Designing of Two Terminal VSC Based

HVDC Transmission System

2018-F Y P

Submitted by:
Sameer Jameel 2018-EE-317
Shoaib Khizer 2018-EE-298
Bilal Nasir 2018-EE-297
Awais Aslam 2018-EE-308

Supervised by: Dr. Ali Raza

Co-Supervised by: Syed Furqan

Department of Electrical Engineering

University of Engineering and Technology Lahore
 Designing of Two Terminal VSC Based
HVDC Transmission System

Submitted to the faculty of the Department of Electrical Engineering of the University of

Engineering and Technology, Lahore in partial fulfillment of the requirements for the
Degree of

Bachelor of Science
in

Electrical Engineering.

Internal Examiner External Examiner

Final Year Project

Coordinator

2
Declaration
We declare that the work contained in this thesis is our own, except where explicitly stated
otherwise. In addition to this work has not been submitted to obtain another degree or
professional qualification.

Name: Sameer Jameel

Reg No: 2018-EE-317
Signed:

Date:

Name: Shoaib Khizer

Reg No: 2016-EE-018
Signed:

Date:

Name: Bilal Nasir

Reg No: 2018-EE-298
Signed:

Date:

Name: Awais Aslam

Reg No: 2018-EE-312
Signed:

Date:

3
Abstract

4
SPACE VECTOR PWM INVERTER
1.Problem Description
In this project, we will study Space Vector Pulse Width
Modulation (SVPWM) technique. We will use the STGP5H60DF Power Converter for this
purpose. The system configuration is given below:

Fig. 1 Circuit model of three-phase PWM inverter with a center-taped grounded DC bus.

The system parameters for this converter are as follows:

 IGBTs: STGP5H60DF, Max ratings: VCES = 600 V, IC = 10 A

 DC- link voltage: V dc = 12 V

 Fundamental frequency: f = 60 Hz

 PWM (carrier) frequency: f Z = 2.5 kHz

 Modulation index: a = 0.6

5
2.Space Vector PWM

2.1Principle of Pulse Width Modulation (PWM)

Fig. 2 shows circuit model of a

single-phase inverter with a center-taped grounded DC bus, and Fig 3 illustrates principle of
pulse width modulation.

Fig. 2 Circuit model of a single-phase inverter.

Fig. 3 Pulse width modulation.

As depicted in Fig. 3, the inverter output voltage is determined in the following:

 When V control >V tri , V A 0 =V dc /2

 When V control <V tri , V A 0 =−V dc /2

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Also, the inverter output voltage has the following features:

 PWM frequency is the same as the frequency of V tri

 Amplitude is controlled by the peak value of V control

 Fundamental frequency is controlled by the frequency of V control

Modulation index (m) is defined as:

v control peak of ( V A 0 ) 1
∴ m= =
v tri V dc /2

where, (VA0)1 : fundamental frequency component of VA0

2.1Principle of Space Vector PWM

The circuit model of a typical three-phase
voltage source PWM inverter is shown in Fig. 4. S 1 to S6 are the six power switches that
shape the output, which are controlled by the switching variables a, a′, b, b′, c and c′. When
an upper transistor is switched on, i.e., when a, b or c is 1, the corresponding lower
transistor is switched off, i.e., the corresponding a′, b′ or c′ is 0. Therefore, the on and off
states of the upper transistors S1, S3 and S5 can be used to determine the output voltage.

7
 Fig. 4 Three-phase voltage source PWM Inverter.

The relationship between the switching variable vector [a, b, c]t and the line-to-line voltage
t
vector [ V ab V bc V ca ] is given by (2.1) in the following:

[] [ ][ ]
V ab 1 −1 0 a
V bc =V dc 0 1 −1 b
V ca −1 0 1 c

Also, the relationship between the switching variable vector [a, b, c] t and the phase voltage
t
vector [ V a V b V c ] can be expressed below.

