VSC-FACTS-HVDC E-Book

Enrique Acha

• Herausgeber: John Wiley & Sons
• Kategorie: Wissenschaft und neue Technologien
• Sprache: Englisch

Seitenzahl: 612

Veröffentlichungsjahr: 2019

Beschreibung

An authoritative reference on the new generation of VSC-FACTS and VSC-HVDC systems and their applicability within current and future power systems

VSC-FACTS-HVDC and PMU: Analysis, Modelling and Simulation in Power Grids provides comprehensive coverage of VSC-FACTS and VSC-HVDC systems within the context of high-voltage Smart Grids modelling and simulation. Readers are presented with an examination of the advanced computer modelling of the VSC-FACTS and VSC-HVDC systems for steady-state, optimal solutions, state estimation and transient stability analyses, including numerous case studies for the reader to gain hands-on experience in the use of models and concepts.

Key features:

• Wide-ranging treatment of the VSC achieved by assessing basic operating principles, topology structures, control algorithms and utility-level applications.
• Detailed advanced models of VSC-FACTS and VSC-HVDC equipment, suitable for a wide range of power network-wide studies, such as power flows, optimal power flows, state estimation and dynamic simulations.
• Contains numerous case studies and practical examples, including cases of multi-terminal VSC-HVDC systems.
• Includes a companion website featuring MATLAB software and Power System Computer Aided Design (PSCAD) scripts which are provided to enable the reader to gain hands-on experience.
• Detailed coverage of electromagnetic transient studies of VSC-FACTS and VSC-HVDC systems using the de-facto industry standard PSCAD/EMTDC simulation package.

An essential guide for utility engineers, academics, and research students as well as industry managers, engineers in equipment design and manufacturing, and consultants.

Leseprobe

Table of Contents

Cover

Preface

About the Book

Acknowledgements

About the Companion Website

1 Flexible Electrical Energy Systems

1.1 Introduction

1.2 Classification of Flexible Transmission System Equipment

1.3 Flexible Systems Vs Conventional Systems

1.4 Phasor Measurement Units

1.5 Future Developments and Challenges

References

2 Power Electronics for VSC‐Based Bridges

2.1 Introduction

2.2 Power Semiconductor Switches

2.3 Voltage Source Converters

2.4 HVDC Systems Based on VSC

2.5 Conclusions

References

3 Power Flows

3.1 Introduction

3.2 Power Network Modelling

3.3 Peculiarities of the Power Flow Formulation

3.4 The Nodal Power Flow Equations

3.5 The Newton‐Raphson Method in Rectangular Coordinates

3.6 The Voltage Source Converter Model

3.7 The STATCOM Model

3.8 VSC‐HVDC Systems Modelling

3.9 Three‐Terminal VSC‐HVDC System Model

3.10 Multi‐Terminal VSC‐HVDC System Model

3.11 Conclusions

References

3.A Appendix

3.B Appendix

4 Optimal Power Flows

4.1 Introduction

4.2 Power Flows in Polar Coordinates

4.3 Optimal Power Flow Formulation

4.4 The Lagrangian Methods

4.5 AC OPF Formulation

4.6 Generalization of the OPF Formulation for AC‐DC Networks

4.7 Inclusion of the VSC Model in OPF

4.8 The Point‐to‐Point and Back‐to‐Back VSC‐HVDC Links Models in OPF

4.9 Multi‐Terminal VSC‐HVDC Systems in OPF

DC Network

AC Network

4.10 Conclusion

References

5 State Estimation

5.1 Introduction

5.2 State Estimation of Electrical Networks

5.3 Network Model and Measurement System

5.4 Calculation of the Estimated State

5.5 Bad Data Identification

5.6 FACTS Device State Estimation Modelling in Electrical Power Grids

5.7 Incorporation of Measurements Furnished by PMUs

Appendix

References

6 Dynamic Simulations of Power Systems

6.1 Introduction

6.2 Modelling of Conventional Power System Components

6.3 Time Domain Solution Philosophy

6.4 Modelling of the STATCOM for Dynamic Simulations

6.5 Modelling of VSC‐HVDC Links for Dynamic Simulations

6.6 Modelling of Multi‐terminal VSC‐HVDC Systems for Dynamic Simulations

6.7 Conclusion

References

7 Electromagnetic Transient Studies and Simulation of FACTS‐HVDC‐VSC Equipment

7.1 Introduction

7.2 The STATCOM Case

7.3 STATCOM Based on Multilevel VSC

7.4 Example of HVDC based on Multilevel FC Converter

7.5 Example of a Multi‐Terminal HVDC System Using Multilevel FC Converters

7.6 Conclusions

References

Index

End User License Agreement

List of Tables

Chapter 1

Table 1.1 FTS equipment and the respective areas of power systems applications.

Table 1.2 Classification of FTS equipment according to converter type.

Table 1.3 STATCOM operating modes.

Chapter 2

Table 2.1 Three‐level NPC VSC: output voltage as a function of the switch states...

Table 2.2 Three‐level FC VSC: output voltage as a function of the switch states.

Table 2.3 VSC‐HVDC installations in operation.

Table 2.4 VSC‐HVDC installation due for commissioning in the period 2019–2020.

Table 2.5 The 10 largest CSC‐HVDC installations in the world.

Chapter 3

Table 3.1 Voltage magnitudes at the compensated buses in the 30‐bus system for t...

Table 3.2 Power loss at the compensated buses in the 30‐bus system for two compe...

Table 3.3 Parameter data for the VSC‐HVDC system of Test Case 6.

Table 3.4 Power flow voltage solution.

Table 3.5 Tap values for the two VSCs and the two LTCs.

Table 3.6 Power flow voltage solution.

Table 3.7 Tap values for the two VSCs and the two LTCs.

Table 3.8 Power flow voltage solution.

Table 3.9 Tap values for the two VSCs and the two LTCs.

Table 3.10 Type of VSCs and their control variables.

Table 3.11 Parameters of the VSCs, AC

1

, AC

3

, AC

5

and DC networks, with electrica...

Table 3.12 State variables solution per VSC.

Table 3.13 Voltages and powers injected at the AC networks.

Table 3.14 Power flows in the DC ring.

Chapter 4

Table 4.1 Generator cost function coefficients.

Table 4.2 Transformer data (load tap changers).

Table 4.3 Shunt devices.

Table 4.4 Generator limits.

Table 4.5 Optimal power flow solution: real powers (benchmark test).

Table 4.6 Optimal power flow solution: reactive powers (benchmark test).

Table 4.7 Voltage regulation at transformer buses – controlled test II.

Table 4.8 Voltage regulation at transformer buses – controlled test III.

Table 4.9 OPF summary results – IEEE 30‐bus system.

Table 4.10 VSC data.

Table 4.11 DC lines data.

Table 4.12 DC bus data.

Table 4.13 VSC constraints.

Table 4.14 AC voltage magnitude constraints.

