HVDC dynamic modelling for small signal analysis

The conventional quasi-steady model of HVDC is not able to describe the dynamic switching behaviour of HVDC converters. By means of the sampled-data modelling approach, a linear time-invariant (LTI) small-signal dynamic model is developed for the HVDC main circuit in the synchronous rotating d-q reference frame. The linearised model is validated by time-domain simulation, and it can be seen that the model represents the dynamic response of the static switching circuits to perturbations in operating points. The model is valid for analysing oscillations including high frequency modes such as subsynchronous oscillation (SSO) and high frequency instability. The model is applied in two cases: (i) SSO analysis where the results are compared with the quasi-steady approach that has shown its validation for normal SSO analysis; (ii) high frequency eigenvalue analysis for HVDC benchmark system in which the results of root locus analysis and simulation shows that increased gain of rectifier DC PI controller may result in high-frequency oscillatory instability.