Adaptive Droop Control of Multi-terminal MVDC

Distribution Network for High Solar PV Penetration

Patrobers Simiyu†, IEEE Student Ai Xin IEEE, Senior Member Vedaste Ndiyishimiye
Member
North China Electric Power University, North China Electric Power University,
North China Electric Power University, Beijing Beijing
Beijing
School of Electrical & Electronics Eng. School of Electrical & Electronics Eng.
School of Electrical & Electronics Eng.
†simiyupr@yahoo.com
Adam Mohamed Ahmed Abdo George Adwek Girmaw T. Bitew

North China Electric Power University, Hebei University of Technology North China Electric Power University,
Beijing Beijing
Department of Energy &
School of Electrical & Electronics Eng. Environemtnal Eng. School of Electrical & Electronics Eng.

Abstract—The MVDC distribution network has attracted
numerous power system applications including renewable
energy (RE) integration. Currently, there is growing interests
in solar photovoltaic (PV) penetration in the distribution
network. However, the PV grid penetration poses great
challenges in the operation control of the distribution network
in which the MVDC network can be a solution. In this paper,
an adaptive droop-based DC voltage control strategy is
proposed for increased PV penetration in the MVDC
distribution network and validated in PSCAD/EMTDC. The
results show that the proposed droop control accurately
regulates the DC voltage hence the power flow in the network
than the conventional droop control at 26 and 52% PV
penetration. This provides the proposed strategy with a greater
capacity to control higher PV penetration prior to possible PV
power curtailment which is often the last resort. Future studies
will extend the MVDC distribution network to encompass wind
power and the proposed adaptive droop control strategy
enhanced with the model predictive controller (MPC) or fuzzy-
logic controller for better response and flexibility.
Keywords—MVDC distribution network, Adaptive droop
control, PID parameters, PV penetration, DC voltage control.
I. INTRODUCTION
The developments in the power industry has stimulated a
paradigm shift in multi-terminal voltage source converter
(VSC) medium voltage DC (MVDC) distribution network
from ship to the terrestrial electric power system[1],[2]. The
MVDC network typically rated 1.5-30kV has attracted a
number of extensive market-based applications such as AC
distribution network reinforcement, transmission/distribution
level renewable energy (RE) integration, rail transport
application, urban and rural electrification etc[3],[4]. There
are plenty of opportunities for MVDC technologies at
component, converter and system levels in the fastly growing
and evolving power market [3],[5],[6].
The solar photovoltaic (PV) is the fastest growing RE
integrated into the distribution network. The PV integration
have advantages such as grid generation support, reduced
electric power bills for consumers with grid-connected PV
systems through net-metering and feed-in-tariff (FIT) and
environmentally benign power generation. However, the PV
power is highly intermittent and significant grid penetration
pose a great challenge in the operation control of the
distribution network. PV penetration is the ratio of the total
PV generation output to total power generation. High
penetration has adverse technical impacts such as voltage
fluctuations, harmonics, power system protection problems,
low power factor, reverse power flow and feeder losses.
Several technologies such as energy storage and Low
Voltage Direct Current (LVDC) have been proposed for
mitigating these negative impacts in the LV networks [7].
The MVDC network has been proposed as favorable
platform for RE integration because of its higher efficiency
and low cost compared to its AC counterpart [3].
The droop-based control strategy is considered suitable
and adaptable for stable and secure operation of the multi-
terminal MVDC distribution network. This is because of its
higher reliability, flexibility, and expandability with fast
dynamic response and minimal communication requirements
in the multi-terminal DC (MTDC) grid[5]. However, the
main setback of the droop control is the tight regulation of
DC voltage working point and power sharing accuracy trade-
off which causes a great challenge in MTDC precise power
flow control. Large droop gains are required if accurate
power sharing is to be achieved irrespective of the MTDC
network topology. On the hand, tight DC voltage regulation
demands small droop gain. High accuracy in power sharing
can be realized when the droop controller decreases the DC
voltage steady-state error typically achieved through
secondary control[8],[9],[10]. Besides, the droop-based
control methods work at fixed droop constants that depend
entirely on the respective converters ratings. Hence, an
MTDC network containing equal rated converters equably
share the load in event of an outage on any converter.
However, the converters may not be loaded equally in certain
operating conditions increasing vulnerability to overloading.
Therefore, adaptive droop control methods are preferable to
better compromise the DC voltage deviations and power
sharing in MTDC grids [10],[11].
In [12], a radial 10kV MVDC distribution network with
Solar PV integrated was proposed in PSCAD/EMTDC and
the conventional droop control strategy identified as the most
effective over the master-slave and voltage margin in
coordinating the primary level DC voltage control. In this
paper, an adaptive droop-based scheme as an improvement

