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1
AbstractThis article is focused on the droop-based DC voltage control design for multi-terminal VSC-HVDC grid systems,
considering the AC and the DC system dynamics. The droop
control design relies on detailed linearized models of the complete
multi-terminal grid, including the different system dynamics,
such as the DC grid, the AC grid, the AC connection filters
and the converter inner controllers. Based on the derived linear
models, classical and modern control techniques are applied
to design the different controllers, including a multi-variable
frequency analysis to design the grid voltage droop control. In
combination with the droop control, a DC oscillation damping
scheme is proposed, in order to improve the system performance.
The control design is validated through simulations of a threeterminal system.
Index TermsOffshore wind power, multi-terminal, droop
control, HVDC, AC and DC grid interactions.
I. I NTRODUCTION
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WFC
Offshore grid
GSC
AC Grid
Onshore
Grid
(1)
Wind
farm
GSC
iq*
c
G (s)
AC vcqd
vcqd* Current d* P
Converter
ic
loop
grid
GU(s)
iqd
c
Secondary
Control
P
En*
*
P
Kn
+ -
WFC
E1*
U*
+
-
Wind
farm
Onshore
Grid
K1
Node
1
Pn
En
P*
AC Grid
P1
Em
G (s)
AC vcqd
vqd* Current d* P
Converter c
ic
loop
grid
GU(s)
En+1
Pn+1 HVDC
Grid
Pm
iq*
c
iqd
c
E1
U*
Node
n
Ej
icabc
Cj
Lc
Rc
igabc
PCC
Lg
Rg
Cf
v abc
uabc
e abc
GSC
where Alc
dxlc
= Alc xlc + Blc ulc
dt
and Blc are:
c
R
Lc
1
Cf
Alc =
0
c
R
Lc
0
C1f
1
Lc
0
0
0
1
Lc
0
0
1
Cf
L1g
R
Lgg
L1g
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(2)
0
0
0
Cf
R
Lgg
(3)
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Blc = 0
0
L1c
0
0
0
0
0
0
0
0
0
0
0
0
0
1
Lg
1
Lg
(4)
ulc
(v , v , e , e )
(5)
(6)
where iqd
c are the currents flowing from the Point of Common
Coupling (PCC) to the converter, iqd
g are the currents flowing
to the grid, eqd are the grid voltages, uqd are the voltages at
the PCC and v qd are the voltages applied by the converter,
in the synchronous reference frame. Applying linearization to
the previous equations, the state-space representation can be
expressed as:
A Phase Locked Loop (PLL) system is required for orienting the converter controllers with the grid angle [17].
The synchronous reference frame is oriented with the d-axis
voltage employing a PI regulator. The output of this controller
is the estimated frequency of the grid, which is integrated to
obtain the angle for the system Park transformations. The PI
regulator included in the PLL is:
(kppll s + kipll )
(13)
s
where kppll and kipll are the proportional and integral gains
of the regulator, calculated based on the amplitude of the AC
voltage and the bandwidth desired for the PLL [17]. The inner
dynamics of the PLL system introduce an angle deviation
between the real grid angle and the estimated angle, specially
during voltage transients. In order to introduce this effect into
the converter linear model, the PLL tracking system can be
linearized as [14], [18]:
Kpll =
e =
s2
kppll s + kipll
ud
+ uq0 kppll s + uq0 kipll
(14)
I6x6
from the PLL estimated angle. The transformation Tqd
c relates
uq0
ud
0
both
references:
0
0
0
0
U0
U0
(9)
Clc =
3 iqg0
3 id
T
3 uq0
3 ud
0
g0
0
0
xqdc = Tqd
xq , xd , e
(15)
2
2
2
2
c
q
d
3 vg0
3 vg0
0
0
0
0
2
2
where Tqd
c is:
08x4
Dlc =
3 iqc0
2
3 id
c0
2
Tqd
c =
!
