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Energy Reports 9 (2023) 11–21

www.elsevier.com/locate/egyr

2022 3rd International Conference on Power, Energy and Electrical Engineering (PEEE 2022)
18–20 November 2022

Coordinated control and application of multi-terminal DC

distribution system
Wei Deng ∗, Wei Pei, Yuting Teng, Qi Wu, Yin Yi, Xinji Cao
Institute of Electrical Engineering Chinese Academy of Sciences, Beijing 100190, PR China
University of Chinese Academy of Sciences, Beijing 100049, PR China
Received 14 December 2022; accepted 27 December 2022
Available online 2 January 2023

Abstract
Because of the rapid development of power electronics, DC loads, and distributed energy resources, the advantages of
DC distribution systems are increasingly prominent. This paper provides a brief description of the concepts and functional
advantages of DC distribution systems, introducing the main equipment of multi-terminal DC (MTDC) distribution system, the
topologies, and the typical application scenarios of each topology. The coordinated control technology of MTDC distribution
system is analysed and summarized in terms of control architecture, coordinated control, damping control, and operation mode.
The existing MTDC distribution demonstration projects are summarized, and recent typical projects are introduced. Finally, the
issues that can be studied regarding to the innovation and application of MTDC distribution system are pointed out.
© 2023 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of the 3rd International Conference on Power, Energy and Electrical Engineering (PEEE
2022).

Keywords: Multi-terminal DC; Distributed energy resources; Coordinated control; Power electronic transformer; Demonstration projects

1. Introduction
Over the past 100 years, AC transmission and distribution systems have become the dominant power system
with the advantages of flexible voltage conversion and ease of transmission over long distances. However, with the
development of the economy, the AC transmission and distribution system has revealed a series of shortcomings,
such as large line loss, poor operational flexibility, feeder-load imbalance, low self-healing ability, difficulty in
power flow control, and the existence of power-angle balance, etc. With the development of power electronics,
energy conversion tends to be flexible, and DC distribution has become the very critical technology for building the
new distribution system. On the other hand, more and more distributed clean energy resources (DER) are beginning
to connect to the grid. In this scenario, DC distribution can reduce the complexity of systems and the cost of the
converters [1–4].
∗ Corresponding author at: Institute of Electrical Engineering Chinese Academy of Sciences, Beijing 100190, PR China.
E-mail address: [email protected] (W. Deng).

https://doi.org/10.1016/j.egyr.2022.12.106
2352-4847/© 2023 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http:
//creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of the 3rd International Conference on Power, Energy and Electrical Engineering
(PEEE 2022).
W. Deng, W. Pei, Y. Teng et al. Energy Reports 9 (2023) 11–21

Multi-terminal DC (MTDC) distribution system has the following advantages: (1) Simpler and more flexible
structure, reducing conversion losses and equipment costs; (2) Improving energy utilization and reducing carbon
emissions; (3) Without problems of frequency and voltage fluctuation, having higher power quality; (4) Flexible
power flow control [5–7]. Therefore, the MTDC distribution system is a focal point in the development and
construction of the future power grid.
This paper is prepared as follows, Section 2 focuses on the structure of MTDC distribution system, Section 3 in-
troduces its main equipment, Section 4 introduces the coordinated control, and Section 5 outlooks the demonstration
projects.

2. Multi-terminal DC distribution system

2.1. Structure

The structure will affect the power flow, equipment selection, protection configuration, reliability, system
control, and many other aspects. It has multiple inputs, and the AC system can access to the DC bus through
an AC/DC converter. This enables each converter to be interconnected through the DC grid. The equipment such as
photovoltaics, batteries and loads access to the DC grid through the DC/DC conversion equipment. And AC local
loads access to the AC side bus of the converter. The important AC local loads are fed by the grid during normal
operation and can be powered by the converter station in case of failure, to achieve an uninterrupted power supply.
The structural design of MTDC distribution system mainly includes four aspects: system topology, wiring
method, grounding method, and bus voltage level [8,9]. Among them, topology is the key part of the system
structure.

2.2. Topology

The topologies of distribution networks are mostly similar, there are several topologies in MTDC distribution
system: star topology, hand-in-hand topology, and ring topology [10–13].

Fig. 1. The star topology.

Fig. 1 shows the star topology. The star topology is the most basic structure in MTDC distribution system. Each
source is connected to a DC bus, and each load line can only obtain power through one bus. However, the star
structure has an obvious defect. When an accident occurs on the DC bus, this entire system will end the normal
operation. Therefore, the topology can be used in DC load concentration areas that do not require high power
reliability.
Fig. 2 shows the hand-in-hand topology. Its power flow direction is the same as that of the star topology. The
difference is that the system has multiple buses, the connective switch can be operated to transfer the loads when
one power input is suddenly faulty. Therefore, it is suitable for occasions with high reliability of power. However,
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Fig. 2. The hand-in-hand topology.