978-1-5386-8549-5/18/$31.00 ©2018 IEEE

of the conventional droop control is proposed for the same proposed by Chen et al.. The fuzzy logic controller uses the
network for increased PV penetration and validated in converter available active power capacity to update the droop
PSCAD/EMTDC. Fig. 1.0 shows the MVDC distribution coefficient effectively compromising the DC voltage and
network under investigation. power sharing trade-off. The simulation results for this
AC Load
strategy proves that the controller consistently tracks the
converter dynamic behaviors achieving desired dynamic
responses under wind-farm side and grid-side converter
outage scenarios [14]. In general, the adaptive droop
proposal schemes provides a better balance between the DC
AC
voltage deviations and power sharing than the conventional
DC droop control besides demonstrating higher dynamic
MVAC I MVAC II
performance. Therefore, the adaptive droop control schemes
10kV MVDC Bus
AC DC have great prospects for future operation control of the
DC AC MTDC grids likely to stir greater impetus in MVDC growth
and development.
DC DC
DC DC III. OVERVIEW OF PROPORTIONAL–INTEGRAL–DERIVATIVE
CONTROLLER (PID) CONTROLLER

Battery The PID controller is a control-loop feedback mechanism

PV applied in industrial control systems including power
System systems. A PID in a closed-control loop system continuously
Fig.1. The Multi-terminal MVDC Distribution Network Model apply correction based on the PID parameters to the control
Since MVDC network modelling is not the focus of this the input so as to minimize the control error tracking the
paper, readers are referred to [12] in which detailed process variable with its desired set-point. The PID
modelling is undertaken. parameters; proportional, integral and derivative gains; Kp,
Ki and Kd respectively have varied dynamics on the closed-
loop system. The three can be used individually or in suitable
II. ADAPTIVE DROOP CONTROL SCHEMES
combinations depending on the desired system requirements.
Many adaptive droop control methods have been proposed in Table 1.0 shows the general individual effects of the
literature to simultaneously and effectively fulfil the parameters on the closed-loop system performance. This
constraints on DC voltage and power deviations. An adaptive serves as a guide to open-loop plants only hence detailed
(variable) droop strategy for a 4-terminal MTDC grid is analysis and tuning is proposed as the best criteria to confirm
proposed by Chaudhuri et al., as an advancement of the fixed the effect of individual gains[15],[16].
droop control. In this case, the converters are configured to
share power based on the difference between their rated The controller parameters must be tuned to optimum
capacity and prevailing loading; also known as head-room values so that the closed-loop control system can achieve
besides their ratings. Thus, the droop coefficient in this desired control response. Stability robustness; set-point
control scheme is updated based on the head-room of each following and tracking performance at transient, including
converter. The converters operating on a higher head-room rise-time, overshoot and settling time; regulation
can share more burden of a converter that encounter an performance at steady-state, including load disturbance
outage than those working close to their operational rejection; robustness against plant modeling uncertainty;
threshold. The adaptive droop control shows consistent noise attenuation and robustness against environmental