Table 4.15 Generator constraints.

Table 4.16 A summary of the hybrid test system results.

Table 4.17 Converters outputs summary.

Table 4.18 DC power lines.

Table 4.19 Converters PWM performance.

Table 4.20 Converters outputs summary.

Table 4.21 DC lines.

Table 4.22 Converters PWM performance.

Table 4.23 Generators outputs.

Table 4.24 Active power flows in the AC network.

Table 4.27 Reactive power flows in the AC network.

Chapter 5

Table 5.1 WLS‐SE tutorial network parameters.

Table 5.2 WLS‐SE results for the tutorial network with exact measurements.

Table 5.3 STATCOM measurements.

Table 5.4 Extended STATCOM measurements.

Table 5.5 UPFC measurements.

Table 5.6 VSC‐HVDC measurements.

Table 5.7 Multi‐terminal measurements.

Table 5.A.1 Data files.

Table 5.A.2 Variable ‘ac_node’ format.

Table 5.A.3 Variable ‘ac_branch’ format.

Table 5.A.4 Variable ‘z’ format.

Table 5.A.5 : Variable ‘c’ format.

Chapter 6

Table 6.1 Synchronous machine parameters.

Table 6.4 Load parameters.

Table 6.5 STATCOM parameters.

Table 6.6 Computed STATCOMs variables by the power flow solution.

Table 6.7 Initial values of the STATCOM variables for the dynamic simulation.

Table 6.8 VSC‐HVDC parameters.

Table 6.9 VSC‐HVDC variables for the RMS‐type model and Simulink model.

Table 6.10 VSC‐HVDC parameters.

Table 6.11 VSC‐HVDC results given by the power flow solution.

Table 6.12 Initial VSC‐HVDC's control variables for the dynamic simulation.

Table 6.13 Parameters of the VSC‐HVDC link with frequency regulation capabilitie...

Table 6.14 VSC‐HVDC results given by the power flow solution.

Table 6.15 Different gains for the frequency controller.

Table 6.16 Parameters of the three‐terminal VSC‐HVDC link.

Chapter 7

Table 7.1 Main parameters of the coupling transformers.

Table 7.2 Electric parameters of the different grids.

Table 7.3 Parameters of the inner control loop for each terminal.

Table 7.4 Parameters of the DC voltage control loop for each terminal.

List of Illustrations

Chapter 1

Figure 1.1 Flexible transmission system with renewable energy sources.

Figure 1.2 (a) An SVC (©MPCE, 2017) and (b) its equivalent circuit representati...

Figure 1.3 (a) A STATCOM (©MPCE, 2017) and (b) its equivalent circuit represent...

Figure 1.4 Static V‐I characteristics of the VSC and the STATCOM.

Figure 1.5 SSSC schematic representation (©MPCE, 2017).

Figure 1.6 The most popular VSC‐based equipment, placed, clockwise, in the orde...

Figure 1.7 Two CSC‐HVDC links: (a) back‐to‐back, monopolar HVDC; (b) point‐to‐p...

Figure 1.8 Point‐to‐point, bipolar VSC‐HVDC system.

Figure 1.9 Radial, bipolar VSC‐HVDC system with tappings.

Figure 1.10 Four‐terminal VSC‐HVDC system.

Figure 1.11 AC power transmission reinforcement/conversion using DC technology:...

Figure 1.12 Symmetrical transmission system with midpoint dynamic shunt compens...

Figure 1.13 Power‐angle characteristic for the transmission system shown in Fig...

Figure 1.14 Dynamic SVC and STATCOM simplified representations: (a) schematic r...

Figure 1.15 Fault ride‐through capability of the STATCOM: (a) voltage performan...

Figure 1.16 An application of the equal area criterion used to illustrate the s...

Figure 1.17 Structure of a BESS.

Figure 1.18 (a) A conventional turbine‐governor control of a synchronous genera...

Figure 1.19 Test circuit to assess the frequency response of a BESS.

Figure 1.20 Frequency response of the BESS in the transmission circuit in Figur...

Figure 1.21 Frequency response of the BESS in the transmission circuit in Figur...

Figure 1.22 Schematic description of (a) FSIG, (b) DFIG and (c) PMSG with fully...

Figure 1.23 Fault ride‐through capability tested for a (a) FSIG‐based wind farm...

Figure 1.24 Structure of a PV generator.

Figure 1.25 Structure of a PV generator with storage.

Figure 1.26 Power responses of (a) PV generator with varying solar irradiance c...

Figure 1.27 Upstream PQ disturbances and actions.

Figure 1.28 Equivalent circuit of a shielded sensitive load against upstream sh...

Figure 1.29 RMS voltage response at Node 2 of Figure 1.28 when a three‐phase...

Figure 1.30 Distribution feeders with enhanced functionality with the use of po...

Figure 1.31 (a) Example of 1 kV AC distribution feeders and (b) LVDC bipoles in...

Figure 1.32 A DC‐DC converter based on VSCs (©MPCE, 2017).

Figure 1.33 Structure of a DC microgrid (©PSCC, 2016).

Figure 1.34 Functional block diagram of the elements in a phasor measurement un...

Chapter 2

Figure 2.1 Electronic symbols of the most popular semiconductor switches.

Figure 2.2 Compound symbols. (a) GTO with series diode. One limitation of the G...

Figure 2.3 Diode (

©

Wiley, 2002), (a) electrical symbol; (b) ideal

i‐v

...

Figure 2.4 Diode reverse‐recovery time (

©

Wiley, 2002).

Figure 2.5 Thyristor (a) electrical symbol of the SCR; (b) ideal

i‐v

char...

Figure 2.6 Bipolar transistor (NPN) (

©

Wiley, 2002) (a) electrical symbol; ...

Figure 2.7 N‐channel MOSFET (©Wiley, 2002) (a) electrical symbol; (b) ideal

i‐v

...

Figure 2.8 An IGBT (

©

Wiley, 2002) (a) electrical symbol; (b) ideal

i‐v

...

Figure 2.9 A GTO (

©

Wiley, 2002) (a) electrical symbol; (b) ideal

i‐v

Figure 2.10 An MCT (

©

Wiley, 2002) (a) N‐channel MCT electrical symbol; (b)...

Figure 2.11 Single‐phase half‐bridge VSC.

Figure 2.12 PWM method for a half‐bridge VSC (

©

Wiley, 2002), (a) modulatin...

Figure 2.13 PWM scheme operating in the overmodulation region, (a) modulating a...

Figure 2.14 Normalized amplitude of fundamental component of the output voltage...

Figure 2.15 Square‐wave operation of the VSC, (a) output voltage of the VSC

v

o

(...

Figure 2.16 Single‐phase full‐bridge VSC.

Figure 2.17 PWM with bipolar switching for a full‐bridge VSC (

©

Wiley, 2002...

Figure 2.18 PWM with unipolar switching for a full‐bridge VSC (

©

Wiley, 200...

