About the Authors xiii
Preface xvii
Acknowledgments xxi
Acronyms xxiii
Symbols xxvii
About the Companion Website xli
Part I General Aspects of Conventional mmc
1 Review of High-Power Converters 3
1.1 Introduction 3
1.2 Overview of High-Power Converters 4
1.3 Voltage Source Converters 6
1.3.1 Neutral-Point Clamped Converter 8
1.3.2 Active Neutral-Point Clamped Converter 10
1.3.3 Flying Capacitor Converter 11
1.3.4 Nested Neutral-Point Clamped Converter 12
1.3.5 Cascaded H-bridge Converter 13
1.3.6 Cascaded Neutral-Point Clamped Converter 15
1.4 Current Source Converters 16
1.4.1 Load-Commutated Current Source Converter 16
1.4.2 PWM Current Source Converter 18
1.5 Matrix Converters 19
1.5.1 Direct Matrix Converter 19
1.5.2 Indirect Matrix Converter 20
1.5.3 Multi-Modular Matrix Converter 21
1.6 Modular Multilevel Converters 23
1.6.1 Converter Technology 24
1.6.2 Applications 24
1.6.3 Technical Challenges 31
1.7 Summary 33
References 34
2 Fundamentals of Modular Multilevel Converter 37
2.1 Introduction 37
2.2 Modular Multilevel Converter 38
2.2.1 Converter Con guration 39
2.2.2 Con guration of Submodules 39
2.2.3 Comparison of Submodules 46
2.2.4 Principle of Operation 48
2.3 Pulse Width Modulation Schemes 49
2.3.1 Phase-Shifted Carrier Modulation 51
2.3.2 Level-Shifted Carrier Modulation 59
2.3.3 Sampled Average Modulation 60
2.3.4 Space Vector Modulation 65
2.3.5 Staircase Modulation 73
2.4 Summary 77
References 77
3 Classical Control of Modular Multilevel Converter 79
3.1 Introduction 79
3.2 Overview of Classical Control Method 80
3.3 Submodule Capacitor Voltage Control 82
3.3.1 Leg Voltage Control 82
3.3.2 Voltage Balance Strategy 83
3.4 Output Current Control 88
3.4.1 Reference Frame Theory 88
3.4.2 Control of MMC with Passive Load 92
3.5 Circulating Current Control 95
3.5.1 Mathematical Model 96
3.5.2 Control in Synchronous-dq Reference Frame 97
3.5.3 Control in Stationary-abc Reference Frame 100
3.6 Summary 101
References 101
4 Model Predictive Control of Modular Multilevel Converter 103
4.1 Introduction 103
4.2 Mathematical Model of mmc 105
4.2.1 Continuous-Time Model 105
4.2.2 Discretization Methods 108
4.2.3 Discrete-Time Model 110
4.3 Extrapolation Techniques 113
4.3.1 Vector Angle Extrapolation 113
4.3.2 Lagrange Extrapolation 113
4.4 Cost Function and Weight factors 114
4.4.1 Formulation of Cost Function 114
4.4.2 Selection of Weight Factors 116
4.5 Direct Model Predictive Control 117
4.5.1 Design Procedure 117
4.5.2 Control Algorithm 120
4.6 Indirect Model Predictive Control 124
4.6.1 Design Procedure 125
4.6.2 Control Algorithm 127
4.7 Summary 128
References 128
Part II Advanced Modular Multilevel Converters
5 Passive Cross-Connected Modular Multilevel Converters 133
5.1 Introduction 133
5.2 Passive Cross-Connected mmc 134
5.2.1 Con guration of Power Circuit 134
5.2.2 Switching States and Output Voltage 135
5.3 Principle of Operation 138
5.3.1 Modeling of PC-MMC 138
5.3.2 Phase-Shifted Carrier Modulation for PC-MMC 140
5.4 Low/Zero Frequency Operation of PC-MMC 144
5.4.1 Equivalent Circuit 145
5.4.2 Design of Cross-Connected Capacitor 146
5.4.3 Submodule Capacitor Voltage Ripple 148
5.4.4 Common-Mode Voltage 151
5.5 Classical Control of PC-MMC 153
5.5.1 Output Current Control 154
5.5.2 Submodule Capacitor Voltage Control 156
5.5.3 Synthesis of Modulation Signals 159
5.6 Summary 162
References 162
6 Active Cross-Connected Modular Multilevel Converters 165