0
(10)
(11)
cos() cos( 2
) cos( + 2
)
3
3
3
(12)
sin( + 2
T() = sin() sin( 2
3 )
3 )
2
1
1
1
2
cos e0
sin e0
sin e0
cos e0
sin e0 xq0 cos e0 xd0
(16)
q
cos e0 x0 sin e0 xd0
where Tqd
c
1
Tqd
c
is:
=
cos e0
sin e0
sin e0
cos e0
cos e0 xd0 sin e0 xq0
q
cos e0 x0 sin e0 xd0
(18)
C. Current control
The current loop (CL) is based on the conventional vector
control strategy [19]. It is based on two different PI regulators
GCL besides a decoupling loop, as it is shown in Fig. 4. The
current loop is implemented in xqdc variables.
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-1
e
-
+
+
udc
Lc
Lc
GCL(s)
+ -
- +
Tcqd
v
qd
icq*
icqc
icqdc
icdc
+
GCL(s)
icqdc Tcqd
icd*
icqd
e
qd
igqdc Tcqd eig
Pu Pcalc
uqdc
u
i
igqdc
GP(s)
Pu*
+
+
-
uqc
Current loop
GU(s)
Power
Voltage
loop
U
uqd
U*
Ucalc
uqdc
0
Tcqd
uqdc
uqd
e
2 Ei
Ei
Ei0
Ei0
ILij
Ii
Rij
Ci
qdc
0
qdc
g0
Figure 4. Current loop and power and voltage loops linearized structures
Ii =
Pi
Lij
WFC
GSC
This model can be extended to a more complex multiterminal grid, deriving the equivalent circuit of the DC grid
and obtaining the system equations as explained above. Then,
the linear state-space of DC grid model, obtained based on the
grid equations is:
dx
= Ax + Bu u + Bw w,
dt
y = Cy x, z = Cz x,
(25)
(26)
w = (Pn+1 , . . . , Pn+m )T
z = (En+1 , . . . , En+m )T
(27)
Notice that u and y are variables related with the GSCs,
that are controlling the DC voltage, whereas w and z are
variables related with the WFCs, where the voltage is not
controlled. Finally, the presented AC side and DC grid linear
models can be combined in order to build a complete linear
model of the multi-terminal grid, as it is shown in Fig. 6. Note
that, only the node i AC dynamics are represented in the figure
for simplicity.
E*
U*
(24)
Cj
Ej
Ei
Pj
Ij
Tcqd
iqd
g
iqdc
g
Tcqd
iqd
c
E1 En+m
*
Power/Voltage Pu Droop E
loops
iqd*
c
iqdc
c
qd
e Tc
uqd
uqdc
DC
grid
Pi
-1 vqd
Current vqdc
Tcqd
loop
PLL
AC
grid
uqd
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P1
Pn+m
iqd
g
iqd
c
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- +
Lc
icqd
Lc
+
vd
idc
GCL(s)
+ -
Voltage
modulation
icq
iq*
c
GP(s)
T( )
icd*
Rc
Lc
v abc
igabc
T( )
E*
E
-1
ud
T( )
U*
uqd
(uq)2+(ud)2
igabc
icabc
icabc
Cj
igqd
GPLL(s)
Ij
Ej
1
s
GU(s)
ud
Pu*
ref
GCL(s)
Pu
+
+ -
vq
uqd
Current loop
uq
uabc
uqd
Control
system
C. Droop control
The droop design should be carried out considering all the
dynamics of the multi-terminal system, as these affect the
performance of the controller. For this reason, the control
analysis should employ the linear model of the multi-terminal
grid explained above, which includes the different systems
involved in the droop operation. The complete dynamic system
of the multi-terminal grid is depicted in Fig. 8, where the
different control stages of the converter can be identified.