Figure 2.19 Waveforms obtained in the VSC using the phase‐shift control (

©

Figure 2.20 Normalized harmonic components of the output voltage (from

h = 1

...

Figure 2.21 Three‐phase two‐level VSC.

Figure 2.22 PWM process for a three‐phase VSC (

©

Wiley, 2002), (a) modulati...

Figure 2.23 Normalized fundamental‐component amplitude of the line‐to‐line outp...

Figure 2.24 Square‐wave operation of a three‐phase VSC, (a) output voltage

v

AN

;...

Figure 2.25 Three‐level three‐phase NPC VSC.

Figure 2.26 Output voltage of a three‐level NPC VSC using square‐wave operation...

Figure 2.27 Five‐level NPC configuration.

Figure 2.28 Three‐level three‐phase FC VSC.

Figure 2.29 Five‐level FC configuration.

Figure 2.30 Phase

A

of a seven‐level cascaded H‐bridge VSC.

Figure 2.31 Output voltage of a seven‐level cascaded H‐bridge VSC using the pha...

Figure 2.32 SPWM for the three‐level three‐phase FC VSC for

ma = 0.8

...

Figure 2.33 Two SMs connected in series.

Figure 2.34 Schematic representation of a three‐phase MMC.

Figure 2.35 Schematic representation of a three‐phase hybrid VSC.

Chapter 3

Figure 3.1 LTC representation, with the per‐unit impedance in the primary side...

Figure 3.2 Current and power balances in bus

l

.

Figure 3.3 Flow diagram for the Newton‐Raphson power flow in rectangular coordi...

Figure 3.4 Convergence characteristic of the Newton‐Raphson method.

Figure 3.5 (a) VSC schematic representation, (b) VSC equivalent circuit..

Figure 3.6 VSC station

i

with ancillary elements connected to node

k

through a ...

Figure 3.7 VSC providing voltage support at Node 2.

Figure 3.8 Test network uses the same circuit parameters as in Test Case 1 but ...

Figure 3.9 Test network with a battery load on its DC bus.

Figure 3.10 Upgraded network used in Test Case 1 to include the LTC transformer...

Figure 3.11 Two STATCOM supplying reactive power at buses 10 and 24 of the modi...

Figure 3.12 Monopolar VSC‐HVDC schematic representation: (a) back-to-back circu...

Figure 3.13 VSC‐DC cable schematic representation..

Figure 3.14 Point‐to‐point VSC‐HVDC linking two equivalent AC subsystems.

Figure 3.15 Back‐to‐back VSC‐HVDC linking two equivalent AC subsystems.

Figure 3.16 One point‐to‐point VSC‐HVDC system linking buses 4 and 6 in the mod...

Figure 3.17 A three‐terminal VSC‐HVDC system..

Figure 3.18 Flow diagram of a true unified solution of the multi‐terminal VSC‐H...

Figure 3.19 Multi‐terminal VSC‐HVDC system with a DC ring..

Chapter 4

Figure 4.1 Transmission system planning framework.

Figure 4.2 A contrived power system diagram.

Figure 4.3 IEEE 30‐bus test results: nodal voltage magnitudes.

Figure 4.4 Generators' power outputs at optimum.

Figure 4.5 Network model for AC‐DC unified formulations.

Figure 4.6 VSC converter station with its unified equivalent circuit.

Figure 4.7 Power balances in VSC‐HVDC links: (a) point‐to‐point, (b) back‐to‐ba...

Figure 4.8 The VSC‐HVDC link for a point‐to‐point configuration with the DC lin...

Figure 4.9 Hybrid AC‐DC network model with the full set of coupled AC‐DC constr...

Figure 4.10 Multi‐terminal VSC‐HVDC system with

n

‐VSC stations.

Figure 4.11 Modified five‐bus power system [3] to include a tree‐terminal VS...

Figure 4.12 DC network voltage profile.

Chapter 5

Figure 5.1 State estimation process.

Figure 5.2 Nodal power balances at a generic node

i

.

Figure 5.3 Phase reference selection.

Figure 5.4 Tutorial network for WLS‐SE.

Figure 5.5 Schematic representation of the VSC and its coupling transformer.

Figure 5.6 Representation of the VSC model in state estimation.

Figure 5.7 Tutorial network including one STATCOM.

Figure 5.8 State estimation UPFC model.

Figure 5.9 Tutorial network including a UPFC.

Figure 5.10 VSC‐HVDC model.

Figure 5.11 Tutorial network including VSC‐HVDC.

Figure 5.12 Multi‐terminal network.

Figure 5.13 Multi‐terminal DC network and coupling transformers.

Chapter 6

Figure 6.1 Phasor diagram of the synchronous generator: (a) transient state, (...

Figure 6.2 Simplified IEEE speed governor model for a (a) steam turbine, (b) hy...

Figure 6.3 Simplified IEEE steam‐turbine model.

Figure 6.4 IEEE hydro‐turbine model.

Figure 6.5 Simplified IEEE‐type I AVR model.

Figure 6.6 New England test system.

Figure 6.7 Synchronous generators' angular speed.

Figure 6.8Figure 6.8 Active power flow behaviour in selected transmission lines...

Figure 6.9 Reactive power flow behaviour in selected transmission lines.

Figure 6.10 Voltage performance at different nodes of the network.

Figure 6.11 A STATCOM and its control variables.

Figure 6.12 DC voltage controller.

Figure 6.13 DC power controller for the VSC's DC side.

Figure 6.14 AC‐bus voltage controller.

Figure 6.15 Test system used to incorporate two STATCOMs.

Figure 6.16 Reactive power provided by the STATCOMs.

Figure 6.17 Voltage performance at the VSCs' AC network nodes.

Figure 6.18 Voltage performance at several nodes of the network.

Figure 6.19 STATCOM's DC‐bus voltages.

Figure 6.20 STATCOM's DC current.

Figure 6.21 STATCOM's angle γ.

Figure 6.22 Total active power losses incurred by the STATCOMs.

Figure 6.23 Dynamic behaviour of the modulation index of the STATCOMs.

Figure 6.24 DC‐bus voltages for different ratings of the capacitors.

Figure 6.25 Modulation ratios for different ratings of the capacitors.

Figure 6.26 Reactive power provided by the VSCs for different ratings of the ca...

Figure 6.27 Dynamic model of the VSC‐HVDC link with control variables.

Figure 6.28 VSC‐HVDC dynamic controller for the DC voltage.

Figure 6.29 DC power transfer controller of the VSC‐HVDC link model.

Figure 6.30 AC bus voltage controllers. (a) Rectifier station and (b) inverter ...

Figure 6.31 Test system used to validate the VSC‐HVDC model.

Figure 6.32 DC voltage performance for the RMS-type and Simulink models.

Figure 6.33 DC power performance for the RMS-type and Simulink models.

Figure 6.34 Modulation indices performance for the RMS-type and Simulink models...