tracking of the converters dynamics ensuring desired uncertainty are the main objectives of tuning [15],[16].
dynamic response during inverter and rectifier outage Manual, analytical, heuristic, frequency response,
scenarios [11]. Korompili and Monti proposes a modified optimization and adaptive methods are available for tuning
droop control for DC voltage restoration in MTDC system the PID controllers[15],[17].
containing a DC source, a DC microgrid cluster and a DC
load. The proposed scheme consists of a proportional- TABLE 1.0: GENERAL INDIVIDUAL EFFECTS OF THE PID PARAMETERS ON
derivative (PD) droop controller for active power-DC THE CLOSED-LOOP SYSTEM [15].
voltage droop control besides the adaptive integrator with Response Rise Overshoot Settling Steady Stabil
scheduling and switching schemas for decreasing the voltage Time Time State ity
static-error of the PD controller. The performance of the Error
control scheme depicts simultaneous achievement of the Increasing Decrease Increase Small Decrease Degra
constraints on DC voltage and active power deviations[10]. Kp Decrease de
A model predictive control (MPC) based droop controller is Increasing Small Increase Increase Large Degra
KI Decrease Decrease de
proposed by Li et al, for coordinating a six-terminal MTDC
Increasing Small Decrease Decrease Minor Impro
grid. The MPC controller minimizes the DC voltage Kd Decrease Change ve
deviations by adjusting the droop gains of all VSC in the grid
when active power changes occur in the MTDC grid. The IV. ADAPTIVE DROOP CONTROLLER
simulation results show that the MPC-based controller is a
more superior and flexible than the fixed droop strategy The adaptive droop controller consists of a PD controller
under step changes in wind-farm power outputs and severe incorporated in the power loop and an additional voltage
fault conditions[13]. The fuzzy-logic based adaptive droop control loop encompassing an integral controller as shown in
control in MTDC HVDC for wind power integration is Fig. 2. The PD controller adapts the reference voltage based
on the deviation in the measured power (P) from the set
value (Pref). To decrease the steady-state error of the PD TABLE 2.0: ADAPTIVE CONTROLLER PARAMETERS
controller, the reference voltage is corrected by the integral Parameters Nominal Values
controller based on the deviation of the measured voltage (V) Proportional gain of Outer Voltage 10
from the set-value (Vref) neglecting line voltage drop. This Controller
regulates the measured output voltage and current to the set Integral time constant Outer Voltage 0.01
values in the cascaded proportional-integral (PI) outer Controller
Proportional time constant of Current 0.1
voltage controller and inner current controller respectively. Controller
After pulse-width modulation (PWM), the corresponding Integral time constant of Current 0.1
output of the inner controller eventually dictates the Controller
converter switching pulses hence its output. Proportional gain of PD Controller 0.1
Derivative time constant of PD Controller 0.03
A low-pass filter (LPF) is included in the power loop to Integral time constant of Additional 0.02
attenuate signals above cutoff frequency in the output Voltage Controller
voltage and current to a smooth average value in the LPF Cut-off Frequency 9mHz
measured power. A high-pass filter (HPF) is used in the Droop coefficient 3
additional voltage loop to filter the DC voltage.
V. SIMULATION RESULTS
Additional Outer Voltage Controller
+ Integral
Vref
Controller
C A. MVDC Distribution Network in PSCAD/EMTDC
-