E1*
Lg
e abc
GSC
E1 En
E1
+
z
En+1 En+m
En
+ -
DC
grid
e1
P1
U1*
Pu1* + +
Pu1 U1
K1
GP
igabc
Rg
Cf
PLL
uabc
[15], [20]. The inputs for the optimization are basically the
desired settling time for reference tracking for both controllers,
expressed as two different objective transfer functions. Then,
the optimization algorithm is run to design the PI parameters
based on the frequency requirements.
uiq1 ic1q*
Pn
u
Pn+1 Pn+m
Converter
AC Grid
GU
Converter
AC Grid
GU
d*
u1
CL P
En*
Un* Kn
P *
- + + - un
Un
Pun
d*
ic1
en
Pun CL
icn
GP
q*
icn uiqn
(29)
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d
c1
Pu1*
0
K1
*
un
Pu1
q*
c1
d*
c1
d
cn
q
c1
GP1
Pn+m
w
v6=0
CL
0 GPn
Converter 1
AC Grid 1
y
Converter n
AC Grid n
P1
DC
grid
En+1
z En+m
Pn
kek2
= max
(Tev (j))
kvk2
(32)
R
where kek22 = eT e dt is the 2-norm of e. Therefore, to
minimize the effects of the disturbance w on the voltage error
e can be understood as minimizing:
0 CL
q
cn
Pun
Pn+1
max
q*
cn
d*
cn
0 Kn
E1
En
0 GUn
*
n
r
E1*
En*
e1
en
e
GU1
U1*
i * i
i * i
i
i
i *
i * uiq
U1
Un
u
(33)
(34)
The power and voltage loops are tuned in the range of tens
of milliseconds in order not to interact with the lower level
current controllers, designed to respond within a few milliseconds. Considering the presented control structure (Fig. 7), as
the droop controller output is connected to the power loop
input, certain fast power transients could cause variations of
the voltage due to the grid behavior, that could not be properly
damped, considering the limited bandwidth of the power loop.
A modification of the presented control scheme (Fig. 7)
is shown in Fig. 10. A compensator between the voltage
error and the active current reference is included to damp
fast voltage variations of the system, as the current loop
has a higher bandwidth compared to the power loop. The
suggested compensator is based on a band-pass filter, which
does not modify the power sharing in steady state established
by the droop control. It should be tuned to act within the
frequency range between power regulator and the current
regulator bandwidth. The filter can be designed as:
Gbp = Kbp
1
t1 s
= Kbp Gf
t1 s + 1 t2 s + 1
(35)
Kbp1 Gf
0
d1 Gf
0
..
..
= Kf
Kd =
.
.
0
Kbpn Gf
0
dn Gf
(36)
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P ref
+ +
+ +
iq*
c
Gbp(s)
iqp*
c
GP(s)
Table II
PARAMETER OF THE AC SIDE CONVERTERS [14]
Pu*
iqbp*
c
Pu
E*
Figure 10. Droop and power loop combined with the DC oscillation damping
AC Grid
GSC 1
Offshore grid
AC Grid
WFC 3
GSC 2
Table I
PARAMETERS OF THE THREE - TERMINAL DC GRID . CIGR E B4 DC GRID
TEST SYSTEM [5]
DC grid parameters
Value
Units
Line resistance R
Line inductance L
Line capacitance C
Cable distance 13 d13
Cable distance 23 d23
GSC/WFC DC link capacitor Cdc
GSC rated power P1 , P2
WFC rated power P3
Reference voltage E
0.0095
2.112
0.1906
100
150
150
350
700
400
/km
mH/km
F/km
km
km
F
MW
MW
kV
AC side parameters
Value
Units
Nominal Power P1 , P2
Nominal Voltage Vac
Short Circuit ratio (SCR)
Grid Thevenin Xn/Rn ratio
Coupling inductance Lc
Coupling resistance Rc
Capacitor filter impedance Xf
350
195
5
10
0.2
0.01
5.88
MW
kV
pu
pu
pu
(37)
u = (P1 , P2 )
w = (P3 )
(38)
y = (E1 , E2 )
z = (E3 )
(39)
10
0
C11
CP1 E
0
0
2
10
20
0
0
C12
0
CP2 E
2
20
1
1
30
(40)
A=
0
0
+ CP3 E
2
C
C
3
3
30
R13
1
1
0
L13
L13
L13
R23
1
1
0
L23
L23
L23
1
02x1
0
C1 E10
1
B = 1 (41)
Bu =
0
C3 E30
C2 E20 w
03x2
02x1
Cy = I2x2 02x3 , Cz = 01x2 1 01x2
(42)
Once the DC grid state-space model is derived, the AC system
models for both converters are also obtained. Then, the inner
current controller is designed to track references with a settling
time of 10 ms [23], based on IMC. It has been observed,
that the AC grid voltage measured at the capacitors uqd can
be importantly affected during a fast active current change,
specially for grids with low SCR. As this voltage is employed
for the decoupling loop, a low pass filter is applied to the uqd
measurement in order not to introduce these fast dynamics
into the controller [14]. This low pass filter can be tuned to
be around ten times faster than the current loop.
