Generalized Voltage-based State-Space Modelling of Modular Multilevel Converters with Constant Equilibrium in Steady-State

This paper demonstrates that the sum and difference of the upper and lower arm voltages are suitable variables for deriving a generalized state-space model of an MMC which settles at a constant equilibrium in steady-state operation, while including the internal voltage and current dynamics. The presented modelling approach allows for separating the multiple frequency components appearing within the MMC as a first step of the model derivation, to avoid variables containing multiple frequency components in steady-state. On this basis, it is shown that Park transformations at three different frequencies ($+\omega$, $-2\omega$ and $+3\omega$) can be applied for deriving a model formulation where all state-variables will settle at constant values in steady-state, corresponding to an equilibrium point of the model. The resulting model is accurately capturing the internal current and voltage dynamics of a three-phase MMC, independently from how the control system is implemented. The main advantage of this model formulation is that it can be linearised, allowing for eigenvalue-based analysis of the MMC dynamics. Furthermore, the model can be utilized for control system design by multi-variable methods requiring any stable equilibrium to be defined by a fixed operating point. Time-domain simulations in comparison to an established average model of the MMC, as well as results from a detailed simulation model of an MMC with 400 sub-modules per arm, are presented as verification of the validity and accuracy of the developed model

Modular Multilevel Converter for Electric Motor Drive Applications

In this master thesis the topic of Modular Multilevel Converters (MMC) has been studied. The working principle of the converter is presented with advantageous attributes such as a multilevel waveform, a modular realization and cost saving features. Vital control objectives are active and reactive power control, DC link voltage control, submodule capacitor voltage control and current control. A level-shifted pulse-width modulation (PWM) switching scheme was found to have relatively low total harmonic distortion (THD), thus used in the upcoming simulations. In order to ensure balancing of the converter capacitors, a voltage balancing algorithm was presented, sorting the capacitors based on their voltage level, and giving a state command accordingly. The thesis has examined the challenges of using MMC for electric motor drive applications. It has been found that the low frequency operation causes large voltage ripple in the capacitors, thus a large circulating current. Through a literature search, different measures where found in order to reduce the circulating current, including circulating current suppressing and manipulation. In addition an introduction of a common mode voltage was presented as a possible measure. After developing the one-phase model of the project thesis into a three-phase model, the circulating current suppressing controllers (CCSC) were tested, first at 50Hz, and then at 25Hz. At 50Hz, all three controllers worked as intended, reducing the circulating current by up to 72% and the voltage ripple was reduced from ∆vc = 10V to ∆vc = 6V . At 25Hz, all the controllers maintained their ability to reduce the circulating current. Nonetheless, it was concluded that further measures must be studied, as all controllers increased the capacitor voltage ripple at f =25Hz

High-Efficiency MOSFET-based MMC Design for LVDC Distribution Systems

LVDC distribution networks have the potential to release larger capacity without having to upgrade the existing cables. One of the main challenges of LVDC networks is the extra customer-end DC-AC conversion stage. This paper proposes and evaluates a 5-level Si MOSFET-based MMC as a promising alternative to the conventional 2-level IGBT-based converter. This is due to the comparatively higher efficiency, power quality and reliability, and reduced EM emissions. A comprehensive analysis of a Si MOSFET 5-level MMC converter design is performed to investigate the suitability of the topology for LVDC applications. Detailed theoretical analysis of the 5-level MMC is presented, with simulated and experimental results to demonstrate circuit performance. To suppress the AC circulating current, especially the dominant 2nd harmonics, this paper presents a double line-frequency PI with orthogonal imaginary axis control method. Comparison of simulation and experimental results with those for double line-frequency PR control shows that the proposed PI controller has better performance. In addition, it is simpler to implement and more immune to sampling/discretisation errors

Modular multilevel converter based LCL DC/DC converter for high power DC transmission grids

This paper presents a modular multilevel converter (MMC) based DC/DC converter with LCL inner circuit for HVDC transmission and DC grids. Three main design challenges are addressed. The first challenge is the use of MMCs with higher operating frequency compared to common transformer-based DC/DC converters where MMC operating frequency is limited to a few hundred hertz due to core losses. The second issue is the DC fault response. With the LCL circuit, the steady state fault current is limited to a low magnitude which is tolerable by MMC semiconductors. Mechanical DC circuit breakers can therefore be used to interrupt fault current for permanent faults and extra sub-module bypass thyristors are not necessary to protect antiparallel diodes. Thirdly, a novel controller structure is introduced with multiple coordinate frames ensuring zero local reactive power at both bridges in the whole load range. The proposed controller structure is also expandable to a DC hub with multiple ports. Detailed simulations using PSCAD/EMTDC are performed to verify the aforementioned design solutions in normal and fault conditions

