controller. REFERENCES 1. Hammad A., Boshoff S., Van der Merwe W.C., Van Dyk C.J.D., Otto W.S. and Kleyenstüber U.H.E., SVC for Mitigating 50 Hz Resonance of a Long 400 kv ac Interconnection, 1999, CIGRE Symposium Singapore 2. Halonen M., Rudin S., Thorvaldsson B., Kleyenstüber U.H.E., Boshoff S. and Van der Merwe W.C., SVC for resonance control in NamPower electrical power system, 2001, IEEE Summer Meeting Vancouver. CONCLUSION The Auas SVC project created an opportunity to investigate and compare alternative methods in the design and verification of SVC systems to be applied in transmission and distribution systems. A major advantage in the process followed, was the ability to verify the initial detailed EMTDC studies via RTDS with either identical or similar complexity. Classical methods utilising TNA would have necessitated large reductions in network in order to get the flexibility. However, this would have reduced the level of confidence and introduced more errors. In a project of this nature, it is necessary that a high level of confidence be achieved, with the minimum risk, while under the constraint of cost and time. The utilisation of EMTDC and RTDS provided the optimal solution. The ability of the RTDS simulator to produce repetitive identical results instils a high level of confidence in the results obtained but more so in the SVC and its controller. This in itself created the ideal situation to optimally tune the SVC controller as well as fast and effective fault tracing. A major advantage in the RTDS testing was the effective utilisation of time through teamwork (ability to work in parallel between the operation of the RTDS and the analysis of results) and the ease in the documentation of results. This process ultimately lead to a project being completed with a very successful performance testing without any surprises! In conclusion, the project demonstrated that the technology is available to achieve effective and optimal solutions utilising systems such as RTDS. It also pointed the need to remain focused due to the almost endless flexibility that new technology provides. This requires a sensible and experienced engineering approach to ensure that time and cost constraints are always kept in mind and to avoid endless investigations just for the sake of it.
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