Having defined the current controller, the power and voltage
loop PI controllers are designed based on the linear model
(Fig. 6) applying robust control tuning techniques [15], [20].
The settling time is defined to be approximately 100 ms for
both power and voltage regulators [23]. The output of the
robust optimization parametric design is shown in Fig. 12a,
where the closed loop transfer functions of the power and
voltage control are depicted, showing an acceptable performance. Also, a comparison between the complete simulation
model and the linear model, derived to design the different
controllers, is shown in Fig. 12b. This comparison shows that
the differences between both models are minimum, thus validating the use of the linear model for control design purposes.
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(Ew (0))
||w(0)||2
P3
!
p
(4 105 0.1)2 2
= 20 log10
= 81.85 dB (44)
700 106
60
Pu* to Pu
80 0
10
10
U* to U
2
10
Frequency (rad/s)
10
354
352
350
5
5.05
5.1
Time (s)
5.15
5.2
K=
0
K2
90
1
10
10
Frequency (rad/s)
Kg=10
159.5
70
80
90
0
10
10
Kg=15
10
10
10
Frequency (rad/s)
Units (kW/V)
Kg=25
Kg=20
159
158
4.95
Figure 13. Singular values representation of Ew (s) (DC voltage errors - Wind
power input) a) Without oscillation damping, b) With oscillation damping.
Complete model
Linear model
158.5
5
5.05
5.1
Time (s)
5.15
5.2
Once the outer power and voltage loops are designed, the
multi-terminal droop control is addressed. Assuming that the
power generated by the wind power plant, injected to the DC
grid by the WFC, must be shared by both GSCs, an initial
parametrization is established for the controller. Then, the
multi-variable droop controller, considering that GSC 1 and
GSC 2 are regulating the voltage, can be defined as:
K1
0
80
10
Figure 12. Design output of the voltage and power loops of the converter. a)
Bode representation of the closed loop transfer functions (Pu to Pu and U
to U ). b) Power and voltage response comparison between the complete and
linear models, for a power step change.
b)
70
160
Voltage (kV)
Power (MW)
60
b)
356
348
4.95
40
80 0
10
10
Frequency (rad/s)
a)
Magnitude (dB)
40
0
20
1
= Kg
0
0
1
= Kg I2
(43)
where K1 and K2 are the droop constants locally implemented at each of the GSCs, expressed in kW/V units.
This parametrization could lead to an unequal power sharing,
depending on the grid impedances and the power flow, fact
that can be solved by the secondary control. Then, as the exact
power sharing is ensured by the upper control layer, this work
is focused on the design of the droop control considering the
dynamics of the whole multi-terminal grid. Then, based on
the linear model of the system, the transfer function matrices
u
u
Ew (s), Er (s), Uwiq (s) and Ur iq (s) are obtained following the
structure shown in Fig. 9. Note that, the reference inputs E
do not introduce any voltage error in the system [9], thus the
u
system analysis will only be focused on Ew (s) and Uwiq (s),
that relate the voltage errors and the control action with the
wind power input, respectively.
Next, the singular values representation of Ew (s) relating
the GSC DC voltage errors and the power coming from the
wind farm is depicted in Fig. 13a. Assuming a maximum
voltage error of a 10% of the nominal value at each terminal.
The singular values representation should not exceed, in steady
Magnitude (dB)
20
Magnitude (dB)
Magnitude (dB)
Magnitude (dB)
a)
0
70
d1 = 0, d2 = 0
d = 1/80, d = 1/20
1
80
d1 = 1/20, d2 = 1/80
d1 = 1/20, d2 = 1/20
90
0
10
10
10
Frequency (rad/s)
10
Kg=20 kW/V
Figure 14. Singular values representation of Ew (s) (DC voltage errors Wind power input), for different damping loops.
