566 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO.

1, JANUARY 2021

Adaptive Droop Control of Multi-Terminal HVDC

Network for Frequency Regulation and
Power Sharing
Mir Nahidul Ambia , Student Member, IEEE, Ke Meng , Senior Member, IEEE,
Weidong Xiao , Senior Member, IEEE, Ahmed Al-Durra , Senior Member, IEEE,
and Zhao Yang Dong , Fellow, IEEE

Abstract—This paper proposes a novel adaptive droop control HVDC power transmission grid. The multi-terminal HVDC
strategy for multi-terminal HVDC (MTHVDC) network to provide (MTHVDC) system provides an effective solution as it as-
frequency support and power sharing via a distributed consensus sociates the connection of several AC grids into the HVDC
algorithm. The droop coefficient is adaptively tuned by an effective
integration of optimization algorithms and frequency consensus transmission grid [4]–[7]. In addition, the voltage source con-
method. The optimization control aims to minimize generation cost, verter (VSC) control can be operated in different modes in the
frequency deviation cost, and converter losses. Furthermore, the MTHVDC network to achieve an optimal solution in the entire
coordination between the consensus-based droop controller and AC/DC hybrid system [8], [9].
the optimization technique is established by a feedback loop of
coupling gain solution method, which is based on coupling gain
matrix. The proposed control is successfully applied to a four- A. Related Work and Motivations
terminal MTHVDC system and modified New England 39-bus
system on PSCAD. Power sharing is further improved by adding In a VSC-MTHVDC system, the classical control strategy
an adjustment factor based on frequency deviation with coupling consists of regulating either fixed reference dc link voltage
gain matrix, which redirects power flow in ac and dc sub-grids. In control or dc link voltage droop control. Moreover, the frequency
addition, the loss reduction of voltage source converters is presented droop is facilitated with this classical dc link control, where the
to demonstrate the proposed control performance.
frequency controlling is superimposed on dc-link voltage [10].
Index Terms—Adaptive droop, coupling gain index, Constant power control mode is also one of the approaches that
multiterminal HVDC, power sharing, voltage source converter several research papers have presented [11]–[13]. Nevertheless,
(VSC).
the controlling of dc voltage and frequency with appropriate
power sharing is a major concern and poses a technical chal-
I. INTRODUCTION
lenge. In this regard, the design of the droop coefficient is
ODERN power systems have significantly evolved with
M the demand to interconnect AC and DC subsystems.
With the necessity to balance generation and consumption
extremely important in any of the power sharing methods. As the
MTHVDC network involves several AC grid areas connecting
into an HVDC link, incorporating fixed droop coefficient into
mismatches, the high-voltage direct current (HVDC) power the control might bring fluctuations in the network as it cannot
transmission grids have emerged due to the integration of large coordinate with the diverse operating conditions. A variety
distributed generation systems into the grid [1]–[3]. Thus, the of solutions have been presented in recent research work on
regulation of voltage and frequency in a large hybrid sys- adaptive power sharing [14]–[17]. An adaptive voltage droop
tem along with improved power sharing is a challenge in has been proposed in [14] on multiterminal VSC-HVDC sys-
tems for dc voltage deviation and power sharing. The droop
Manuscript received December 19, 2019; revised March 30, 2020; accepted coefficients are based on power sharing and frequency deviation
May 26, 2020. Date of publication June 2, 2020; date of current version January factors; however, factors from other VSCs for coordination could
6, 2021. This work was supported in part by the ARC Discovery under Grant
DP170103427 and Grant DP180103217, and in part by the ARC Research Hub improve the power flow. Furthermore, a grid reconnection event
for Integrated Energy Storage Solutions under Grant IH180100020. Paper no. on contingency analysis has not been considered. Frequency
TPWRS-01900-2019. (Corresponding author: Mir Nahidul Ambia.) regulation techniques on MTHVDC network have been explored
Mir Nahidul Ambia and Weidong Xiao are with the School of Electrical and
Information Engineering, University of Sydney, Sydney, NSW 2006, Australia in [15]–[18]. Frequency deviation sharing among various ac
(e-mail: [email protected]; [email protected]). systems in MTHVDC system has been facilitated in [16], while
Ke Meng and Zhao Yang Dong are with the School of Electrical Engineering selective routing is proposed in [17].
and Telecommunications, University of New South Wales, Sydney, NSW 2052,
Australia (e-mail: [email protected]; [email protected]). Power sharing through voltage deviation and frequency analy-
Ahmed Al-Durra is with Advanced Power & Energy Center, EECS Depart- sis from other VSCs might improve the dynamic response of the
ment, Khalifa University, Abu Dhabi, UAE (e-mail: [email protected]). control. A virtual synchronous generator control is proposed in
Color versions of one or more of the figures in this article are available online
at https://ieeexplore.ieee.org. [19]. A hierarchical security-constrained optimal power model
Digital Object Identifier 10.1109/TPWRS.2020.2999443 is presented in [20] to minimize the total generation and security
0885-8950 © 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.

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 AMBIA et al.: ADAPTIVE DROOP CONTROL OF MULTI-TERMINAL HVDC NETWORK 567