Figure 6.35 Modified New England test system to incorporate a VSC‐HVDC link.

Figure 6.36 Voltage performance at different nodes of the network.

Figure 6.37 Dynamic behaviour of the converters' modulation index.

Figure 6.38 Reactive power generated by the HVDC link.

Figure 6.39 DC current behaviour of the rectifier and the inverter.

Figure 6.40 Voltage behaviour in the DC link.

Figure 6.41 VSC‐HVDC's AC active powers and DC power transfer behaviour.

Figure 6.42 Dynamic performance of various angles involved in the VSC‐HVDC link...

Figure 6.43 Frequency controller of the VSC‐HVDC.

Figure 6.44 Dynamic behaviour of the frequency at the inverter's AC terminal an...

Figure 6.45 Dynamic performance of the DC voltages and modulation indices. (a) ...

Figure 6.46 VSC‐HVDC link feeding into a low‐inertia AC network.

Figure 6.47 Voltage behaviour in the low‐inertia AC network.

Figure 6.48 Frequency behaviour in the low‐inertia AC network.

Figure 6.49 Performance of VSC‐HVDC link's DC and AC powers.

Figure 6.50 Dynamic performances of

γ

R

and

I

DCI

.

Figure 6.51 Performance of the DC voltages and modulation indices.

Figure 6.52 Frequency in the low‐inertia network and DC voltage of the inverter...

Figure 6.53 Representation of a three‐terminal VSC‐HVDC link with its control v...

Figure 6.54 Dynamic controller for the DC voltage of the slack converter VSC

Sla

...

Figure 6.55 (a) DC power controller of the station VSC

Psch

. (b) Frequency cont...

Figure 6.56 Modulation index controllers of the three‐terminal HVDC system.

Figure 6.57 Three‐terminal VSC‐HVDC link used to carry out the validation test.

Figure 6.58 DC voltages of the VSC units comprising the three‐terminal VSC‐HVDC...

Figure 6.59 DC power behaviour at the DC bus of the three VSC stations. (a) EMT...

Figure 6.60 Modulation ratio of the three VSC stations. (a) EMT‐type model. (b)...

Figure 6.61 DC voltages and power flows in the DC grid.

Figure 6.62 Modulation ratio of the VSCs and frequency of the passive grids fed...

Figure 6.63 AC voltages and AC powers during the three‐phase fault.

Figure 6.64 Voltages and powers in the DC network during the three‐phase fault.

Figure 6.65 Modulation ratio of the converters and reactive power injected by V...

Chapter 7

Figure 7.1 Basic scheme of a STATCOM connected to a distribution system.

Figure 7.2 One‐line equivalent circuit of the STATCOM connected at PCC.

Figure 7.3 Control system scheme for the DSTATCOM case.

Figure 7.4 Pole location for the inner control loop.

Figure 7.5 Time response of the inner loop obtained for a step reference.

Figure 7.6 Location of the poles for DC voltage control loop.

Figure 7.7 Time response of the DC voltage control loop for a step reference.

Figure 7.8 Circuit of a VSC‐based STATCOM implemented in PSCAD/EMTDC.

Figure 7.9 Implementation of the two‐level VSC using IGBTs and diodes from the ...

Figure 7.10 Inner control loop (current controllers) for the STATCOM implemente...

Figure 7.11 Control system of the voltage of the DC capacitor implem...

Figure 7.12 Control system of the PCC voltage implemented in PSCAD/EMTDC.

Figure 7.13 Sinusoidal PWM modulation scheme for two‐level VSC of the STATCOM i...

Figure 7.14 RMS voltage at the PCC in p.u.

Figure 7.15 Line‐to‐neutral voltage at the PCC in kV.

Figure 7.16 STATCOM waveforms: (a)

d

and

q

components of the current injected i...

Figure 7.17 DC capacitor voltage in kV.

Figure 7.18 Topology of a three‐phase, three‐level flying capacitor converter.

Figure 7.19 STATCOM based on the three‐level FC converter implemented in PSCAD/...

Figure 7.20 Three‐level flying capacitor converter implemented in PSCAD/EMTDC.

Figure 7.21 Voltage‐balance method for the flying capacitors implemented in PSC...

Figure 7.22 Phase‐shifted PWM modulation scheme for the three‐level FC converte...

Figure 7.23 RMS voltage at the PCC obtained with the three‐level FC converter.

Figure 7.24 Instantaneous line‐to‐neutral voltage at the PCC.

Figure 7.25 Detail of the spectrum of the line‐to‐neutral voltage at the PCC wi...

Figure 7.26 Line‐to‐line output voltage of the VSC obtained with: (a) conventio...

Figure 7.27 Waveforms of the STATCOM obtained with the three‐level FC converter...

Figure 7.28 Voltage of the DC capacitor in kV.

Figure 7.29 Voltages of the three flying capacitors: (a) phase

A

, (b) phase

B

, ...

Figure 7.30 Basic scheme of an HVDC system.

Figure 7.31 Control system for terminal 1 of the HVDC.

Figure 7.32 Control system for terminal 2 of the HVDC.

Figure 7.33 Two‐terminal HVDC system implemented in PSCAD/EMTDC.

Figure 7.34 Main electrical magnitudes of grid 1: (a) RMS voltage at PCC, (b) a...

Figure 7.35 Main electrical magnitudes of grid 2: (a) RMS voltage at PCC, (b) a...

Figure 7.36 Detail of the PCC voltages for the time interval 0.6 s < 

t

 < 0.8 s:...

Figure 7.37 Detail of the PCC voltages for the time interval 0.6 s < 

t

 < 0.8 s:...

Figure 7.38 Voltages of the three flying capacitors of terminal 1: (a) phase

A

,...

Figure 7.39 Voltages of the three flying capacitors of terminal 2: (a) phase

A

,...

Figure 7.40 Scheme of a multi‐terminal HVDC system.

Figure 7.41 Control scheme of a terminal with active‐power reference.

Figure 7.42 Four‐terminal HVDC system implemented in PSCAD/EMTDC.

Figure 7.43 Measured active powers of the four terminals: (a) active power of t...

Figure 7.44 Voltage at the DC side of each terminal: (a) DC voltage of terminal...

Figure 7.45 Electrical magnitudes of grid 1: (a) RMS voltage at PCC, (b) reacti...

Figure 7.46 Electrical magnitudes of grid 2: (a) RMS voltage at PCC, (b) reacti...

Figure 7.47 Electrical magnitudes of grid 3: (a) RMS voltage at PCC,...

Figure 7.48 Electrical magnitudes of grid 4: (a) RMS voltage at PCC, (b) reacti...

Figure 7.49

d

and

q

components of the currents injected by: (a) terminal 1, (b)...

Figure 7.50 Voltages of the three flying capacitors of terminal 1: (a) phase

A

,...

Figure 7.51 Voltages of the three flying capacitors of terminal 2: (...