Fig. 3. The ring topology.

it is difficult to cooperate with fault identification and protection control. A typical application scenario for this
topology is an industrial park, and the load in the industrial park has high reliability requirements.
Fig. 3 shows the ring topology. It has multiple power inputs running in parallel, and the system uses a ring
structure, for improving the transmission power capacity, expanding the power supply scope, and achieving high
power. It is suitable for places with high requirements on reliability, multiple DREs, and large residential areas.
Open-loop or closed-loop operation mode can be flexibly selected according to user needs and operating conditions.
A typical application is to aggregate renewable energy areas.

3. Typical equipment for MTDC

The key equipment of MTDC distribution system mainly includes voltage source converters (VSC), power
electronic transformer (PET), flexible multi-state switch (FMS), multi-port energy router (MER), DC power flow
controller (DCPFC), etc (see Figs. 4–7).
VSC can realize the conversion of electric energy form and decouple control of power by controlling switching
devices. Moreover, the VSC does not have the problem of commutation failure, which is especially suitable for
building an MTDC system. With the continuous improvement of modular multi-level converter (MMC) technology,
Zhejiang and Jiangsu provinces have built MMC-based flexible DC power distribution systems in China [14,15].
PET is a new power conversion equipment, also called as solid-state transformer (SST). it uses power electronic
technology and electromagnetic induction technology to realize efficient conversion and transmission of electrical
energy [16]. The primary side of the PET converts the input frequency AC into high-frequency AC. The high-
frequency signal on the primary side is coupled to the secondary side through a high-frequency transformer. Finally,
it is restored to the frequency signal by the converter on the secondary side [17,18].
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Fig. 4. Structure of FMS.

Fig. 5. Structure of DCPEC.

Fig. 6. Structure of MER [13].

FMS is an intelligent power distribution equipment that replaces traditional connective switches on key nodes. It
can realize the flexible interconnection of two or more feeders. It has the of flexible switching of operating modes
and diverse control methods. In the future, it will provide key technologies and equipment support for the smart
distribution grid [19,20].
DCPFC, as a critical equipment to promote the power flow of MTDC systems, can significantly enlarge the range
of power flow regulation by realizing the multi-pole output function [21]. It has the advantages of flow reversal,
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Fig. 7. Structure of PET.

wide range of regulation, and low port expansion cost. Uncontrolled distribution of power flow in the system can
lead to problems such as line overload, unwanted losses, and even threaten system security [22,23].
MER mainly realizes the centralized transmission and coordinated management of energy and information of
DERs. MER undertakes the task of realizing the networking structure of different energy sources in different climates
and geographical situations in various regions [24].

4. Coordinated control
4.1. Control architecture

Fig. 8 shows the hierarchical control architecture of the MTDC distribution system, which can significantly
solve the points of information transfer in communication process and the coordination of optimal scheduling and
decentralized control [9]. The first layer control is the bottom layer control, mainly for the internal normal operation
control of each power conversion unit, including the modulation mode and basic control mode of each power
conversion unit, is the direct implementation of the final control goal; The second layer control mainly realizes the
coordination control of each conversion unit of the system, which is used to ensure the system’s stable operation.
The third layer is mainly used to realize the global energy management of the system and ensure the overall optimal
operation, which belongs to the operation scheduling level control. So, the first layer control and the second layer
control realize DC voltage control according to the local information content, and the third layer control gives the
optimal scheduling scheme through the optimal power flow calculation.
Three control strategies at different levels based on three-time scales can cooperate to ensure the steady operation
and economic operation. The device control mainly realizes the stable operation of the system by coordinating the
operation of each power unit, that is, the system coordination control. Given the MTDC distribution system, this
paper will focus on the local control strategy, that is, second layer control [25].

4.2. Local control

MTDC distribution systems usually adopt the common DC bus structure, and the power transmission between
each port passes through this bus. The DC bus voltage rises when the system has excess active power, and the voltage
will drop when the active power of the system is insufficient. Therefore, DC bus voltage is a critical parameter to
measure the power balance and determine the running state of the system.
Coordinated control realizes the system’s steady operation, that is, no matter in normal or fault conditions, the
non-fault unit can maintain stale, and DC bus voltage is stable. By detecting the real-time local signal (DC bus
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Fig. 8. Hierarchical control of MTDC system [25].