cost along with regulating power flow; however, it does not

highlight the frequency variation challenges in MTHVDC while
performing power sharing through ac and dc sub-grids. Authors
in [21], [22] have highlighted coordinated solutions based on
model predictive controls and disturbance models. Optimization
techniques have been explored in [20], [23]–[25] on MTHVDC
systems. An optimal distribution method has been proposed for
financial improvement on wind farm [26]. The controlling of dc
link voltage and power sharing is quite well-known; however, it
is evident that the controls of both become contradictory for a Fig. 1. Frequency droop control of conventional method.
fixed droop control strategy. If constant power control is applied,
the dc-voltage might change due to the power flow through satisfied with other objective functions, an optimal solution of
VSC [14]. Hierarchical control, on the other hand, has been adaptive droop coefficient is generated to run the VSC frequency
reported in [23], where centralized and decentralized are the droop control. The proposed method has been evaluated by
main approaches. Despite centralized control being an efficient simulation of PSCAD. The main contribution in this paper can
method, its vulnerability to single point failure has given alter- be summarized:
nate solutions to decentralized methods [27]. Power sharing and 1) Distributed consensus-based adaptive droop control is
frequency regulation by decentralized method as primary control proposed to identify the mismatch with neighboring grids
is suitable for systems with increasing penetration of DGs [27]; and regulate frequency by incorporating the mismatch into
however, distributed control can reduce communication cost as the VSCs.
it relies on information exchange between neighboring entities 2) An economic operation is carried out by a novel opti-
as reported by [28]. Frequency-based consensus reported in [29] mization method, which minimizes generation cost, VSC
has highlighted the importance to counteract imbalances in re- losses, and frequency deviation cost.
mote AC areas. Counter imbalance between load and generation 3) The coordination between distributed consensus and op-
in an AC network is driven by primary frequency control, how- timization is achieved by coupling gain extraction to
ever, for multi terminal networks it does not tend to counteract improve the power sharing within different AC and DC
or provide support in remote AC areas [29]. The MTHVDC net- sub-grid areas.
works require interactive support between its AC areas through The effectiveness of the proposed control is verified by gen-
the dc network, which is well-suited for consensus-based fre- erating AC side disturbances like contingency of distributed
quency regulation compared to decentralized primary frequency generation as AC grid. The results tested on MTHVDC-based
control [29]. Furthermore, the importance of optimal operations modified New England 39 bus system have been compared with
apart from only providing transient stability is highlighted in an established method reported in [14]. Moreover, the perfor-
[23]. [30] has considered transmission and VSC station losses in mance of the proposed control is highlighted with improvement
objective function to improve their optimal set points. Minimiza- by reducing settling time, overshoot, undershoot during transi-
tion of transmission is also reported in [24] for VSC-MTDC net- tion and by reducing VSC station losses.
works. In this context, an adaptive control method is absolutely
instrumental for multi-terminal HVDC networks for flexible
operations to share power and regulate frequency within the AC II. CONVENTIONAL FIXED DROOP CONTROL
areas. The distributed generation in MTHVDC networks is a rel-
atively weaker grid compared to the traditional AC grids. The
VSCs on the DG side require additional control on frequency
B. Contributions
regulation in case of any contingency in the network. The control
With the above as background, an adaptive distributed droop of VSC is based on the classical d-q axis frame, which aims
control method is proposed in this paper, where the droop coeffi- to regulate dc link, active power and terminal voltage in the
cient is tuned adaptively based on a frequency-based consensus system [10]. The conventional frequency droop control has been
method and an optimization method with an objective function illustrated in Fig. 1.
to reduce VSC station losses and generation cost. The proposed The dc link voltage of the MTHVDC transmission grid is used
method is based on a power sharing strategy and frequency as feedback to PI controller with a set point. The aim of the outer-
regulation through the coupling gain index solution of consensus loop is to extract a d-axis reference current idref
si for injection
control method. The proposed adaptive droop control coefficient into the converter. The frequency droop is modeled by utilizing
is developed through optimization and frequency consensus the additional PI controller to insert additional active power into
method. In the optimization method, the aim is to minimize the reference current injection. Frequency achieved from the
generation cost, reduce VSC losses and minimize frequency PLL is used as feedback to frequency droop PI controller with a
deviation cost. Furthermore, the frequency deviation cost is droop coefficient of Kd , as shown in Fig. 1. Therefore, the d-axis
mathematically modeled with the coupling gain as it is fed reference current injection can be presented in (1), where kpo
from the distributed consensus method and once constraints are and kio are outer-loop PI coefficients; kpf and kif are frequency

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 568 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 1, JANUARY 2021

VSCs on ac grid side. The VSC on DG side compares the

frequency with neighboring one and utilize that information on
VSC current injection reference. The coordinated optimization
method aims to minimize cost functions on the MTHVDC
network. First, it runs the objective function; once the system
constraints are meeting the requirements, the algorithm extracts
the solution and feeds to the system level and consensus stage.
To ensure that the coordination is synced with both methods,
the droop coefficient is updated with the coupling gain matrix,
which is fed into the optimization block.

B. Adaptive Droop Control by Frequency Consensus

Based on the concept of consensus algorithm, the proposed
method provides a sense of acknowledgment between neigh-
Fig. 2. Overview of proposed control framework.
boring and parent entities and facilitates the information to find
the optimal solution. The droop coefficients are expected to be
droop PI coefficients; PSref
i
is considered as the reference for tuned with operating conditions. To design the droop coefficient
d for the frequency regulation, the mismatch between neighboring
active power and uSi is the d-frame voltage from VSC; Pc is the
measured active power. AC areas and operating VSC area is achieved through fre-
    quency consensus. The mismatch provides the droop controller
kio ref kif
is i = k p o +
dref
[PSi − uSi iSi + kpf +
d d an awareness to make necessary changes in the operating point
S S for suitable solution.
× (fimax − fi − Pc Kd )] (1) 1) Consensus Theory in Brief: Consensus algorithm is con-
sidered as a way of interactions through information exchange
The outer-loop is engaged with inner loop to extract d-axis between an agent and neighboring entities on a network [31],
reference voltage Vsdref
i
, which is converted from d-q frame to and it reaches to an agreement based on the principle protocols
abc frame for gate signal generation. The d-axis voltage model and interconnected topology [32]. The impact of the consensus
is shown in (2). algorithm in the modern power system is instrumental as the
   