[] [ ][ ]
V an
V dc 2 −1 −1 a
V bn = −1 2 −1 b
3
V cn −1 −1 2 c

As illustrated in Fig. 4, there are eight possible combinations of on and off patterns
for the three upper power switches. The on and off states of the lower power devices are
opposite to the upper one and so are easily determined once the states of the upper power
transistors are determined. According to equations (2.1) and (2.2), the eight switching
vectors, output line to neutral voltage (phase voltage), and output line-to-line voltages in
terms of DC-link V dc , are given in Table1 and Fig. 5 shows the eight inverter voltage vectors
(V0 to V7).

Table 1. Switching vectors, phase voltages and output line to line voltages

8
 Fig. 5 The eight inverter voltage vectors (V0 to V7).

Space Vector PWM (SVPWM) refers to a special switching sequence of the upper three
power transistors of a three-phase power inverter. It has been shown to generate less

9
harmonic distortion in the output voltages and and to provide more efficient use of supply
voltage compared with sinusoidal modulation technique as shown in Fig. 6.

Fig. 6 Locus comparison of maximum linear control voltage in Sine PWM and SVPWM.
To implement the space vector PWM, the voltage equations in the abc reference
frame can be transformed into the stationary dq reference frame that consists of the
horizontal (d) and vertical (q) axes as depicted in Fig. 7.

Fig. 7 The relationship of abc reference frame and stationary dq reference frame.

From this figure, the relation between these two reference frames is below

f dq 0=K S f abc

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 [ ]
−1 −1
1
2 2
2 √3 −√ 3 , f = f f f T , f = f f f T ,∧f denotes either a
Where K s = 0 dq 0 [ d q 0 ] abc [ a b c ]
3 2 2
1 1 1
2 2 2

voltage∨current variable

As described in Fig. 7, this transformation is equivalent to an

orthogonal projection of [a, b, c]t onto the two-dimensional perpendicular to the vector [1, 1,
1]t (the equivalent d-q plane) in a three-dimensional coordinate system. As a result, six non-
zero vectors and two zero vectors are possible. Six nonzero vectors (V 1 - V6) shape the axes
of a hexagonal as depicted in Fig. 8, and feed electric power to the load. The angle between
any adjacent two non-zero vectors is 60 degrees. Meanwhile, two zero vectors (V 0 and V7)
are at the origin and apply zero voltage to the load. The eight vectors are called the basic
space vectors and are denoted by V0, V1, V2, V3, V4, V5, V6, and V7. The same transformation
can be applied to the desired output voltage to get the desired reference voltage vector V ref
in the d-q plane.
The objective of space vector PWM technique is to approximate the reference
voltage vector V ref using the eight switching patterns. One simple method of approximation
is to generate the average output of the inverter in a small period, T to be the same as that
of V ref in the same period.

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 Fig. 8 Basic switching vectors and sectors.

Therefore, space vector PWM can be implemented by the following steps:

 Step 1. Determine V d , V q , V ref and angle (α)

 Step 2. Determine time duration T1, T2, T0

 Step 3. Determine the switching time of each transistor (S1 to S6)

1.1.1 Step 1: Determine V d , V q , V ref , and angle (α)

The value of V d and V q can be calculated by putting the values of phase voltages
Van,Vbn,Vcn for each switching state.

[ ][ ]
−1 −1
1 V an
[ ]
Vd 2
=
Vq 3
0
2
√3
2
2
−√ 3
3
V bn
V cn

Here we will take modulation index m=0.6 and our input DC voltage is V dc =12 volts . So now
we can calculate the value of reference voltage from modulation index and input voltage.
m=0.6

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V dc =12 volt

|V ref |=m× V dc
|V ref |=0.6 ×12=7.2V
|V ref |=7.2V

Now we will calculate the angle alpha.