Figure 7.52 Voltages of the three flying capacitors of terminal 3: (...

Figure 7.53 Voltages of the three flying capacitors of terminal 4: (a) phase

A

,...

Guide

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Table of Contents

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VSC-FACTS-HVDC

Analysis, Modelling and Simulation in Power Grids

Professor Dr Enrique Acha

Laboratory of Electrical Energy Engineering Tampere University Tampere, Finland

Dr Pedro Roncero-Sánchez

Department of Electronics Electrical Engineering and Control Systems University of Castilla-La Mancha, Spain

Dr Antonio de la Villa Jaén

Department of Electrical Engineering University of Seville, Spain

Dr LuisM. Castro

Faculty of Engineering National University of Mexico (UNAM) Mexico City, Mexico

Dr Behzad Kazemtabrizi

School of Engineering Durham University, UK

Copyright

This edition first published 2019

© 2019 John Wiley & Sons Ltd

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The right of Professor Dr Enrique Acha, Dr Pedro Roncero‐Sánchez, Dr Antonio de la Villa Jaén, Dr Luis M. Castro and Dr Behzad Kazemtabrizi to be identified as the authors of this work has been asserted in accordance with law.

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Library of Congress Cataloging‐in‐Publication Data

Names: Acha, Enrique, author.

Title: VSC-FACTS-HVDC : analysis, modelling and simulation in power

grids / Professor Dr Enrique Acha, Tampere University,

Tampere, Finland, Dr Pedro Roncero-Sanchez, Universidad de Castilla-La

Mancha, Ciudad Real, Espana Dr Antonio de la Villa Jan, Universidad de

Sevilla, Sevilla, Espana, Dr Luis M Castro, Universidad Nacional

Autonoma de Mexico (UNAM), Mexico City, Mexico, Dr Behzad Kazemtabrizi,

Durham University, Durham, England.

Description: First edition. | Hoboken, NJ : John Wiley & Sons Ltd, 2019. |

Includes bibliographical references and index. |

Identifiers: LCCN 2018051883 (print) | LCCN 2018055480 (ebook) | ISBN

9781118965801 (Adobe PDF) | ISBN 9781118965849 (ePub) | ISBN 9781119973980

(hardcover)

Subjects: LCSH: Smart power grids. | Flexible AC transmission systems. |

Electric power transmission--Direct current.

Classification: LCC TK3105 (ebook) | LCC TK3105 .A25 2019 (print) | DDC

621.319-dc23

LC record available at https://lccn.loc.gov/2018051883

Cover Design: Wiley

Cover Images: Background: © Teka77/iStock.com, Diagram: Courtesy of Enrique Acha

Dedication

To the memory of Jos Arrillaga, the one who wrote the most and best about HVDC transmission.

Preface

Electrical power transmission using high voltage direct current (HVDC) is a well‐established practice. There is common agreement that the world's first commercial HVDC link was the Gotland link, built in 1954, designed to carry undersea power from the east coast of Sweden to the Island of Gotland, some 90 km away. The original design was rated at 20 MW, 100 kV and used mercury‐arc valve converters. Its power and voltage ratings were increased in 1970 to 30 MW and 150 kV, respectively. Solid‐state electronic valves were used for the first time in the upgrade, with the new type of valve, termed silicon‐controlled rectifier (SCR) or thyristor, being connected in series with the mercury‐arc valves. This kind of HVDC link, and ancillary technology, has been magnificently described in earlier treatises by Adamson and Hingorani, Kimbark, Uhlmann and Arrillaga.

By the turn of the second millennium, there had been 56 HVDC links of various topologies and capacities built around the world: 22 in North and South America, 14 in Europe, 2 in Africa and 18 in Australasia. They ranged from the small, 25 MW, Corsica tapping of the Sardinia–Italy HVDC link to the large, 6300 MW HVDC link, a part of the awesome Itaipu hydro‐electric development on the Brazil–Paraguay border. At the time, three other large capacity HVDC links were at the planning/construction stage in China, to transport hydro‐electric power from the Three Gorges to the east and southeast of the country, each spanning distances of around 1000 km, rated at 3000 MW – the Three Gorges is a gigantic hydro resource in central China, with an estimated power capacity of 22 MW. Heretofore all the HVDC links in the world had employed either mercury‐arc rectifier or thyristor bridges and phase control to enable the rectification/inversion process. These converters are said to be line commutated and when applied to HVDC transmission are termed LCC‐HVDC converters. The LCC‐HVDC technology has continued its upward trend and five other high‐power, high‐voltage, long‐distance DC links have been built in China since 2010. The most recent LCC‐HVDC in operation was commissioned in 2012; it is the Jinping‐Sunan link in East China, rated at 7200 MW and ±800 kV, spanning a distance of 2100 km.

In LCC‐HVDC systems the current is unidirectional, flowing from the rectifier to the inverter stations. Such a fundamental physical constraint in thyristor‐based converters limits applicability to the following HVDC system topologies: point‐to‐point, back‐to‐back and radial, multi‐terminal links. In this context, the conventional, or classical, HVDC transmission technology is not a meshed grid maker; rather, its role has been to interconnect AC systems where an AC interconnection is deemed too expensive or technically infeasible.

However, one has to bear in mind that nowadays, in many situations, robust AC interconnections may be achieved more economically using one or more of the options afforded by the Flexible Alternating Current Transmission Systems (FACTS) technology, an array of power electronics‐based equipment and control methods which became commercially available in around 1990. It is widely acknowledged that N.G. Hingorani and L. Gyugyi stand out prominently as the intellectual driving force behind the development of the FACTS technology.

The main aim of the FACTS technology is to enable almost instantaneous control of the nodal voltages and power flows in the vicinity of where the FACTS equipment has been installed. We should not forget that power flows over an AC line can be manipulated very effectively by controlling the line impedance, or the phase angles, or the voltages, or a combination of these parameters up to the thermal rating of the equipment. A key element of the FACTS technology is the so‐called static compensator (STATCOM), which, in the parlance of a power electronics engineer, is a voltage source converter (VSC) and serves the purpose of injecting/absorbing reactive power to enable tight voltage magnitude regulation at its point of connection with the AC power grid. The advent of the STATCOM in the mid‐1990s was made possible by the development of power semiconductor valves with forced turn‐off capabilities, like the gate turn‐off (GTO) first and the insulated gate bi‐polar transistor (IGBT) soon afterwards. GTOs are like thyristors, which can be turned on by a positive gate pulse when the anode–cathode voltage is positive, and, unlike thyristors, can be turned off by a negative gate pulse. This turn‐off feature led to new circuit concepts and methods such as self‐commutated, pulse‐width‐modulated, soft‐switching, voltage‐driven and multi‐level converters. These circuits may be made to operate at higher internal switching frequencies than the fundamental level, at several hundreds of hertz, which, in turn, reduces low‐order harmonics and allows operation at unity and leading power factors. This contrasts sharply with what can be achieved with the normal thyristors.