kio kii  ref well-established consensus protocol provides certain acknowl-
dref
V si = kpo + k pi + PSi − udSi idSi edgment to the primary and secondary controller [33]. In [34],
S S
   a dynamic consensus-based observer is proposed, where the
kif max estimated average voltage across the power system is adopted.
+ kpf + (fi − f i − P c Kd ) − idSi ]
S The information from the parent entity and neighbors are used to
(2) provide voltage restoration control. In the proposed method, the
consensus algorithm is implemented for frequency regulation as
III. PROPOSED ADAPTIVE DROOP CONTROL a tertiary control to design the adaptive droop controller.
2) Graph Theory: The communication network of the volt-
In this section, the proposed control framework will be
age source converters of MTDC network can be described by a
discussed to highlight the difference with conventional fixed
weighted graph. It is represented by G = (V, E), where the set of
frequency droop control. In conventional control, the droop
nodes is denoted by V. The set of edges is denoted by E. Informa-
coefficient is a fixed value irrespective of any change in operating
tion is exchanged between the entities through communication
conditions. However, in adaptive frequency droop control, the
links, which are represented by edges. The information flow
coefficient Kd from (1) is variable, which changes with system
is considered from node vi to node vj . For undirected graphs,
condition.
the communication links are bidirectional, where (vi , vj ) ࢠ E
and (vj , vi ) ࢠ E. The adjacent matrix [aij ] represented as A,
A. Overview of Control Framework
indicates that aij >0 for (vi , vj ) ࢠ E and (vj , vi ) ࢠ E. For other
The overview of the proposed control framework is shown in conditions aij = 0. In [35], different communication topologies
Fig. 2, where the control frame is distributed into three levels. have been proposed for the undirected graph. The proposed
The lower control level operates locally and consists of fre- control is designed based on the ring-shaped communication
quency regulation and dc-link voltage control. It serves the same network [35]. The neighboring entities from each VSC station
function as the fixed droop control. As the droop coefficient Kd is are chosen from the MTDC system through the communication
adaptive, it is dependent upon two upper levels, one is consensus network.
stage and the other one is coordination by optimization stage. 3) Droop Coefficient by Consensus: Considering the differ-
Both operate on global level to the VSC lower control level. ent control entities, the total number of areas are defined by
The consensus stage is related to acquiring information from i = 1, 2, ..N . It is assumed that ‘i” is the entity of an ac area
neighboring entities j for error calculation. The adaptive droop operating on the consensus control of VSC, which is aiming for
coefficient is designed based on the frequency mismatch from the droop controller. The entity ‘j’ is the neighbor side area. The
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 AMBIA et al.: ADAPTIVE DROOP CONTROL OF MULTI-TERMINAL HVDC NETWORK 569

Fig. 3. Proposed distributed adaptive droop control framework.

algorithm receives information from j, providing the coefficient 4) Analysis of Convergence: The Lebesgue theorem is ap-
aij , which reflects the link between the entities. Based on the plied to identify the convergence. According to the prin-
concept of consensus algorithm, the formulation for frequency ciple, if f (t)is a continuous function, f (s) is bounded in
∞
is presented by: the half-plan(s) ≥ σ, where f (s) = 0 e−(s)t |f (t)|dt ≤
∞ −σt
t 0 e |g(t)dt < ∞|. Hence, the theorem provides f  (s) =
f¯i = fi + ψn,i aij fj − f¯i dt (3) sf (s) − f (0), (s) ≥ σ. In this analysis, the assumption is that
∞
0 j∈N
i
f (tk ) is continuous and 0 e−σt |g(t)dt < ∞|. Based on the
bounded condition, the integration by parts of Lebesgue leads
A scenario-based frequency consensus is formulated, where, to (6) based on the formulation from (4).
tk reflects any entity taken from the system. However, an entity
taken from the consensus output is considered at tk+1 . Based on T
the assumption, the formulation in (3) is derived into (4), where f (s) = lim e−st
fj (tk ) is the estimated frequency from jth VSC and fi (tk ) is T →∞ 0
the frequency from ith VSC. The representation of f¯i (tk+1 ) is ⎧ ⎫
⎨ t  ⎬
the estimated frequency, which is utilized to keep the system × fi (tk )+ψn,i aij fj (tk ) − f¯i (tk+1 ) dt dt (6)
in the close-loop form in (4). Based on the dynamic consensus ⎩ 0 j∈N ⎭
i
observer [34], [36], the node i receives the estimates of data
from vj ∈ E and compares with its own estimation f¯i (tk+1 )
and local measurement fi . The proposed consensus algorithm The equation in (6) can be further simplified to integrate by
on finding an appropriate adaptive droop coefficient is applicable parts of Lebesgue, which is based on that the coupling gain and
for both neighbor side information and estimation; however, the consensus coefficients are equal to 1. The integration part of (6)
estimation is used to generate a frequency correction through can be derived further to (7).
integration controller to adjust an optimal set point. The de-
signed adaptive Kd droop coefficient is formulated in (5). The   T 
∞ −st
frequency consensus method on the global system is highlighted e−st 1
f (s) = lim fi (tk ) + e fi (tk )
in Fig. 3. T →∞ −s 0 s 0

t   T 
∞ −st
f¯i (tk+1 ) = fi (tk ) + ψn,i aij [fj (tk ) − f¯i (tk+1 )]dt e−st t
1 t
+ lim f¯j (tk ) dt + e ¯
fj (tk ) dt
0 j∈N
i
T →∞ −s 0 0 s 0 0
(4)   T 
∞ −st
e−st t
1 t
t  + lim f¯j (tk+1 )dt + e f¯i (tk+1 )dt
Kd = ψn,i aij fj (tk ) − f¯i (tk+1 ) dt (5) T →∞ −s 0 i 0 s 0 0
0 j∈N
i (7)

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 570 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 1, JANUARY 2021