α =tan
−1
( )
Vq
Vd
=ωt=2 πft

Where f is the fundamental frequency and t is the time for the reference voltage to build up.
First Sector
If V ref is built up at time t = 2.5ms for 50 Hz fundamental frequency , then the angle α for
first sector is calculated below
α =2 πft
f =50 Hz π =180 degree
t=2.5 ms
−3
α =2 ×180 ×50 ×2.5 × 10
o
α =45 for first sector
Now the value of alpha for remaining sectors can be calculated by adding 60o .
Second Sector
o o o
α =45 +60 =105
Third Sector
o o o
α =105 + 60 =165
Fourth Sector
o o o
α =165 + 60 =225
Fifth Sector
o o o
α =225 + 60 =285
Sixth Sector
o o o
α =285 + 60 =345

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 Fig. 9 Voltage Space Vector and its components in (d, q)

2.2.2 Step 2: Determine time duration T1, T2, T0

Now we will calculate the time T1, T2, T0 for each state
2
× a ×sin ( n60 −α )
o
T 1=T Z ×
√3
2
× a ×sin ( α−( n−1 ) 60 )
o
T 2=T Z ×
√3
T 0=T Z −T 1−T 2
Here T Z is the switching time period and a is the modulation index and α is the angle and n
is the sector number. T z can be calculated as
f z =5000 Hz
1 1
T Z= =
f z 5000
T z =200 μs
a=0.6∧n=1¿ 6
First Sector
For 1st sector α =45o and n=1
2
T 1=T Z × × a ×sin ( n60 o−α )
√3
2
× 0.6 ×sin ( 1 ×60 −45 )
−6 o o
T 1=200 ×10 ×
√3
2
× 0.6 ×sin ( 60 −45 )
−6 o o
T 1=200 ×10 ×
√3
2
T 1=200 ×10−6 × × 0.6 ×sin ( 15o )
√3
T 1=36 μs
2
T 2=T Z × × a ×sin ( α−( n−1 ) 60o )
√3
2
× 0.6 ×sin ( 45 − (1−1 ) 60 )
−6 o o
T 2=200 ×10 ×
√3
2
× 0.6 ×sin ( 45 −0× 60 )
−6 o o
T 2=200 ×10 ×
√3

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 2
T 2=200 ×10−6 × × 0.6 ×sin ( 45o−0o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 45o )
√3
T 2=98 μs
T 0=T z −T 1 −T 2
−6 −6 −6
T 0=200 ×10 −36 ×10 −98 × 10
T 0=66 μs
Second Sector
For 2nd sector α =105 o and n=2
2
T 1=T Z × × a ×sin ( n60 o−α )
√3
2
× 0.6 ×sin ( 2 ×60 −105 )
−6 o o
T 1=200 ×10 ×
√3
2
T 1=200 ×10−6 × × 0.6 ×sin ( 120o −105o )
√3
2
× 0.6 ×sin ( 15 )
−6 o
T 1=200 ×10 ×
√3
T 1=36 μs
2
T 2=T Z × × a ×sin ( α−( n−1 ) 60o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 105 o−( 2−1 ) 60o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 105o −1× 60o )
√3
2
× 0.6 ×sin ( 105 −6 0 )
−6 o o
T 2=200 ×10 ×
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 45o )
√3
T 2=98 μs
T 0=T z −T 1 −T 2
−6 −6 −6
T 0=200 ×10 −36 ×10 −98 × 10
T 0=66 μs

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Third Sector
For 3rd sector α =165 o and n=3
2
× a ×sin ( n60 −α )
o
T 1=T Z ×
√3
2
× 0.6 ×sin ( 3 ×60 −165 )
−6 o o
T 1=200 ×10 ×
√3
2
× 0.6 ×sin ( 180 −165 )
−6 o o
T 1=200 ×10 ×
√3
2
× 0.6 ×sin ( 15 )
−6 o
T 1=200 ×10 ×
√3
T 1=36 μs
2
T 2=T Z × × a ×sin ( α−( n−1 ) 60o )
√3
2
× 0.6 ×sin ( 165 −( 3−1 ) 60 )
−6 o o
T 2=200 ×10 ×
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 165o −2× 60o )
√3
2
× 0.6 ×sin ( 165 −120 )
−6 o o
T 2=200 ×10 ×
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 45o )
√3
T 2=98 μs
T 0=T z −T 1 −T 2
−6 −6 −6
T 0=200 ×10 −36 ×10 −98 × 10
T 0=66 μs
Fourth Sector
For 4th sector α =225 o and n=4
2
× a ×sin ( n60 −α )
o
T 1=T Z ×
√ 3
2
T 1=200 ×10−6 × × 0.6 ×sin ( 4 ×60 o−225o )
√ 3
2
× 0.6 ×sin ( 240 −225 )
−6 o o
T 1=200 ×10 ×
√ 3