Advances in the design of the power GTO and its applications in Japan and the USA continued apace by virtue of strategic collaborative R&D projects funded by utilities, manufacturers and governments. In Japan there was a target to develop 300 MW GTO converters for back‐to‐back HVDC interconnections, while in the USA a 100 MVAR GTO‐STATCOM was commissioned in 1996 for the Tennessee Valley Authority. Meanwhile, similar efforts were conducted in Europe in the design of the power IGBT. It is reported that on 10 March 1997, power was first transmitted between Hellsjön and Grängesberg in central Sweden using an HVDC link employing IGBT converters driven by pulse‐width‐modulation (PWM) control. The link is 10 km long, rated at 3 MW, 10 kV and is used to test new components for HVDC.

In spite of the great many technical advantages and operational flexibility of the VSC compared with the thyristor bridge, the GTO‐based converters did not make inroads into HVDC applications because of the much higher power losses and cost of GTOs compared with thyristors. A further reason is that the ratings of GTOs are low compared with those of thyristors. All this conspired to make VSC‐HVDC installations expensive. The impasse was broken with the use of IGBT valves, which exhibit lower switching losses than GTO valves, and decreasing manufacturing costs. Three years after the commissioning of the Hellsjön‐Grängesberg, four other VSC‐HVDC links had been commissioned in very distant parts of the world: a 50 MVA DC link in the emblematic Island of Gotland to evacuate wind power, an 8 MVA DC link in West Denmark to link an offshore wind farm, the 180 MVA Directlink or Terranora project in Australia for power export from New South Wales into Southern Queensland, and a 36 MVA DC link for system interconnection on the Mexican–Texan border. The undersea Estlink 1, linking the Estonian and Finnish power grids, was commissioned in 2006, rated at 350 MW and using VSC stations. Intriguingly, the Estlink 2, rated at 650 MW and commissioned in 2014, uses the classical thyristor‐converter technology.

It should be noted that all the VSC stations used in HVDC projects until 2010 had been of the so‐called two‐ and three‐level power converters. In around 2008, a new breed of VSCs was introduced into the market, the modular multilevel converters (MMCs), which switch at low frequencies, yield minimum harmonic production and have power losses just above those of the classical thyristor‐based HVDC converters. Equally important is the fact that it has been possible to increase the capacity of VSC‐HVDC links using MMC, by a very considerable margin, say 1000 MW per circuit, such as in the INELFE DC link between Baixas, France, and Santa Llogaia, Spain. Two identical circuits make up for a transmission capacity of 2000 MW. The link was commissioned at the end of 2013. Note that this application comes into the realm of bulk power transmission and is already eating into the niche area of classical thyristor‐based HVDC technology, namely asynchronous bulk power transmission, an area until recently thought to be unassailable. The Trans Bay Cable link was the first MMC VSC‐HVDC, commissioned in 2010, transmitting up to 400 MW of power from Pittsburg in the East Bay to Potrero Hill in the centre of San Francisco, California.

Furthermore, there are new application areas in which VSC‐HVDC transmission does not seem to have a competitor in sight – the connection of wind sites lying more than 70 km away from the shore is one of the most obvious applications, but there are a few others. For instance, the connection of microgrids with insufficient local generation and little or no inertia (inertia‐less power grids), the electricity supply of oil and gas rigs in deep waters, the infeed of densely populated urban centres with power grids already experiencing high short‐circuit ratios. Moreover, the unassailable characteristic of the HVDC transmission using the VSC technology is that it is a natural enabler of meshed DC power grids, with such a high level of operational flexibility, reliability and efficiency that one day may surpass that of the meshed AC power grids. To get to this point, though, further technological breakthroughs are still awaited in the ancillary areas of DC circuit breaker technology and high‐temperature superconductor cables and circuit breakers, as well as more affordable VSCs.

About the Book

The purpose of this book is to facilitate the study of technology that has emerged over the past 15 years in the area of flexible alternating current transmission systems (FACTS) and its technological convergence with the long‐standing application of high voltage direct current (HVDC) but now using voltage source converters (VSC). This includes the back‐to‐back, point‐to‐point and multi‐terminal VSC‐HVDC applications. The subject is addressed from a modern perspective, including the latest development in the power systems industry that will extend the applicability of the VSC‐FACTS‐HVDC technology.

Contrary to FACTS Modelling and Simulation of Power Networks, published by the leading author and colleagues in 2004, which was limited to material on FACTS power flows and optimal power flows (OPFs), this book will address new FACTS power system application areas which have received much attention from industry over the past 12 years. These areas include FACTS state estimation, FACTS‐constrained OPF, studies of FACTS dynamic performance and control, and the all‐important topic of electromagnetic transients. These applications areas coincide with research areas, which the authors have developed over the past 15 years and have published widely in the top journals and presented in their research work at international forums.

The book is aimed at a very wide sector of the power engineering community, encompassing utility and equipment manufacturing engineers, researchers, university professors and PhD and MSc students, and undergraduate students in their final year. The reader is expected to have a sound knowledge of electrical and electronic circuits, algebra and numerical methods, and a working knowledge of electrical power and control engineering – an undergraduate student embarking on their final year in an electrical and electronics degree course should be well qualified to read the book. It goes without saying that utility engineers and managers with a background in electrical power would also take to the book like a ‘duck to water’. Students conducting research in any of the topics covered in the book will find useful the modelling approach adopted by the authors which has resulted in flexible and comprehensive FACTS and HVDC‐VSC models with which to carry out a wide range of power network‐wide simulation studies, ranging from steady‐state to dynamic and transient studies.

Chapter gives an overview of the role that the VSC plays in the area of power systems VAR compensation. To qualify its prowess in this arena, a qualitative comparison is carried out against the long‐enduring static var compensator. The VSC is a rather flexible piece of equipment which may be connected either in shunt or in series with the AC system, according to requirement. Two or more of them may be made to combine to give rise to compound equipment or systems, such as the UPFC and the various flavours of VSC‐HVDC systems. Moreover, it is shown that the VSC combines well with the DC‐DC converters and plays a pivotal role in enabling the grid connection of the renewable sources of electricity and energy storage systems. Equally important is the fact that the VSC technology is a builder of multi‐terminal HVDC systems, with a DC network which may be a single node, a radial system or a meshed system. This is in stark contrast to the classical CSC‐HVDC technology, whose flexibility is very limited as far as multi‐terminal schemes is concerned. This chapter illustrates that a strategic feature of the VSC technology is to enable the conversion of AC transmission systems into DC transmission systems with an unassailable power transfer capacity and having, at least, an equal level of operational flexibility. Future developments in distribution systems seem to lie squarely in the incorporation of VSCs to enable greater operational flexibility, greater power throughputs and the incorporation of renewable electricity sources and storage.