Applying the limits, (7) can be simplified to below Laplace DG

output power, Pn,i . The limits are assigned based on the ca-
transformation, pacity of individual DG. The load constraints are presented in
l
(11) for loads Pn,i . The constraints of coupling gain index are
f¯i (s) = sf  i (s) + sfi (0) − s2 fi (s) + f¯j (0) + f  j (s) represented in (12).
min
The coupling gain index minimum value ψn,i is set to 0. Eqs.
− f¯i (0) ,  (s) ≥ σ (8)
(13)-(14) reflect the equality constraints.
 acgrid Considering the power
injection from AC grid Pn,g and distributed generations
A bounded analytic function is achieved on the half-plane,  DG
where Re(s) > 0 indicates that Lebesgue domination conver- Pn,g , the
 injected power is consumed by voltage source
vsc
gence is achieved. converters Pn,c and loads in the system. The ac grids operate
bidirectional, which means it can inject or consume power.
Hence, the equality constraints in (13) is shown based on the
C. Coordinated Optimization node point of common coupling for an ac area. The converter
In this section, we present an optimization method, which loss is achieved based on the individual converter loss of VSC
is depicted in Fig. 3. A typical MTHVDC system is shown as depicted in (14).
with four AC areas, where three AC grids and one distributed The adaptive coefficient extracted from the consensus method
generation are connected. The optimization block denoted as runs online with the primary controller. However, the proposed
Section 3.1 aims to minimize generation cost and converter loss. optimization solution in (9)–(14) is updated every five minutes.
The solution achieved for these two minimizations is directed to The optimal operating point is achieved with every initiation
DG output. But the frequency deviation cost is associated with of the optimization as trajectories converge. During this gap
identifying the coupling gain index of the droop coefficient from within the initiations of optimal solutions, the operating point
frequency consensus method. For the solution, the frequency might not achieve optimality, which happens in practical systems
mismatch is taken as input to the optimization block for ensuring as well referred to a report by the Australian Energy Market
opt Operator [37]. However, the frequency regulation, along with the
adaptability into the control. The controller identifies ψn,i in
matrix formulation that labeled as ‘Section 3.2’, as shown in active and reactive power, is controlled through the primary and
Fig. 3. The consensus control adjusts the coefficient and is secondary controller, which can choose appropriate operating
marked as ‘Section 3.3’. The frequency loop, as marked by points in the system. As the stability of the system needs to be
‘Section 3.4’, indicates the frequency droop control method, ensured while the operating point fluctuates from the optimal
which uses adaptive droop coefficient based on the solution from point during this gap, the range of the kd is chosen based on
optimization block and consensus control. The output of ‘Sec- the stability analysis to ensure that the primary and secondary
tion 3.4’ is connected to outer-loop, labeled as ‘Section 3.5’ for controller operates within a safety margin. The details of the
reference current generation, as shown in Fig. 3. Furthermore, design on stability analysis are discussed further in section IV.
the inner loop uses PI controller for gate pulse generation.
In the MTHVDC system, the distributed generation system Minimize C (p, t) =
injects power into the system along with ac grid to meet the ⎡ ni  DG
 ⎤
load demand. However, the extracted distributed generation adds ai P 2 n,i + bi Pn,i
DG
+ ci +
⎢ i=1
!" #⎥
additional cost to the network. The optimization is done in ⎢ ⎥
⎢ Generation cost ⎥
PSCAD platform by Simplex algorithm. The aggregated cost ⎢ opt f f loss loss ⎥
⎢ ψn,i Cn,i ΔPn,i + φn,i Pn,i ⎥ (9)
function C(p, t) of multi-terminal DC grid system should be ⎢ !" # !" #⎥
n∈N l∈I ⎢ ⎥
developed, including n number of ac sources and DGs. The ⎣ f reqeuncy variaiton vsc loss ⎦
three cost functions are integrated into the formulation sepa- cost cost
rately. The DG cost is a quadratic function of their corresponding
min max
output power. The coefficients are ai , bi and ci . Pn,iDG
denotes un,i Pn,i DG
< Pn,i ≤ un,i Pn,i ∀i ∈ I, n ∈ N, g ∈ G (10)
i DG output for n number of generators, where, n = 1, 2, . . . i.
th min
un,i Pn,i l
< Pn,i max
≤ un,i Pn,i ∀i ∈ I, n ∈ N, l ∈ L (11)
The VSC loss is denoted by loss cost-efficient φloss loss
n,i . Pn,i is
min opt max
th
considered as the loss of the i VSC for n number of VSCs. In this ψn,i < ψn,i ≤ ψn,i ∀i ∈ I, n ∈ N (12)
optimization method, we aim to minimize distributed generation N
cost and converter loss cost. The frequency reference associated acgrid
Pn,g + DG
Pn,g − l
Pn,l = vsc
Pn,c + ui uj
with the adaptive controller needs to be at the optimal point, j=1
which ensures effective frequency regulation. The objective is
to minimize frequency deviation and integrate the associated [Gij cos (δi − δj ) + Bij sin (δi − δj )] ∀i ∈
cost in the objective function. Therefore, the frequency deviation I, n ∈ N, g ∈ G, c ∈ C, l ∈ L, (13)
opt f f f
cost is formulated by function ψn,i Cn,i ΔPn,i , where Cn,i is the
opt N
deviation cost coefficient, ψn,i is the coupling gain index, and
f
loss
Pn,i = loss
Pn,c , ∀i ∈ I, n ∈ N, c ∈ C (14)
ΔPn,i denotes frequency deviation. n=1
1) Problem Formulation: The objective function has been
presented in (9), and the constraints are shown in (10)–(13). Eq. 2) Solution of Coupling Gain Coefficient Index with Dis-
(10) represents the boundary limits of distribution generation tributed Consensus Control: The optimal solution achieved by
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 AMBIA et al.: ADAPTIVE DROOP CONTROL OF MULTI-TERMINAL HVDC NETWORK 571

Fig. 5. Control structure of the proposed consensus-based voltage/current

controller in d-axis.