V
HPF In this paper, a preliminary case study I is undertaken in a
+
+ Kdroop
+ Outer Voltage Inner Current Control
two terminal MVDC distribution network containing
Vref Controller Controller PWM
- +
Pulses to
Converter
MVAC I and II as well as the AC load (see Fig. 1) to assess
V the effectiveness of the proposed adaptive droop over the
Pref
+ PD conventional droop strategy. In the second case study, the
Controller
-
two terminal MVDC is extended to incorporate the base
P LPF case solar PV generation as well as battery storage and
(a) increasing PV penetration study for 26% and 52%
+ undertaken. The 26% PV penetration was assumed an
+ Kdroop
Vref Same as (a) ambitious starting point for inflicting greater control
- - challenges in evaluating the effectiveness of the DC voltage
coordinated control strategies under investigation in
V
PSCAD/EMTDC. The key parameters of the distribution
+
Pref network are given in [12] and shown in Table 3.0. The
- MVAC I & II are each equipped with the droop controller in
Fog. 2. The solar PV is operated at maximum power point
P
tracking (MPPT) using incremental conductance, the AC
(b)
Fig. 2: Controllers: a) Proposed Adaptive Droop Controller b).
load operated on AC voltage control and the battery charge
Conventional Droop controller regulates the charging and discharging regimes
although the emphasis for the study is on the discharging
Typically, the proposed adaptive droop controller
operates in the cascaded PID control. The outer controllers cycle as was in [12].
regulate the set-points of the inner controllers hence the Kp, In the analysis, different operation conditions namely;
Ki and Kd of the three cascaded controllers are designed to be start-up, PV generation step changes, steady-state operation,
different as the inner current controller must have faster LLL-G contingency operation as well as converter shut-
response hence shorter time constant than the outer voltage down at MVAC I at t=4s/t=9s are carried in a preliminary
controller. Therefore, the PI gains of the outer voltage study. Finally, the proposed strategy is assessed for PV
controller are designed so that the control loop hence its power penetration and emphasis placed on steady-state and
bandwidth is a decade lower than that of the inner current contingency operation.
controller which in turn is a decade lower than the PWM
switching frequency. Similarly, the cut-off frequency of the TABLE 3.0 KEY PARAMETERS OF THE MVDC NETWORK
LPF of the PD controller is designed with a decade lower
bandwidth than the outer voltage control loop. The Kp of the Parameters Nominal Value
MVDC grid Voltage 10kV
PD controller is expressed as Kp = 'Vmax/'Pmax, where MVDC Link Capacitance 4000μF
'Vmax is the maximum DC voltage deviation and 'Pmax is MVAC I/II Utility Power/Voltage 10/8MW/5kV
the maximum active power of the converter. The adaptive Reactor Inductance 0.005H
controller’s Kd is designed by pole placement technique and AC Frequency 50Hz
the scheduling schema of the derivative droop gain in [10] PV Array Power 10MW
adopted. The Ki of the additional voltage controller loop is Boost Converter Inductance 1H
designed such that its bandwidth is one decade lower than PV Capacitance 1000μF
PV-Boost side Capacitance 2500μF
that of the PD controller. Similarly, the scheduling and
Battery Capacity 0.64MW
switching schemas of the voltage restoration controller (VRC) Buck-Boost inductance 1H
in [10] is adopted for the integral controller. The controller Battery Side Capacitance 11000μF
gains and related component parameters are given in Table AC load Power 6MW
2.0.
B. Results
1) Case Study I
A two terminal MVDC distribution grid with MVAC I
and II alongside the AC load each under the proposed
adaptive droop and conventional droop control method is
studied. Fig. 3 show the performance characteristics for case
I. A rise time, overshoot and settling time of 0.16s, 10.7%
and 2s respectively are observed with the proposed droop
control whereas, 0.19s, 15% and 2.1s correspondingly
prevailed under the conventional droop control. The DC
voltage and active power flow are highly controlled in both
control methods during steady state operation.
When the LLL-G fault is applied on the MVAC I at t=4s,
greater oscillations in active power at all the network
terminals occurs. Considerable surges in active power to
about 2-3 times the amplitude of the nominal value under
both droop strategies can be observed at the MVAC I and II
as well as at the AC load. The power flow at the AC load
show the same pattern for both control schemes. The active
power fluctuations results into a drastic DC voltage fall
(10kV to 1.1kV) in the MVDC network. However, the DC
voltage oscillations decay after 0.3s when the fault clears in
both droop control methods.
At t=9s when the MVAC I is brought out of service, the
MVAC II reverses its output to compensate the shortfall
from MVAC I loss. In the process, the DC voltage
oscillations occurs with the proposed droop control but decay
after 1s whereas a DC voltage dip of 2.4kV is observed with
the conventional droop control.
2) Case Study II
This includes the extension of the two terminal MVDC
distribution grid to accommodate solar PV and battery as
shown in Fig. 1 for increased PV penetration. Similar steady
charging surges that endangers the battery life can also be
observed.
The droop control methods presented in the above cases
are largely similar in their basic control characteristics in the
rise time, overshoot and settling time. However, the
proposed adaptive droop strategy has a slight advantage in
its enhanced power and DC voltage controllers. The Ki and
Kd in the PD controller stabilizes the active power and DC
voltage droop control characteristics by increasing not only
the controller’s ability to react quickly but also to anticipate
the control error and damp to decrease the overshoot. The
additional integral-controller based voltage controller
reduces its steady state error. This is illustrated in the way
the adaptive droop control enabled the reduction in power
and DC voltage oscillations with increasing penetration as
well as resuming nominal voltage after a short fluctuations.
When providing grid support during generation loss, the
adaptive droop control rapidly adapts to changes without
causing significant voltage dips like the conventional droop
control. The shorter settling times hence the fast response in
tracking the reference and accordingly reducing the steady
state error ensures greater accuracy in the DC voltage
control and power flow in the proposed droop control.
Increasing PV penetration in the distribution network bring
control issues like active power and DC voltage fluctuations.
However, it can be observed that the threshold for managing
these PV penetration before possible PV power curtailment
is higher with the proposed droop than the conventional
droop control.
10.0
8.0
Vdc (kV)