Chapter presents the theory of power electronics, which is essential to a good understanding of modern power converters topologies. The most popular semiconductor valves are presented first, followed by the classical two‐level, single‐phase and three‐phase power converters. This forms the preamble of the study of multi‐level converters, which is the technology used today by industrial vendors. The chapter presents a comparison between the HVDC systems based on voltage source converters and those that employ current source converters. A comprehensive list of current VSC‐HVDC installations around the world is given at the end of the chapter.

Chapter addresses the theory of power flows. The chapter may be seen as consisting of two parts: (i) the conventional power flow theory, including a Newton‐Raphson power flow method in rectangular coordinates used to solve the set of nodal power equations describing the power grid during steady‐state operation; and (ii) the power flow equations of the VSC model, which are derived from first principles and then extended to establish the power flow models of the STATCOM, VSC‐HVDC links and generalized multi‐terminal VSC‐HVDC systems. The algebraic, non‐linear equations describing the steady‐state performance of the VSC, the STATCOM and VSC‐HVDC systems are solved using the Newton‐Raphson method in rectangular coordinates. The ensuing solutions fulfil the quadratic convergence characteristic which is the hallmark of the Newton‐Raphson method. The VSC is the basic building block with which all the VSC‐FACTS and VSC‐HVDC equipment is assembled; hence, a Newton‐Raphson power flow computer program written in Matlab, with the model of the VSC included, is available at www.wiley.com/go/acha_vsc_facts for the user to gain hands‐on experience.

Chapter introduces the topic of optimal power flow (OPF) used by transmission system operators for optimal economic and security assessments of their power grids. The chapter is divided into three main sections: (i) a general overview of the OPF problem and its applications in power systems operational planning; (ii) the introduction of the OPF problem as a non‐linear optimization problem and possible solution methods; and (iii) an extension to the OPF formulation to incorporate hybrid AC‐DC networks using VSC‐HVDC systems. The OPF methodology introduced in this chapter uses the VSC model developed in Chapter to formulate versatile models of hybrid AC‐DC networks suitable for minimum‐cost assessments of power systems subject to realistic operational constraints in both the AC and the DC grids. The overall solution algorithm adopted for solving the non‐linear system of equations is the de facto industry's standard Newton's method. Concerning the introduction of models of VSC‐based equipment, the chapter follows a similar line of development as in Chapter , starting with the VSC and progressing to develop models of the various kinds of VSC‐HVDC systems. However, in this chapter the complex nodal voltages are represented in polar form as opposed to rectangular form because the former is widely employed in the OPF literature. The models are formulated and solved using a general‐purpose mathematical solver package called AIMMS (Advanced Interactive Multidimensional Modelling System), employing its nonlinear augmented Lagrangian solver. However, the reader may implement these models using any equivalent general‐purpose simulation platform. Alternatively, the more advanced readers may wish to write their own OPF computer program using MATLAB scripting. In any case, a free academic licence of AIMMS can be obtained for academic research purposes.

Chapter presents the theory of power systems state estimation. The chapter is divided into two main parts, addressing the following issues: (i) the classical power systems state estimation theory using the weighted least squares method as the solution algorithm; and (ii) the state estimation models of the VSC, the STATCOM, UPFC, VSC‐HVDC links and generalized multi‐terminal VSC‐HVDC systems. The timely topic of PMUs in power systems state estimation is addressed in this chapter. Each major topic in this chapter is accompanied by a set of well‐designed numerical exercises using a MATLAB environment (WLS‐SE) for the user to gain hands‐on experience.

Chapter is dedicated to the study of power systems dynamics in time domain. It uses a similar outline to the previous four chapters. In the first part, it introduces the theory of conventional power systems dynamics, where the synchronous generators and their controls are the only equipment that exhibit a dynamic behaviour following a disturbance in the power grid. The transmission lines, transformers and loads are taken to exhibit a static behaviour, although provisions are made for the models of these equipment to have a voltage and frequency dependency. In this chapter the interest is the study of power system dynamic phenomena which exhibit a relatively low variation in time. Hence, the dynamics of the power grid is described well by a set of algebraic‐differential equations which are discretized and linearized in order to carry out the solution by iteration, which is valid for a single point in time. The solution algorithm used is an implicit simultaneous method employing the Newton‐Raphson method. The resulting mathematical model is coded in software and applied to assess the dynamic behaviour of a test system, in order to illustrate the usefulness of the overall dynamic model. In the second part of the chapter, the dynamic model of the VSC‐STATCOM, receives a similar treatment to the synchronous generator but having a detailed representation of the dynamics of its DC bus. This dynamic model is then suitably extended to encompass the dynamic models of the back‐to‐back, point‐to‐point and multi‐terminal VSC‐HVDC system. The VSC‐HVDC model is applied to study the timely issues of frequency support in power grids with near‐zero inertia and supplied by a VSC‐HVDC link.

Chapter is devoted to the simulation of the transient responses of various FACTS and HVDC systems using PSCAD/EMTDC, a commercial software package for electromagnetic transient analysis, which is widely used in industry and academia. Four different systems are simulated: (i) a STATCOM based on a conventional two‐level voltage source converter; (ii) an extension of the STATCOM using a three‐level flying capacitor converter as an example of a multilevel converter; (iii) a two‐terminal HVDC system based on a multilevel voltage source converter topology; and (iv) a multi‐terminal HVDC system which also employs multilevel VSCs. Furthermore, the control schemes of the different power systems are comprehensively explained and control design specifications are provided.

Acknowledgements

Bringing this book project to a close has been an endeavour made possible only with the support of colleagues and institutions from across the world, having started in the research laboratories of the University of Glasgow, Scotland, in 2008 and completing today, when the authors work in the following universities: Tampere University, Finland, Universidad de Castilla‐La Mancha, Spain, Universidad de Sevilla, Spain, Universidad Nacional Autónoma de México, Mexico, and Durham University, England. Our appreciation goes foremost to the University of Glasgow and our respective home universities for the time that allowed us to bring this project to fruition. We would like to thank Dr Rodrigo Garcia Valle from Ørsted, Denmark, and Dr Luigi Vanfreti from Rensselaer Polytechnic Institute, USA, for their early contribution to the book project. We would like to thank our respective families for the time that we were lovingly spared throughout the project.

Enrique Acha would like to thank Antonio Gómez Expósito, Jose Maria Maza‐Ortega and Sigridt Garcia for having written the following award‐winning paper: J.M. Maza‐Ortega, E. Acha, S. Garcia, A. Gomez‐Exposito, ‘Overview of power electronics technology and applications in power generation, transmission and distribution’, J. Mod. Power Syst. Clean Energy – Springer (2017) 5(4):499–514, which provided the inspiration for Chapter 1.

Luis Miguel Castro and Enrique Acha would like to acknowledge the financial assistance of Consejo Nacional de Ciencia y Technología (CONACYT), México, and Professor Pertti Järventausta from the Tampere University, Finland, through the SGEM project, to conduct fundamental research on the modelling and simulation of multi‐terminal Voltage Source Converter High‐Voltage Direct Current (VSC‐HVDC) systems. This research forms the basis of Chapters 3 and 6.