Fig. 4. Coordination between optimization and consensus control for power

sharing.

the optimization strategy is associated with the three cost func-

tions described before. The optimized solution of DG generation
and reduction of VSC loss is an economical solution. On the
Fig. 6. Simpler control structure of the proposed method.
other hand, solution of coupling gain index is closely related
to the identification of the droop coefficient for the frequency
opt
regulation. ψn,i is achieved based on the frequency devia- IV. STABILITY ANALYSIS OF THE PROPOSED ADAPTIVE
f f
tion optimization by factor Cn,i ΔPn,i ; however, key strategy DROOP STRATEGY
is to co-relate with frequency changes availed in the VSC
The control philosophy of the proposed consensus method
local control. The solution index in matrix form is depicted
is presented in this section, with an exploration of the system
in (15).
⎡ ⎤ stability for different strength of grids.
ψ11 ψ21 · · · ψi1
⎢ ⎥
⎢ψ12 ψ22 · · · ψi2 ⎥ A. Control With Consensus Method-Based
opt
ψn,i =⎢⎢ .. .. .. .. ⎥
⎥ (15) Frequency Regulation
⎣ . . . . ⎦
ψ1j ψ2j · · · ψij The distributed control framework presented in Fig. 3 has
been discussed in the previous section with an explanation of
where, ψij > 0 indicating a connection between neighboring the key idea of generating droop coefficient through consensus
entities i and j. Therefore, the index is further updated in (16), as per (5). The adaptation from the consensus into the droop
where an adjustment based on actual frequency deviation is coefficient is implemented through the outer-loop and inner
made. firef (tk ) and fi (tk ) are the reference frequency of droop controller. Fig. 5 demonstrates the detailed control modelling
control and measured frequency respectively. am is the adjust- of the proposed method. The inner current control regulates the
ment coefficient. The solution method is briefly highlighted converter current id . Gi (s) and Gd (s) represent the inner current
in Fig. 4, which reflects the improved power sharing strategy. loop PI controller and time delay transfer functions, where kp2
The sections from Fig. 3 have been highlighted to explain and ki2 are gain and time constants. For coupling effect between
the adjustment done by frequency deviation. In Fig. 3, the d and q axis, ω0 Lg iq has been added on the d-axis side along
consensus control ψ was updated based on the index matrix with vd . The inner current block is fed with Gplant (s), which
opt
ψn,i . is the filter transfer function. According to Fig. 3, the frequency
However, in this modification, the frequency deviation from consensus is achieved through consideration of phased lock loop
frequency loop-section 3.4 provides adjustment factor. The fac- (PLL) into the dynamics; therefore, a feedback loop is assumed
tor is used as a feedback to the consensus algorithm. Therefore, towards the active power control [38], [39], where kpP LL and
opt
ψn,i gets updated by adding the adjustment factor with ψn,i . kiP LL are the gain and time constants with an effect of the droop
The output of frequency loop of section 3.4 is used an input to coefficient, kd .
outer loop for VSC current injection with an acknowledgement Through block reduction method, a simplified control block
of adjustment based on frequency deviation. This nature of is represented in Fig. 6.
additional feedback provides the global coupling gain index ψn,i The open loop & closed loop transfer function of the inner
further adaptive nature into the control system. The coordina- control loop is expressed as
tion between optimization and consensus control by adjustment
i = Gi (s) Gd (s) Gplant (s)
factor is derived as Gol (17)
i,=1...m ' '
opt 1 ' ref ' Gi (s) Gd (s) Gplant (s)
ψn,i = ψn,i + 'fi (tk ) − fi (tk )' (16) i =
Gcl (18)
a2m 1 + Gi (s) Gd (s) Gplant (s)
i=j

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 572 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 1, JANUARY 2021

Considering, Gv (s) as the transfer function of the outer loop

control, a feedback loop is highlighted in Fig. 6 (blue-dotted
box), which is formulated as
1 cl
Gf eed = Gi (s) Gd (s) G kd (19)
Xg P ll
GP LL
Where, Gcl
P ll = Xg ig
(20)
1+ Vc GP LL

The closed loop transfer function of the outer-voltage control

loop is expressed below.
Gv (s)
v =
Gcl (21)
1 + Gv (s) Gf eed (s)
Finally, the entire control transfer function is mathematically
formulated in (22).
 
Gv (s)
Gc = Gcl . G cl
=
v i
1 + Gv (s) Gf eed (s)
  Fig. 7. Pole zero mapping of control transfer function for (a) SCR-1 (b) SCR-3
Gi (s) Gd (s) Gplant (s) (c) SCR-5.
× (22)
1 + Gi (s) Gd (s) Gplant (s)
Where,
ki2 ki
Gi = kp2 + ; Gv = kp1 + 1 ; GP LL
s s
kpP LL s + kiP LL
= (23)
s2 + kpP LL s + kiP LL

B. Droop Coefficient Range Selection for Different Strength of

Grids
To design the droop coefficient, the transfer function of the
entire control on d-axis shown in (22) is analyzed. The perfor-
mance of the VSCs varies depending on the strength of the grid.
Hence, in this analysis, three short circuit ratios (SCR), 1, 3, and
5 are considered. The pole-zero maps of (22) are shown in Fig. 7,
where Fig. 7 depicts SCR 1, 3, and 5. A wide range of coefficient
kd is selected from 0.01 to 0.2. To analyze the performance of
the controller from the perspective of stability, the location of
the poles is observed. According to Fig. 7a, the poles for the
entire kd range from 0.01 to 0.2 are placed on the left plane.
For SCR2 in Fig. 8b, it is observed that the maximum kd on the
left plane is 0.12. Poles for kd from 0.13 are directed towards
the right plane unstable condition. On the contrary, poles of kd
-0.01∼0.02 are placed on the right plane.
In case of SCR3, the maximum limit of kd as per Fig. 7c
is even further reduced to 0.08 to achieve stability. The impact
of kd for different SCRs to achieve stable operating point is Fig. 8. Nyquist plots of control transfer function for (a, b) SCR-1 (c, d) SCR-3
(e, f) SCR-5.
investigated through Fig. 8; hence, the range of kd is selected
between 0.03 to 0.08, considering this operating region provides
stability for all values of short circuit ratios or grid impedances. Fig. 8 demonstrates the Nyquist plots for SCR 1, 3 & 5. The
Nevertheless, further stability analysis is done through Nyquist right-hand side graph demonstrates the entire Nyquist plot, and
plots for the selected kd range to identify if any operating point the left-hand side graph highlights the location (−1,0) point to
runs closer to the unstable region. In other words, the aim is to identify if any Nyquist plot encircles the (−1,0) point. Fig. 8(a,
select an optimal range of consensus coefficient based on kd , b) indicates that the Nyquist plots for the entire selected range for
which will maintain a safety margin from the unstable points. SCR-1 do not encircle (−1,0) point, which reflects the stability of