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80
85
90
95 0
10
10
10
Frequency (rad/s)
Magnitude (dB)
Magnitude (dB)
85
90
1
85
90
1
10
10
Frequency (rad/s)
10
10
Frequency (rad/s)
Kf =1/25
80
85
90
95 0
10
10
Kf =1/20
10
Kg=25
75
80
95 0
10
80
95 0
10
10
Kg=20
75
Kg=15
75
Magnitude (dB)
Magnitude (dB)
75
10
10
Frequency (rad/s)
Kf =1/15
Kf =1/10
10
Kg(kW/V)
Kf (A/V)
Figure 15. Singular values representation of Ew (s) (DC voltage errors Wind power input), including damping loop, for different Kg and Kf .
Magnitude (dB)
Kg=10
105
110
115
10
10
10
Frequency (rad/s)
105
110
115
0
10
10
105
110
115
10
10
10
Frequency (rad/s)
Kf =1/25
10
Kg=25
Magnitude (dB)
Magnitude (dB)
Kg=20
10
10
Frequency (rad/s)
10
Kf =1/20
105
110
115
0
10
Kf =1/15
10
10
Frequency (rad/s)
Kf =1/10
10
Kg(kW/V)
Kf (A/V)
Figure 16. Singular values representation of Uwiq (s) (Current loop references
- Wind power input), including damping loop, for different Kg and Kf .
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a)
b)
E3
P1
200
420
410
400
390
1.9
2.1 2.2
Time (s)
c)
I13
P3
P2
200
400
iq1
2.1 2.2
Time (s)
2.3
1.9
uq1
id2
Voltage (kV)
Current (A)
iq2
0
500
1000
1500
1.9
2.1 2.2
Time (s)
2.3
e)
id1
2.1
Time (s)
2.2
uq2
ud1
ud2
150
100
50
0
1.9
2.3
2.1
Time (s)
2.2
2.3
Figure 17. Simulation results after applying a WFC reference step power
change. a) DC grid voltages. b) Converters power. c) DC lines current. d)
Currents in qd frame. e) PCC voltages in qd frame
a)
b)
E3
430
420
410
400
390
1.9
200
2.1 2.2
Time (s)
2.3
P1
P2
P3
0
200
400
600
1.9
c)
I13
1000
Current (A)
E2
Power (MW)
Voltage (kV)
440
E1
P1
400
380
4.4
4.6
4.8
Time (s)
4.4
4.6
4.8
Time (s)
500
0
500
4.4
4.6
4.8
Time (s)
d)
iq1
id1
e)
iq2
uq1
id2
1000
ud1
uq2
ud2
200
Voltage (kV)
500
0
500
1000
1500
4.4
I23
1000
Current (A)
Power (MW)
Voltage (kV)
420
c)
I13
P3
P2
400
200
0
200
400
600
150
100
50
0
4.6
4.8
4.4
Time (s)
4.6
4.8
Time (s)
1.9
d)
500
b)
E3
500
600
2.3
I23
1000
Current (A)
E2
Power (MW)
Voltage (kV)
E1
430
a)
E2
E1
440
Current (A)
I23
500
0
2
2.1 2.2
Time (s)
2.3
1.9
2.1 2.2
Time (s)
2.3
Figure 18. Simulation results after applying a WFC reference step power
change without including the damping loop. a) DC grid voltages. b) Converters
power. c) DC lines current.
VI. C ONCLUSIONS
A DC voltage droop design methodology considering the
different dynamics involving a multi-terminal VSC-HVDC
grid is presented. This methodology includes a procedure for
obtaining a linearized model of the complete system. Also, a
design criterion for the current loop and the power and voltage
loops is provided. Once the inner dynamics of the converter
are established, a multi-variable frequency analysis of the
droop control performance can be carried out to determine
the proper DC droop voltage gains, in order to accomplish the
defined system requirements. Also, a controller for damping
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