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 2
T 1=200 ×10−6 × × 0.6 ×sin ( 15o )
√3
T 1=36 μs
2
T 2=T Z × × a ×sin ( α−( n−1 ) 60o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 225 o−( 4−1 ) 60o )
√3
2
× 0.6 ×sin ( 225 −3 ×60 )
−6 o o
T 2=200 ×10 ×
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 225 o−180o )
√3
2
× 0.6 ×sin ( 45 )
−6 o
T 2=200 ×10 ×
√3
T 2=98 μs
T 0=T z −T 1 −T 2
−6 −6 −6
T 0=200 ×10 −36 ×10 −98 × 10
T 0=66 μs
Fifth Sector
For 5th sector α =285 o and n=5
2
T 1=T Z × × a ×sin ( n60 o−α )
√3
2
T 1=200 ×10−6 × × 0.6 ×sin ( 5 ×60 o−285o )
√3
2
T 1=200 ×10−6 × × 0.6 ×sin ( 300o −285o )
√3
2
× 0.6 ×sin ( 15 )
−6 o
T 1=200 ×10 ×
√3
T 1=36 μs
2
T 2=T Z × × a ×sin ( α−( n−1 ) 60o )
√3
2
× 0.6 ×sin ( 285 −( 5−1 ) 60 )
−6 o o
T 2=200 ×10 ×
√3
2
× 0.6 ×sin ( 285 −4 ×60 )
−6 o o
T 2=200 ×10 ×
√3

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 2
T 2=200 ×10−6 × × 0.6 ×sin ( 285 o−240o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 45o )
√3
T 2=98 μs
T 0=T z −T 1 −T 2
−6 −6 −6
T 0=200 ×10 −36 ×10 −98 × 10
T 0=66 μs
Sixth Sector
For 6th sector α =345 o and n=6
2
T 1=T Z × × a ×sin ( n60 o−α )
√3
2
× 0.6 ×sin ( 6 × 60 −345 )
−6 o o
T 1=200 ×10 ×
√3
2
T 1=200 ×10−6 × × 0.6 ×sin ( 360o −3 45o )
√3
2
× 0.6 ×sin ( 15 )
−6 o
T 1=200 ×10 ×
√3
T 1=36 μs
2
T 2=T Z × × a ×sin ( α−( n−1 ) 60o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 3 45 o−( 6−1 ) 60o )
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 345o −5 ×60o )
√3
2
× 0.6 ×sin ( 3 45 −300 )
−6 o o
T 2=200 ×10 ×
√3
2
T 2=200 ×10−6 × × 0.6 ×sin ( 45o )
√3
T 2=98 μs
T 0=T z −T 1 −T 2
−6 −6 −6
T 0=200 ×10 −36 ×10 −98 × 10
T 0=66 μs

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Fig. 10 Reference vector as a combination of adjacent vectors at sector 1.

2.2.3Step 3: Determine the switching time of each transistor (S1 to S6)

Fig. 11 shows space vector PWM switching patterns at each sector.

(a) Sector 1. (b) Sector 2.

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 (c) Sector 3. (d) Sector 4.

(e) Sector 5. (f) Sector 6.

Fig. 11 Space Vector PWM switching patterns at each sector.

Based on Fig. 11, the switching time at each sector is summarized in Table 2, and it
will be built in Simulink model to implement SVPWM.