6.0
state and contingency analysis in Case I are replicated in the 4.0
network. Fig. 4 and 5 show the performance characteristics 2.0
0.0
in case II. When 26% penetration is considered, the DC
voltage and active power flow remain fully controlled at 20.0
steady state with both droop control strategies. In LLL-G
MVAC I (MW)

fault scenario, the network operation encounter significant

active power and DC voltage oscillations at all the converter
terminals leading to a great fall in DC voltage of about
-2.5
1.2kV.
When the MVAC I is brought out of service, the PV and 8.0
6.0
MVAC II (MW)

MVAC II jointly step up grid generation support to 4.0

2.0
compensate the generation loss. While the PV power 0.0
oscillates and decay in about 1s with the proposed droop -2.0
-4.0
control, the use of the conventional droop encounters a dip -6.0
-8.0
in voltage of about 1.2kV. In each case, a portion of the
excess active power arising from PV penetration is observed 0.0
AC Load (MW)

charging the battery. When the PV penetration is doubled to

52%, the intense oscillations in active power flow and DC
voltage with the adaptive droop control arising from
contingencies significantly decrease in amplitude. However,
-22.5
with the conventional droop, intense power oscillations
0.0 2.0 4.0 6.0 8.0 10.0
occur even at instances steady with the proposed droop Time (s)
control e.g. t-6s to t=9s causing greater instability in DC
voltage. The PV generation swings to its lowest of about (a)
4MW from t=7.8s onwards implying a probable point for
PV curtailment under conventional droop scheme. Huge
 12.0
14.0 10.0
12.0 8.0

Vdc (kV)
10.0 6.0
Vdc (kV)

4.0
8.0 2.0
6.0 0.0
4.0 16.0
2.0
0.0

MVAC I
(MW)
18.0
-2.0
MVAC I (MW)

10.0

MVAC II
(MW)
-2.0 -10.0

4.0
8.0

Battery (MW)
2.0
MVAC II (MW)

6.0 0.0
4.0 -2.0
2.0
0.0 -4.0
-2.0 4.0
-4.0
-6.0

PV (MW)
-8.0
0.0 -4.0
AC Load (MW)

0.0

AC Load (MW)
-18.0
-20.0 0.0 2.0 4.0 6.0 8.0 10.0
Time (s)
0.0 2.0 4.0 6.0 8.0 10.0
Time (s) (b)
(b) Fig. 4 Performance characteristics for Case II-26% PV Penetration ; a).
Proposed Droop b). Conventional Droop
Fig. 3 Performance characteristics for Case I; a). Proposed Droop b).
12.0
Conventional Droop 10.0
Vdc (kV)

8.0
12. 0 6.0
10. 0 4.0
8. 0
Vdc(kV)

2.0
6. 0 0.0
4. 0
2. 0 18.0
0. 0
MVAC I (MW)

18. 0
ACgridI
(MW)

-2.0

-2. 0 8.0
MVAC II (MW)

10. 0
ACgridII
(MW)

-10.0

-10. 0 5.0
8. 0
Battery (MW)
BESS
(MW)

0.0

-5.0
-8. 0
8.0
PV (MW)

4. 0
PV(MW)

-8.0
-4. 0
0.0
AC Load (MW)

0.0
ACLo d
(MW)

-20.0
-20. 0
0. 0 2. 0 4. 0 6. 0 8. 0 10. 0 0.0 2.0 4.0 6.0 8.0
Time (s)
Time(s)
(a) (a)
 14.0
12.0
10.0
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Vdc (kV)

8.0
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VI. CONCLUSION
The dynamic performance of the conventional droop
control strategy can be enhanced to achieve better control
responses hence mitigate challenges such as active power
fluctuations and voltage deviations arising from high PV
penetration in the distribution network. Hence in this study,
an adaptive droop control scheme is proposed as an
improvement of the traditional droop strategy for the MVDC
distribution network. The results show that the proposed
droop control accurately tracks the DC voltage hence the
power flow in the network than the conventional droop
control at 26% and 52% PV penetration levels. In this way,
the proposed droop control provides a higher threshold for
PV power curtailment than the conventional droop control
when managing adverse high PV penetration impacts.
ACKNOWLEDGMENT
This work was supported by 2016 National Key R & D
Program of China to support Low-Carbon Winter Olympics
of Integrated Smart-Grid Demonstration Project
(2016YFB0900500) and the Beijing Natural Science
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