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 AMBIA et al.: ADAPTIVE DROOP CONTROL OF MULTI-TERMINAL HVDC NETWORK 573

TABLE I
COMPARISON ANALYSIS BETWEEN PROPOSED CONTROL AND METHOD IN REF [14]

performances; however, Fig. 9 demonstrates the stable condition

of the proposed control. For the selected design, the phase margin
is always close to 90 degrees, which depicts a stable controller.

V. TIME DOMAIN SIMULATION RESULTS

In this section, the effectiveness of the proposed control is
evaluated on four-terminal MTHVDC network. Two distributed
generation systems and two ac grids have been tested on the sys-
tem. Three scenarios are considered in the test study. Scenario-1
is a contingency analysis on AC grid (DG-3) on four-terminal
MTHVDC system. Secnario-2 and 3 are shown on modified
New England 33 bus system integrated with MTHVDC, which
reflects disconnection and reconnection of AC grid, DG-3 with
loading variations. Improvement of the proposed technique over
the established method reported in [18] is summarized in Table I.

Fig. 9. Pole zero map of control transfer function for SCR 1 to SCR 5 A. Power Sharing Performance of the Adaptive Control
(a) kd = 0.03 (b) kd = 0.07.
Strategy During N-1 Contingency
The case study is designed to show the feasibility of the control
the control system. A similar analysis is demonstrated in Fig. 8(c, strategy during a contingency in the network. Four-terminal
d, e, f) showing the stable nature of the system as none of the MTHVDC network is assumed. PDG1 , PDG2 , PDG3 , and PDG4
Nyquist plots encircle (−1,0) point. However, Fig. 8(e, f) depicts are considered as generations into the network, where PDG4 is
that even though the control system at kd = 0.08 is stable, it is the output power of the distributed generations. Three ac grids
close to the (−1,0) point. For a system like MTHVDC, a safer output power are depicted as PDG1 , PDG2 , and PDG3 . In this
margin is be considered for designing the proposed controller case study, a contingency occurs at 10.12s on DG-3 and the ac
in case any unintentional disturbances occur in the system. grid is disconnected from the MTHVDC network. The frequency
Therefore, for the final selection maximum, kd is chosen as regulation performance and power sharing has been analyzed
0.07. in this section. According to the proposed control strategy, the
output power of the DGs are increased to initiate the power
sharing within the neighboring ac areas.
C. Stability Margin for Selected Droop Design Furthermore, the frequency droop coefficient is changed
The stability margin of the maximum and minimum kd is adaptively to improve the performance of the control. Fig. 10
investigated in this section. Fig. 9 represents the pole-zero map represents the output generation of DGs. The contingency of
of the entire control transfer function (22) with SCR varying PDG3 is demonstrated in Fig. 10c. At 10.12s, PDG4 increases
from 1 to 5. In Fig. 9a and 9b, the pole-zero location movements its generation as per the proposed control. The responses of
are observed for kd at 0.03 and 0.07, respectively. For both the proposed method and control strategy reported in [14] are
values of kd , the poles move from left plane to right plane as shown with red solid lines and blue dashed lines respectively.
grid impedance increases. As the grid impedance increases, the Furthermore, solution with consensus but without optimization
impact on the voltage-current controller increases in terms of has been represented with black dashed lines. According to

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 574 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 1, JANUARY 2021

Fig. 12. (a) Frequency regulation (b) voltage response by adaptive and tech-
nique in Ref [14].

Fig. 10. Distributed generations of the four AC areas in the MTHVDC network
(a) PDG1 (b) PDG2 (c) PDG3 (d) PDG4 .

Fig. 13. DC-link voltage of the VSCs using adaptive and technique in
Ref [14].