Table 2. Switching Time Calculation at Each Sector

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Now we will calculate switching time for each switch in every sector.
First Sector
T 1=36 μs T 2 =98 μs T 0 =66 μs
T0
S1=T 1 +T 2 +
2
66 μs
S1=36 μs+ 98 μs +
2
S1=167 μs
T0
S3=T 2 +
2
66 μs
S3=98 μs +
2
S3=131 μs
T0
S5=
2

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 66 μs
S5=
2
S5=33 μs
T0
S4 =
2
66 μs
S4 =
2
S4 =33 μs
T0
S6 =T 1 +
2
66 μs
S6 =36 μs +
2
S6 =69 μs
T0
S2=T 1 +T 2 +
2
66 μs
S2=36 μs+ 98 μs+
2
S2=167 μs
Second sector
T 1=36 μs T 2 =98 μs T 0 =66 μs
T0
S1=T 1 +
2
66 μs
S1=36 μs+
2
S1=69 μs
T0
S3=T 1 +T 2+
2
66 μs
S3=36 μs +98 μs+
2
S3=167 μs
T0
S5=
2
66 μs
S5=
2

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S5=33 μs
T0
S4 =T 2+
2
66 μs
S4 =98 μs+
2
S4 =131 μs
T0
S6 =
2
66 μs
S6 =
2
S6 =33 μs
T0
S2=T 1 +T 2 +
2
66 μs
S2=36 μs+ 98 μs+
2
S2=167 μs
Third Sector
T 1=36 μs T 2 =98 μs T 0 =66 μs
T0
S1=
2
66 μs
S1=
2
S1=33 μs
T0
S3=T 1 +T 2+
2
66 μs
S3=36 μs +98 μs+
2
S3=167 μs
T0
S5=T 2 +
2
66 μs
S5=98 μs +
2
S5=131 μs

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 T0
S4 =T 1+T 2 +
2
66 μs
S4 =36 μs+98 μs+
2
S4 =167 μs
T0
S6 =
2
66 μs
S6 =
2
S6 =33 μs
T0
S2=T 1 +
2
66 μs
S2=36 μs+
2
S2=69 μs
Fourth Sector
T 1=36 μs T 2 =98 μs T 0 =66 μs
T0
S1=
2
66 μs
S1=
2
S1=33 μs
T0
S3=T 1 +
2
66 μs
S3=36 μs +
2
S3=69 μs
T0
S5=T 1 +T 2+
2
66 μs
S5=36 μs +98 μs+
2
S5=167 μs
T0
S4 =T 1+
2

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 66 μs
S4 =36 μs+
2
S4 =69 μs
T0
S6 =T 2 +
2
66 μs
S6 =98 μs +
2
S6 =131 μs
T0
S2 =
2
66 μs
S2 =
2
S2=33 μs
Fifth Sector
T 1=36 μs T 2 =98 μs T 0 =66 μs
T0
S1=T 2 +
2
66 μs
S1=98 μs +
2
S1=131 μs
T0
S3=
2
66 μs
S3=
2
S3=33 μs
T0
S5=T 1 +T 2+
2
66 μs
S5=36 μs +98 μs+
2
S5=167 μs
T0
S4 =T 1+
2
66 μs
S4 =36 μs+
2

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S4 =69 μs
T0
S6 =T 1 +T 2+
2
66 μs
S6 =36 μs +98 μs+
2
S6 =167 μs
T0
S2 =
2
66 μs
S2 =
2
S2=33 μs
Sixth Sector
T 1=36 μs T 2 =98 μs T 0 =66 μs
T0
S1=T 1 +T 2 +
2
66 μs
S1=36 μs+ 98 μs +
2
S1=167 μs
T0
S3=
2
66 μs
S3=
2
S3=33 μs
T0
S5=T 1 +
2
66 μs
S5=36 μs +
2
S5=69 μs
T0
S4 =
2
66 μs
S4 =
2
S4 =33 μs

26
 T0
S6 =T 1 +T 2+
2
66 μs
S6 =36 μs +98 μs+
2
S6 =167 μs
T0
S2=T 2 +
2
66 μs
S2=98 μs +
2
S2=131 μs

27