6.1 Introduction 165
6.2 Active Cross-Connected mmc 166
6.2.1 Circuit Con guration of AC-MMC 166
6.2.2 Switching States and Output Voltage 166
6.3 Principles of Operation 169
6.3.1 Modeling of AC-MMC 170
6.3.2 Phase-Shifted Carrier Modulation for AC-MMC 171
6.4 Low-Frequency Operation of AC-MMC 176
6.4.1 Equivalent Circuit 176
6.4.2 Submodule Capacitor Voltage Ripple 178
6.4.3 Common-Mode Voltage 181
6.4.4 Current Stress on Semiconductor Devices 184
6.5 Classical Control of AC-MMC 185
6.5.1 Output Current Control 186
6.5.2 Submodule Capacitor Voltage Control 186
6.5.3 Synthesis of Modulation Signals 189
6.6 Summary 192
References 192
7 Star and Delta-Channel Modular Multilevel Converters 195
7.1 Introduction 195
7.2 Star-Channel Modular Multilevel Converter 196
7.2.1 Circuit Con guration of Star-Channel mmc 196
7.2.2 Switching States and Output Voltage 197
7.3 Principles of Operation 200
7.3.1 Modeling of Star-Channel mmc 200
7.3.2 Phase-Shifted Carrier Modulation for Star-Channel mmc 203
7.4 Low-Frequency Operation of Star-Channel mmc 207
7.4.1 Equivalent Circuit 208
7.4.2 Submodule Capacitor Voltage Ripple 209
7.4.3 Common-Mode Voltage 213
7.5 Classical Control of Star-Channel mmc 216
7.5.1 Output Current Control 217
7.5.2 Submodule Capacitor Voltage Control 217
7.5.3 Synthesis of Modulation Signals 221
7.6 Delta-Channel Modular Multilevel Converter 223
7.7 Comparison of Advanced Modular Multilevel Converters 225
7.8 Summary 226
References 227
Part III Applications of Modular Multilevel Converters
8 Modular Multilevel Converter Based Medium-Voltage Motor Drives 231
8.1 Introduction 231
8.2 Fundamentals of MMC-Based Motor Drive 232
8.2.1 System Con gurations 232
8.2.2 Control Schemes 233
8.3 Voltage-Oriented Control of Grid-Side mmc 234
8.3.1 Principle of voltage orientation 235
8.3.2 Implementation of PLL 236
8.3.3 Block diagram of VOC 237
8.4 Indirect Field-Oriented Control of Motor-side mmc 240
8.4.1 Principle of Field Orientation 241
8.4.2 Rotor Flux Vector Estimator 242
8.4.3 Block diagram of IFOC approach 244
8.5 Low-Speed Operation of MMC-based Motor Drive 248
8.5.1 Analysis of Submodule Capacitor Voltage Ripple 248
8.5.2 Analysis of MMC with High-Frequency Voltage and Current Injection 254
8.5.3 Estimation of High-Frequency Voltage and Current Magnitude 256
8.5.4 Minimization of Submodule Capacitor Voltage Ripple 257
8.6 Common-Mode Voltage Issues and Blocking Schemes 262
8.6.1 De nition of Common-Mode Voltage 262
8.6.2 Blocking of Common-Mode Voltage 264
8.7 Transformer-less MMC-based Motor Drive 265
8.8 Summary 269
References 269
9 Role of Modular Multilevel Converters In The Power System 271
9.1 Introduction 271
9.2 MMC-Based HVDC Transmission Systems 272
9.2.1 Two-Terminal System 273
9.2.2 Multi-Terminal System 274
9.2.3 DC-Side Short-Circuit Fault Protection 275
9.2.4 HVDC Circuit Breakers 277
9.3 Control of Two-Terminal MMC-Based HVDC System 278
9.3.1 Sending-End Converter Control 279
9.3.2 Receiving-End Converter Control 281
9.4 Control of Multi-Terminal MMC-Based HVDC System 286
9.4.1 Voltage Margin Control Scheme 288
9.4.2 Voltage Droop Control Scheme 293
9.5 MMC-based Static Synchronous Compensator 294
9.5.1 System Con guration 295
9.5.2 Reactive Power Compensation 295
9.5.3 Compensation of Unbalanced AC-Grid Currents 298
9.6 MMC-based Uni ed Power Quality Conditioner 306
9.7 Summary 307
References 307
Appendix A MATLAB Demo Projects 311
References 312
Index 313