mentioned in (12), frequency information from neighboring AC

areas are incorporated into the droop controller. Assuming the
operating distributed generation at VSC-4, estimated frequency
fj (tk ) from VSC-1, VSC-2, and VSC-3- AC areas are injected
referring to f¯i (tk+1 ). Furthermore, the coupling gain matrix
opt
is formed as ψn,i based on the feedback from ψn,i , which is
facilitated from the optimization adaptive block.
The red solid line from Fig. 12(a) represents the frequency
variation by the proposed controller, which initiates adaptability
Fig. 11. Active power through the VSCs in the MTHVDC network. in acquiring the optimal droop coefficient instead of initiating
sudden changes to avoid an unsmooth transition in the system.
On the contrary, frequency regulation by method from [14] in
Fig. 10, the DG variations are improved on the proposed control blue dashed lines shows higher overshoot and undershoot during
from the perspective of transition. It is to be noted that the same the transition. The droop resistance based adaptive controller
PDG4 set point is used in the method in [14] and method w/o in [14] demonstrates smoother transition; however, the absence
optimization to compare the performance improvement. Fig. 11 of acknowledgment from other MTHVDC-VSCs on frequency
represents VSC active power output in MTHVDC network. regulation initiates slight oscillation in the control performance.
Improvement of PDG4 and Pc4 are observed from the results. Oscillation is also observed in Fig. 12(b), voltage graph for
Detailed performance comparisons are discussed in later sec- the method in [14], where overshoot reaches to nearly 1.03p.u.
tions. and undershoots at 0.98p.u. It is noticeable that the voltage
performance still operates within the operating region. However,
B. Frequency Regulation and Voltage Control in improved transition is required, considering the higher grid
MTHVDC Network strength. As reported in [40], voltage and frequency restoration
get heavily affected for VSCs, when MTHVDC is associated
In this section, performance on the frequency regulation by the
with weaker grid. Therefore, improved restoration is achieved
proposed adaptive controller has been highlighted in comparison
with proposed control as shown in Fig. 12 considering the
with the technique proposed in [14]. In addition, dc-link voltage
connected grids operate at SCR-5. The dc-link voltages of the
variations in four-terminals of MTHVDC and rms-voltage of
four-terminals have been highlighted in Fig. 13, where, improve-
four-ac areas have been presented. The proposed controller
ment on dc link capacitor voltage has been demonstrated.
response has been indicated with red solid line. The method from
[14] has been highlighted with blue dashed lines and consensus
C. Performance of the Control During N-2 Contingencies in
without optimization method has been shown in black dashed
lines. Fig. 12 represents the frequency regulation and voltage the Network
restoration performance in the MTHVDC network. Assuming In this section, N-2 contingencies have been considered in
the same operating conditions mentioned in earlier section, AC the network to validate the performance of the controller. PDG1
grid PDG3 is disconnected at 10.12s. Given the droop coefficient and PDG3 are considered tripped at 10.12s. Fig. 14 represents

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 AMBIA et al.: ADAPTIVE DROOP CONTROL OF MULTI-TERMINAL HVDC NETWORK 575

Fig. 14. Distributed generations of the four AC areas in the MTHVDC network
(a) PDG1 (b) PDG2 (c) PDG3 (d) PDG4 .

Fig. 17. Single line diagram of modified New England 39-bus test system with
MTHVDC network.

and New England-39 bus system-based MTHVDC network are

considered in this analysis. The proposed controller provides
stable performance throughout given contingencies.

D. Performance of the Proposed Control on Modified New

England 39-Bus System

Fig. 15. Active power through the VSCs in the MTHVDC network. The proposed control strategy is implemented on a modified
New England 39 Bus system with four-terminal MTHVDC
network. The VSCs are connected to the New England 39 bus
system through bus numbers 37 and 32. PDG2 and PDG3 are
the output power by DG2 and DG3 accordingly, which are
AC grids. DG-1 ac grid is connected to DG-3 through the
ac sub-grids. The distributed generation, PDG4 extracts output
power and proposed control is applied on DG-4 side VSC. The
Fig. 16. (a) Frequency regulation & (b) Terminal voltage by adaptive and one-line diagram of the test system is represented in Fig. 17.
conventional control contingency.
Two scenarios are considered in this case study. Scenario-2 takes
place at 6th sec, when DG-3 is disconnected and contingency
occurs. Furthermore, at 10th sec, DG-3 is reconnected considered
grid and distributed generation output power and Fig. 15 depicts
as scenario-3.
active power through VSCs of the four-terminal MTHVDC.
The output power of DGs are shown in Fig. 18. In scenario-2 at
Frequency regulation and the terminal voltage of the system
6th sec during a contingency, the adaptive droop ensures proper
are demonstrated in Fig. 16. The proposed method is indicated
frequency regulation in the system. The coupling gain index
with red solid lines, and the method in [14] is indicated with
ψn,i provides necessary information to the adaptive droop con-
blue dashed lines. It is depicted in Fig. 14 and 15 that the opt f f
proposed controller can generate an optimal solution on extract- troller to adjust the active power. Furthermore, ψn,i Cn,i ΔPn,i
ing the droop coefficient. Furthermore, the distributed genera- and φloss loss
n,i Pn,i cost minimization strategy ensures adaptabil-
tion and grid power is adjusted according to the optimization ity. Based on the updating of current injection reference idref
Si
control, reflecting that the optimal operating point is achieved as per proposed control strategy, improved power sharing
during N-2 occurs.
To test the effectiveness of the proposed controller, different The solid lines represent result by proposed control, and
combinations of N-2 contingencies have been tested. The testing dashed lines represent established technique in Ref [14] in
results on the stable behavior of the control have been summa- Fig. 18, 19, and 20. At 6th sec, oscillation is observed by the
rized in Table II of Appendix. Both four-terminal MTHVDC method in [14]; however, a smooth transition is achieved by

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 576 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 36, NO. 1, JANUARY 2021

E. Performance Improvement by Reducing VSC Losses and

Comparison of the Proposed Method Performance to
State-of-Art for New England 39-Bus System-Based MTHVDC
The dynamic response improvement is achievedss for overall
results, including grid power PDG1 , PDG2 , and PDG3 , dis-
tributed generation output PDG4 , converter active power, fre-
quency, and voltage. Significant improvement is observed in
PDG4 , considering that the distributed generation is weaker
compared to other AC grids. Furthermore, voltage control is
improved in terms of settling time, overshoot, and undershoot.
The improvement of the proposed method over technique re-
Fig. 18. Distributed generations of the four AC areas in the MTHVDC network ported in [14] has been summarized in Table I. It is observed
while connected with modified New England-39 bus system. that majority improvement is achieved for distributed genera-
tion system AC-4 area, where more than 70% improvement is
attained for overshoot and undershoot for N-1 contingency. For
both N-1 and N-2 contingencies, voltage and frequency profiles
have been improved to nearly 50% on overshoot. The significant
reduction in settling time of voltage is highlighted as 83%. It is to
be noted that the compared reference operates within acceptable
region similar to a comparison highlighted in [41], where results
for proposed and compared methods operate within an accept-
able operating point. However, the improvement is essential for
undesirable events in multi-terminal HVDC network.
The VSC loss minimization performance by proposed control
strategy has been highlighted in Table III of Appendix section.
Individual voltage source converter loss has been analyzed using
both methods reported in [14] and proposed control strategy.
Fig. 19. Power sharing through MTHVDC and New England-39 bus system. Significant improvement of 16.66% and 21.83% on loss mini-
mization has been achieved on VSC-3 and 4, respectively, for
scenario-1. More than 5% improvement has been achieved in
scenario-2 for VSC stations. 7.14% improvement is achieved
on VSC-4. It is to be noted that even 5% improvement re-
duces significant cost in the power system. Moreover, more
improvement is expected to be achieved for larger MTHVDC
networks.