Fig. 9. System operating range, working mode, and DC bus voltage.

voltage), the control layer determines that each unit can switch to different working modes, working independently
without relying on fast communication. Common local control strategies for MTDC systems include master–slave
control, voltage margin control, and voltage droop control.
Master–slave control [26] usually sets a converter station, called a master converter station, this station adopts
constant DC voltage control mode to stabilize the system voltage and adjust the active power level of the entire
system. The other stations are called slave converter stations, adopting the constant active power control mode. In
this control method, only the master can control the system voltage and maintaining the power balance. When the
master converter exceeds the power limit or exits from the operation, the system voltage will be out of control, and
the capacity of the master station is required.
Voltage margin control is an improvement of master–slave control. By setting the voltage margin reasonably,
the voltage takeover between the master converter and slaver converters can be realized. Slaver converters adopt
constant DC power control mode in normal operation, and switch to constant DC voltage control mode when the
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Fig. 10. Modal transformation.

voltage meets the conditions of switching control mode. This method does not need communication and avoids the
problem that the system voltage is out of control after the power limit of the master converter is exceeded.
Voltage droop control [27] is a multi-devices voltage control strategy, which is characterized by multiple stations
participating in controlling the voltage. Each station changes its terminal voltage according to the current power
demand and has a certain automatic load distribution ability. Its advantage is that it avoids the oscillation problem
of margin control, and has the advantages of no communication, good scalability, fast response and high reliability.
But the voltage and active power cannot be controlled without difference. So, the secondary control adjusts the
implementation after its dynamic adjustment. Secondary control is applied to readjust the active and reactive power
of each control object to ensure that the system frequency and voltage are restored to the rated value, requiring the
system level control.

4.3. Damping control

Because the negative resistance of constant power load in DC grid will affect the system’s stability and lead
to the voltage oscillation, many literatures have studied this problem [28–32], including use of active damping for
DC system weak damping is considered to be a more effective and concise method. By modifying the system
control signal to simulate the passive circuit of electrical level (including pure resistive, inductive and capacitive
components), the negative incremental resistance of constant power load is supplemented. This method is not
only simple and convenient to implement but also reduces the power consumption of passive components. In
literature [33,34], a small interference model of DC distribution with a high proportion of induction motors
was established to study the factors affecting system stability (DC line length, bus capacitance, droop controller
parameters) and provide corresponding solutions. In addition, literature [35] studied the system stability of
permanent magnet synchronous generators connected to DC distribution.

4.4. Running mode and mode switch

According to the voltage of DC bus, the system is divided into three operating ranges, namely normal operating
range, regulating operating range and limit operating range, which contain five operating modes, as shown in Fig. 9.
Set Udc and U N as the DC bus voltage and its rated value respectively, U1 and U2 as the upper and lower limits
of DC bus voltage in normal operation intervals respectively, U3 and U4 as the upper and lower limits of DC bus
voltage in regulating operation interval respectively. Details of each operating interval and operating mode are
described below.
(1) Normal operating mode 1: U2 < Udc < U1
In this range, the system is connected to the grid normally and None of power units is single reaches the
threshold. In this case, the system as a whole is in master–slave control, and one flexible interconnection module
(FIM) is set as the master function and the other FIMs as slaver functions. The master FIM controls the DC bus
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voltage and runs in the constant DC voltage control mode. The slaver FIMs all operate in the constant power
control mode, and the corresponding power is transmitted according to the energy management system (EMS) of
layer 3. The PV unit operates in MPPT mode to make use of new energy as much as possible. The battery energy
storage unit (BES) operates selectively in constant power charge–discharge or standby mode according to EMS.
(2) Regulating operating range: mode 2-1: U1 < Udc < U3 ; mode 2-2: U4 < Udc < U2
When the system is connected to the grid, the energy fluctuation of PV is relatively high. The power transmitted
by master FIM reaches its power limit and runs in current-limiting mode under severe conditions, large system load
changes, and failure of a power conversion unit. Under the above circumstances, the master FIM cannot maintain
the constant DC bus voltage. When the DC bus voltage is detected to enter the regulating operating range, the
system switches from working mode 1 to working mode 2-1 or working mode 2-2.
(3) limit operation range: mode 3-1: Udc < U3 ; mode 3-2: Udc < U4
In regulating operation range, slaver FIMs operate in the droop control mode. When the BES unit due to the
charge and discharge time is too long in the excessive charging or discharging excessive state was forced to stop
working, or when the fault cannot be normal transmission power of the power unit, DC bus voltage deviation is
more serious. When detected into the DC bus voltage limit operation mode, the voltage deviation is too large to
prevent the system collapse, system modal 2-1 is to switch to the work mode 3-1 or work by modal 2-2 switch to
mode 3-2.
Through the introduction of each mode shown in Fig. 9 and above, the conversion relation of each mode and
the operation of each conversion unit under different modes can be obtained as shown in Fig. 10. To prevent the
working mode from switching frequently at the switching points, hysteresis control is adopted at each switching
point to improve the reliability of the system operation [36,37].