Behzad Kazemtabrizi would like to thank Ahmad Asrul Bin‐Ibrahim of Durham University, England, for his help in producing and verifying the results for the AC/DC optimal power flow (OPF) test case used in Chapter 4.

Antonio de la Villa would like to thank the Spanish Ministry of Economy and Competitiveness (MINECO) under grants ENE 2010‐18867, which provided the facilities for the work of Chapter 5. Thanks are also expressed to the following faculty staff of Universidad de Sevilla: Antonio Gómez Expósito, Esther Romero Ramos and Pedro Cruz Romero, for their useful suggestions during the preparation of this chapter.

Pedro Roncero would like to thank MINECO, whose financial support, at various stages in the preparation of the book, proved instrumental in seeing its completion.

The large number of simulations in the book were enabled by the use of a wide range of open source and commercial software (educational versions): Matlab, Simulink, MATPOWER, the Advanced Interactive Multidimensional Modelling System (AIMMS) and Power System Computer Aided Design/Electromagnetic Transient Direct Current (PSCAD/EMTDC). We would like to extend our most ample gratitude to all the owners and developers of such powerful simulation platforms.

We are grateful to the staff of John Wiley & Sons for their utmost patience and continuous encouragement throughout the preparation of the manuscript.

About the Companion Website

This book is accompanied by a companion website:

www.wiley.com/go/acha_vsc_facts

The website includes software files associated to Chapters 3, 5 and 7:

Matlab files corresponding to Chapters 3 and 5.

Two PSCAD files of Cases 1 and 4 corresponding to Chapter 7.

Scan this QR code to visit the companion website.

1Flexible Electrical Energy Systems

1.1 Introduction

Following a sustained programme of expansion of high‐voltage power grids in the 1960s and their widespread interconnection in the 1970s, by the end of that decade the expansion programmes of many utilities had become thwarted by a variety of well‐founded, environmental, land‐use and regulatory pressures, preventing the licensing and building of new transmission lines and electricity generating plants. This was in the face of sustained global demand for electricity.

An in‐depth analysis of the options available for increasing power throughputs with high levels of reliability and stability pointed towards the use of modern power electronics equipment, control techniques and methods [1]. Such a far‐reaching work was carried out first at the Electric Power Research Institute (EPRI) in Palo Alto, CA, under the leadership of N.G. Hingorani. The result was an integrated philosophy for AC network reinforcement using electronics principles, endowing AC transmissions lines with a degree of operational flexibility and power‐carrying capacity that had not been possible before. Flexible alternating current transmission systems (FACTS) was the name given to the family of power electronic‐based equipment, control techniques and methods emanating from this initiative [2].

In the same time span, electricity distribution companies were experiencing a marked increase in the deployment of end‐user equipment which was highly sensitive to poor‐quality electricity supply. Several large industrial users reported experiencing significant financial losses as a result of even minor lapses in the quality of electricity supply. A great many efforts were made to remedy the situation, with solutions based on the use of the latest power electronic technology of the time [3].

A range of custom‐made equipment and solution techniques was put to the fore, with the key ideas emanating from EPRI. This initiative, aimed at ameliorating adverse power quality phenomena at the interface between the low‐voltage distribution power grid and the industrial user, was given the name ‘custom power’ by its creator, N.G. Hingorani. Indeed, custom power technology was announced as the low‐voltage counterpart of the FACTS technology, aimed at high‐voltage power transmission applications and emerging as a credible solution to many of the problems relating to continuity of supply at the end‐user level [2] .

It is fair to say that many of the ideas upon which the foundation of FACTS rests evolved over a period of several decades, building on the experience gained in the areas of high‐voltage direct current (HVDC) transmission and reactive power compensation equipment, methods and operational experiences [4,5]. Nevertheless, there is widespread agreement that FACTS, as an integrated philosophy, was a novel concept brought to fruition at EPRI in the 1980s. Since those early days of the FACTS technology, a great many breakthroughs have taken place in the area of power electronics, encompassing new valves, control methods and converter topologies [6]. To a greater or lesser extent, the recent technological developments have all been incorporated into the fields of FACTS and HVDC, giving rise to a new generation of power transmission equipment in either AC or DC, with unrivalled operational flexibility [7].

The original boundaries between HVDC and FACTS were drawn along the type of solid‐state converters employed and their control [1] , but these boundaries became blurred with the arrival of newer technology. For instance, the static compensator (STATCOM), which is essentially a voltage source converter (VSC), is a product of the FACTS technology used to provide reactive power support [8]. Two such devices connected in series on their DC sides results in the modern expression of an HVDC transmission system. This has been designated VSC‐HVDC to distinguish it from the classical HVDC transmission using thyristor‐based bridges and phase control [9]. The largest vendors of power electronics equipment, ABB, Siemens and Alstom, have proprietary equipment termed HVDC Light, HVDC Plus and MaxSine HVDC, respectively. It is documented that the use of a VSC in a utility‐level application was in the form of a STATCOM, which falls squarely within the realm of the FACTS technology. The VSC application in HVDC transmission came next, which, it may be argued, is an application comprising two STATCOMs connected back‐to‐back or through a DC cable. Of course, such an argument is more difficult to sustain when we progress into the realm of multi‐terminal VSC‐HVDC [10].

From a traditional perspective, artificial lines have been drawn between the FACTS and the HVDC technologies. It is argued here that these lines be removed and that, instead, the focus should be on flexible transmission systems (FTS), a unifying concept bridging the FACTS and HVDC technologies – the aim being to enable the best‐of‐breed solutions underpinning the new power‐carrying structures that the smart grids demand [11].

The breakthroughs in power electronics impacted not only the transmission and distribution sectors of the electrical energy industry but also the generation sector, particularly the renewable generation and energy storage technologies [12]. The use of advanced power electronic converters enabled the wind power equipment manufacturers to transit from the first generation of fixed‐speed wind turbines to the second generation of variable‐speed wind turbines, which are larger, more efficient and fully compliant with modern grid codes [13]. The use of advanced power electronic converters also led to the proliferation, on a global scale, of grid‐connected photo‐voltaic generators, with full compliance to modern grid codes [14]. More recently, with the widespread availability of affordable lithium‐ion batteries suitable for power applications, battery energy storage systems (BESS) are becoming off‐the‐shelf products [15]. It is very likely that, once BESS prices decrease further, this equipment will become ubiquitous in the power grid since it has a potentially major role to play in electrical energy retailing.

In a more ample technological sense than FTS or flexible power generation, a wide range of enabling technologies has become cost‐effective, such as extruded cables, smart meters, phasor measurement unit (PMU), advanced protection systems, accessible satellite communications and distributed energy resources such as EV charging stations [16]