Multi terminal HVDC control

1. A method of controlling a Multi-Terminal High Voltage Direct Current (MTDC) system with at least three terminals, each terminal including a Voltage Source Converter (VSC) controlled by a VSC controller, comprising:

providing a converter schedule including at least one of a desired power flow value and a DC voltage;

determining, by a MTDC master controller, a present state of the MTDC system including a dynamic topology of the MTDC system;

determining, by the MTDC master controller, based on the present state of the MTDC system, based on the schedule and based on MTDC system constraints, VSC controller parameters including droop settings for local control by the VSC controllers; and

transmitting the VSC controller parameters to the VSC controllers.

2. The method of claim 1 , wherein the present state of the MTDC system includes information about a load status of a DC link of a DC grid interconnecting the terminals.

3. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 2 .

4. The method of claim 1 , comprising:

determining the VSC controller parameters based on a model of at least a part of the MTDC system.

5. The method of claim 4 , wherein the model includes AC equipment and/or AC grids coupled to the MTDC system.

6. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 5 .

7. The method of claim 4 , comprising:

determining the VSC controller parameters by way of Model Predictive Control (MPC) involving the model of the MTDC system and MTDC system constraints.

8. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 7 .

9. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 4 .

10. The method of claim 1 , comprising:

determining the VSC controller parameters at most once every thirty seconds.

11. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 10 .

12. The method of claim 1 , comprising:

establishing a future state of the MTDC system based on the present state and an assumed contingency;

evaluating the future state to determine a maximum schedule deviation; and

transmitting the maximum schedule deviation to a SCADA system supervising a DC grid interconnecting the terminals.

13. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 12 .

14. The method of claim 1 , comprising:

establishing a future state of the MTDC system based on the present state and an assumed contingency;

determining converter controller set-points based on the future state; and

transmitting the set-points to the converter controllers only upon occurrence of the contingency.

15. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 14 .

16. A computer program product for controlling one or more processors of a master controller device in a MTDC system, the product including a non-transitory computer readable medium having program code stored thereon, which when placed in communicable contact with a processor, causes the processor to execute the method according claim 1 .

17. The method of claim 1 , wherein the droop settings are determined by the MTDC master controller, the schedule deviations being distributed over several of the terminals.

18. The method of claim 1 , wherein the VSC parameters are determined by the MTDC master controller by a mathematical optimization and dynamic modeling of the MTDC system including controller limits.

19. The method of claim 1 , wherein a present state of the MTDC system includes indications about a load status of selected lines of a DC grid interconnecting the terminals.

20. The method of claim 19 , wherein the indications about the load status of the selected lines of the DC grid include at least one of a load margin and a thermal capacity of the selected lines.

21. An MTDC master controller for controlling a Multi-Terminal High Voltage Direct Current (MTDC) system with at least three terminals, each terminal including a Voltage Source Converter (VSC) controlled by a VSC controller, the MTDC being configured to:

determine a present state of the MTDC system including a dynamic topology of the MTDC system;

determine VSC controller settings based on the present state of the MTDC system, a converter schedule including desired power flow values, MTDC system constraints; and

transmit the settings to the VSC controllers.