5. Demonstration project
At present, demonstration projects mainly focus on DC buildings, data centres, island power supply and other
low voltage, small range and other specific power supply scenarios, all equipped with EMS to adjust the system, but
the system structure is different, power supply reliability and other aspects are different. Demonstration projects in
China mainly put forward new ideas to solve the problems of urban development and DERs, focusing on regional DC
distribution systems such as industrial parks. Table 1 summarizes the MTDC distribution demonstration projects in
recent years from the aspects of interconnection system terminal number, voltage level, capacity and several aspects.
two typical demonstration projects will be introduced and analysed below.

Fig. 11. Suzhou Tongli DC distribution system.

Suzhou ±10 kV DC distribution project [38] uses a double-terminal ring structure. As shown in Fig. 11. Under
normal working conditions, Jiuli transformer and Pangdong transformer respectively form a double-terminal ring
network, through the DC cable line and DC transformer connection. Its daily operation mode can be divided into
single-terminal mode, double-terminal ring mode, and double-terminal isolation operation. In the case of failure,
it can be divided into two fault modes locking current limiting and DC crossing operation. Direct current control
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Fig. 12. Zhuhai Tangjiawan DC distribution system.

Table 1. Multi-terminal DC demonstration project.

Name of project The number Voltage level Capacity Engineering purposes
of terminals
Engineering, University of Aachen, 2 AC 20 kV, 15.5 MVA Explore DC distribution engineering
Germany (2011) DC ±5 kV technology
Jiangdong Intelligent DC Project 3 AC 10 kV, 20 kV 10 MVA Realize the AC network, while solving the
(2018) long-term distributed energy and DC load
DC ±10 kV, access
±0.37 kV
Guizhou Medium-Voltage 5 AC 10 kV, ±DC 1 MVA DGI platform, used in the research of DC
Five-Terminal Flexible DC Project 10 kV, ±0.37 kV distribution system
(2018)
Zhuhai three-terminal flexible DC 3 AC 10 kV, ±DC 20 MVA Multi-terminal DC distribution model
project (2018). 10 kV, ±0.37 kV exploration engineering
The Network Equilibrium project 2 AC 33 kV 20 MVA Regional interconnection
(2019).
FEN project in Germany (2019) 3 DC 5 kV, ±2.5 7.6 MVA DC distribution exploration engineering
kV
Suzhou industrial park DC project 2 AC 10 kV, 20 MVA Solve the problem of insufficient power
(2020) DC + 10 kV supply reliability and capacity
England Angle-DC Project (2020) 2 AC 33 kV, 30 MVA Connecting the mainland and islands,
DC ±27 kV improving power supply reliability

is used in the stage control of converter, constant DC voltage and constant reactive power control are used in the
outer loop control of Jiuli converter station, and constant active power and constant reactive power control are used
in the outer loop control of Pangdong converter station.
Zhuhai DC project [39] uses a three-terminal star structure, three converters exchange energy with the AC system.
As shown in Fig. 12. At the same time, the line disconnection in DC distribution and the withdrawal of some
controllable devices may lead to the change of operation mode. The control system structure has three levels:
optimized layer, coordinated layer and specific layer. The optimal layer is mainly about steady-state power flow
calculation of flexible the distribution system. At the same time, in the design of a protection system, through the
coordination of electric power equipment, DC circuit breaker and load switch, it can realize the isolation of DC
side faults and the rapid recovery of the system.
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6. Summary and outlook

This paper analyses and summarizes the coordination control technology of MTDC distribution system from
the aspects of main equipment, topology structure, control architecture, coordination control, operation mode and
switch. The existing demonstration project is summarized and two typical projects are introduced. The key technical
requirements and development trends of MTDC distribution system are as follows:
(1) With the construction of large-scale advanced measurement system and the integration of big data, artificial
intelligence and other advanced technologies, the hierarchical coordinate control method can seamlessly adapt to
the change of communication architecture and the control mode switching index and switching strategy involved
are the key to the flexible control of the system, and need to be further explored.
(2) In the planning and design of MTDC distribution system, the reasonable choice of DC side voltage is an
important issue to be solved and standardized. The factors to be considered include the smooth docking of voltage
level with existing system and the flexible access of source storage.
(3) In terms of control-protect cooperation, DC distribution system uses the protection strategy of HVDC for
reference. The advantages of power electronic devices should be fully utilized with protection strategies.

Declaration of competing interest

The authors declare that they have no known competing financial interests or personal relationships that could
have appeared to influence the work reported in this paper.

Data availability
No data was used for the research described in the article.

Acknowledgements
We gratefully acknowledge the financial support provided by Natural Science Foundation of China (52177122),
Key Front Science Project of the Chinese Academy of Sciences (QYZDB-SSW-JSC0-24), the “Transformational
Technologies for Clean Energy and Demonstration”, Strategic Priority Research Program of the Chinese Academy
of Sciences (XDA 21050100).

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