Strategies for decoupling internal and external dynamics resulting from inter-arm passive component tolerances in HVDC-MMC

Modular Multilevel Converter (MMC) performance may be adversely affected by passive component tolerances, such as submodule capacitance and arm inductance variations. Depending on control strategies, the differences in equivalent capacitances and/or inductances of the upper and lower arms of one phase-leg can cause unequal power distribution between upper and lower arms. Assuming passive component tolerances ranging between ±10%, this paper presents a comprehensive assessment of the internal/external coupling effects due to the passive component tolerances within one phase-leg, under the control of common MMC balancing methods. A novel control strategy is proposed to suppress the fundamental component that arises in the dc-link current due to such tolerances, and its effectiveness is demonstrated via simulation and experimentation. The investigation shows that voltage-based common and differential mode balancing control provides effective ac offset suppression while the proposed method offers superior performance in terms of dc-link fundamental current ripple suppression

A New MMC Topology Which Decreases the Sub Module Voltage Fluctuations at Lower Switching Frequencies and Improves Converter Efficiency

Modular Multi-level inverters (MMCs) are becoming more common because of their suitability for applications in smart grids and multi-terminal HVDC transmission networks. The comparative study between the two classic topologies of MMC (AC side cascaded and DC side cascaded topologies) indicates some disadvantages which can affect their performance. The sub module voltage ripple and switching losses are one of the main issues and the reason for the appearance of the circulating current is sub module capacitor voltage ripple. Hence, the sub module capacitor needs to be large enough to constrain the voltage ripple when operating at lower switching frequencies. However, this is prohibitively uneconomical for the high voltage applications. There is always a trade off in MMC design between the switching frequency and sub module voltage ripple

Impact of submodule faults on the performance of modular multilevel converters

Modular multilevel converter (MMC) is well suited for high-power and medium-voltage applications. However, its performance is adversely affected by asymmetry that might be introduced by the failure of a limited number of submodules (SMs) or even by severe deviations in the values of SM capacitors and arm inductors, particularly when the number of SMs per arm is relatively low. Although a safe-failed operation is easily achieved through the incorporation of redundant SMs, the SMs' faults make MMC arms present unequal impedances, which leads to undesirable internal dynamics because of unequal power distribution between the arms. The severity of these undesirable dynamics varies with the implementation of auxiliary controllers that regulate the MMC internal dynamics. This paper studied the impact of SMs failure on the MMC internal dynamics performance, considering two implementations of internal dynamics control, including a direct control method for suppressing the fundamental component that may arise in the dc-link current. Performances of the presented and widely-appreciated conventional methods for regulating MMC internal dynamics were assessed under normal and SM fault conditions, using detailed time-domain simulations and considering both active and reactive power applications. The effectiveness of control methods is also verified by the experiment. Related trade-offs of the control methods are presented, whereas it is found that the adverse impact of SMs failure on MMC ac and dc side performances could be minimized with appropriate control countermeasures

Dual harmonic injection for reducing the sub-module capacitor voltage ripples of hybrid MMC

Reducing the capacitor voltage ripples of the half-bridge sub-modules (HBSM) and full-bridge sub-modules (FBSM) in a hybrid modular multilevel converter (MMC) is expected to reduce the capacitance, volume and costs. To address this issue, this paper proposes a dual harmonic injection method which injects the second harmonic circulating current and third order harmonic voltage into the conventional MMC control. Firstly, the mathematical model of the proposed control is established and analyzed. Then, the general strategy of determining the amplitude and phase angle of each injection component is proposed to suppress the fluctuations of the fundamental and double frequency instantaneous power. The proposed strategy can achieve the optimal power fluctuation suppression under various operating conditions, which also has the advantage of reducing the voltage fluctuation difference between HB and FB SMs. The correctness and effectiveness of the proposed strategy are verified in simulations in PSCAD/EMTDC