VI. CONCLUSION
A novel adaptive droop control strategy is presented to provide
power sharing and frequency regulation in MTHVDC systems.
The droop coefficient is designed by the coordinated opti-
mization strategy and frequency consensus. The power sharing
Fig. 20. DC-link voltage of the VSCs using adaptive and traditional droop strategy by coupling gain index solution provides adjustment to
control on modified test system.
ensure power flow through AC and DC grids. The frequency
consensus method uses frequency mismatch from AC grid side
VSCs and provides DG side VSC to operate at an optimal point.
adaptive droop as Fig. 18. The power sharing through MTHVDC The optimization minimizes generation, frequency deviation,
network and New England-39 bus system is shown in Fig. 19. In and converter loss cost. The performance of the proposed control
scenario-2, power sharing through MTHVDC to New England strategy has been tested on the modified New England 39 bus
39 bus system through VSC-3 is shown. Moreover, scenario-3 system with 4-terminal MTHVDC system. The results from case
at 10th sec shows that power is injected by DG2 to MTHVDC study on various scenarios show that proposed controller can
network. Interconnection between area 1 and 3 on AC side is reduce oscillation during transitions like contingency and load-
zero in scenario-2 due to necessary power reference changes. ing variations. Furthermore, the proposed control can minimize
The DC-link voltage is shown in Fig. 20. The variation in dc link VSC losses and ensure smoother transitions during contingen-
voltages has been reduced in the proposed method compared to cies. Hence, it can be concluded that the proposed control adds
a technique referred to [14] as per Fig. 20. flexibility in terms of achieving accurate power sharing.

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 AMBIA et al.: ADAPTIVE DROOP CONTROL OF MULTI-TERMINAL HVDC NETWORK 577

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no. 3, pp. 1041–1053, Sep. 2018.
[41] Y. R. Rodrigues, M. Abdelaziz, and L. Wang, “D-PMU based secondary Ahmed Al-Durra (Senior Member, IEEE) received
frequency control for islanded microgrids,” IEEE Trans. Smart Grid, the Ph.D. degree in ECE from Ohio State University in
vol. 11, no. 1, pp. 857–872, Jan. 2020. 2010. He is an Associate Professor in the ECE Depart-
ment at Khalifa University, UAE. His research inter-
ests are applications of control and estimation theory
on power systems stability, micro and smart grids,
renewable energy systems and integration, and pro-
Mir Nahidul Ambia (Student Member, IEEE) re-
cess control. He has one US patent, one edited book,
ceived the B.Sc. Eng. degree in electrical engineer-
12 book chapters, and over 190 scientific articles in
ing from The Islamic University of Technology, top-tier journals and refereed international confer-
Bangladesh, in 2008 and the M.Sc. degree in electrical
ence proceedings. He has supervised/co-supervised
and electronic engineering from The Petroleum Insti-
over 25 Ph.D./Master students. He is leading the Energy Systems Control &
tute, United Arab Emirates, in 2012. He is currently
Optimization Lab under the Advanced Power & Energy Center, an Editor for
pursuing the Ph.D. degree in electrical engineering IEEE TRANSACTIONS ON SUSTAINABLE ENERGY AND IEEE POWER ENGINEER-
with the School of Electrical and Information Engi-
ING LETTERS, and Associate Editor for IEEE TRANSACTIONS ON INDUSTRY
neering, The University of Sydney, Australia.
APPLICATIONS AND FRONTIERS IN ENERGY RESEARCH – SMART GRIDS.
He was Previously with Eastern University,
Bangladesh, from 2009 to 2010 as a Lecturer. From
2012 to 2013, he worked in The Khalifa University, UAE, previously known
as The Petroleum Institute as Researcher. From 2013 to 2017, he worked
as an Electrical Engineer with ADNOC Fertilizers, Abu Dhabi, UAE, under
Abu Dhabi National Oil Company (ADNOC). His research interests include Zhao Yang Dong (Fellow, IEEE) received the Ph.D.
power system modeling, multiple microgrid systems, self-healing of network, degree from the University of Sydney, Australia in
renewable energy systems and grid integration. 1999. He is currently SHARP Professor and the Di-
rector of the University of New South Wales Digital
Grid Futures Institute, The University of New South
Wales, Australia. He is also Director for ARC Re-
search Hub for Integrated Energy Storage Solutions.
He was previously Professor and Head of School of
Ke Meng (Senior Member, IEEE) received the Ph.D.
Electrical and Information Engineering, University
degree in electrical engineering from the University of of Sydney, and Ausgrid Chair and Director of the
Queensland, Brisbane, QLD, Australia in 2009. He is
Ausgrid Centre for Intelligent Electricity Networks,
currently a Senior Lecturer in the School of Electrical
the University of Newcastle, Australia. He also held industrial positions with
Engineering and Telecommunications, The Univer-
Transend Networks (now TAS Networks), Australia. His research interests
sity of New South Wales, Sydney, NSW, Australia.
include smart grid, power system planning, power system security, renewable en-
His research interests include electric power system
ergy systems, electricity market, load modelling, and computational intelligence
modelling, stability analysis, renewable energy sys-
and its application in power engineering. He is an editor of IEEE TRANSACTIONS
tems and grid integration. ON SMART GRID, IEEE POWER ENGINEERING LETTERS, IET Renewable Power
Generation and IET Smart City.

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