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A modular multilevel converter control system, based on converter energy storage, is proposed in this paper for two different control modes: active power and dc voltage. The proposed control system decouples the submodule (SM) capacitor voltages from the dc bus voltage. One of the practical applications is the management of active redundant SMs. A practical HVDC system with 401-level MMCs, including 10% redundancy in MMC SMs, is used for validating and demonstrating the advantages of the proposed control system. This paper also presents a novel capacitor voltage balancing control based on \max–\min functions. It is used to drastically reduce the number of switchings for each SM and enhances computational efficiency. [ABSTRACT FROM AUTHOR]

Multilevel converters (MLCs) are pioneers in the field of electrical energy conversion. From the classification of MLCs, modular multilevel converter (MMC) is top-rated due to its attractive structure and performance. The modular nature and no need for isolated DC resources are two significant advantages of this converter. However, the need for many sensors to control its performance is a considerable drawback. In addition, the internal circulating current in the MMC causes losses, decreases efficiency, and increases the voltage ripple of capacitors. This paper proposes combining a new capacitor voltage sorting method and an open-loop controller based on arms energy estimation to control the MMC using two voltage sensors in the arms and one current sensor at the output. The proposed method ensures continuous voltage balancing of the capacitors and removes multiple voltage sensors from sub-modules (SMs). The simulation and experimental results verify the accuracy and effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

This paper investigates the applicability of averaged-value models (AVMs) for modular multilevel converters (MMCs) operating in a voltage-sourced converter-based-high-voltage dc (VSC-HVDC) grid. The AVM models are benchmarked by comparison with a detailed electromagnetic transient model of the grid, including a fully detailed MMC model. Analysis results show that the AVM is only effective as long as the capacitors are large enough to maintain nearly constant voltage across each MMC submodule. This paper also shows that previously developed MMC averaged models are not able to accurately simulate the transients under dc fault conditions. This paper introduces topology changes to a previously proposed averaged model that results in much improved simulation for such conditions. This paper also shows that the model can be used effectively to study HVDC grids with significant time savings. [ABSTRACT FROM AUTHOR]

The paper presents a fault tolerant scheme for integrating renewable energy sources to HVDC system using a new modular resonant DC-DC converter. The proposed DC-DC converter consists of many identical low voltage submodules which consist of two controllable switches, one diode and a capacitor. The switches of the proposed DC-DC converter are configured to provide the converter an inherent fault tolerant feature which enables it to isolate itself during DC faults in the HVDC system. Zero current switching (ZCS) is also achieved for all the switches used in the converter. The paper focusses on the integration of renewable energy sources to HVDC transmission system using the proposed tapping scheme. The performance of the proposed scheme to evacuate power from renewable energy sources to HVDC transmission system has been demonstrated using simulation studies done in PSCAD/EMTDC. The performance of the proposed DC-DC converter is also verified with experimental results. [ABSTRACT FROM AUTHOR]

This paper deals with an ac–ac voltage regulator/compensator based on a hybrid transformer with a matrix converter realizing electrical coupling in the hybrid transformer unit. The parameters of electrical energy, such as voltage amplitude, are very important, particularly from the viewpoint of the final consumer and sensitive loads connected to the grid. Furthermore, a hybrid transformer using a matrix converter can be used for power-flow control and for transient stability improvement in ac transmission systems. Active power flow and voltage magnitude in transmission lines can vary by using a conventional mechanical or thyristor-controlled regulator. However, the control parameters can be executed only in steps depending on the taps available in the electromagnetic transformer. An approach for obtaining continuous control of the voltage magnitude and phase shift using a conventional transformer with two windings and a pulsewidth-modulated matrix converter is presented in this paper. The operating principles and steady-state properties are discussed. Detailed computer simulation results are presented in this paper. Furthermore, experimental test results obtained from a three-phase 3 kVA laboratory model are also presented. [ABSTRACT FROM AUTHOR]

The dc cables of the voltage-sourced converter-based HVDC link, including the modular multilevel converter (MMC) configuration, must be protected by surge arresters against transient overvoltages. The selection of the appropriate surge arresters requires a comprehensive understanding of the phenomena that cause the overvoltages and accurate calculation of energy discharged in the arresters. This paper investigates the mechanism that causes transient overvoltages, due to dc-side line-to-ground faults, in a cable-connected MMC–HVDC link. This paper also evaluates the impacts of various system parameters, for example, the prefault power transfer level, the MMC arm inductance, the transformer leakage inductance, the fault location, the ac system short-circuit capacity, the cable inductance, and the MMC blocking delay, on the peak transient overvoltages and the amount of energy discharge in the cable surge arresters. The transient overvoltage studies are also conducted when the dc cable is replaced by an overhead line. The studies are performed in the PSCAD platform. The studies conclude that the prefault power transfer level and the MMC blocking delay have the most significant impacts on the surge arrester energy discharge under dc-side line-to-ground faults in the MMC–HVDC link. The study results also provide essential information for the design of the MMC–HVDC link components. [ABSTRACT FROM AUTHOR]

This paper presents a new multilevel cascaded-type dynamic voltage restorer (MCDVR) with a fault current-limiting function. This topology can operate in two operational modes: 1) a compensation mode for voltage fluctuations and unbalances and 2) short-circuit current-limiting mode. The current-limiting function of the MCDVR is performed by activating antiparallel thyristors during the short-circuit fault, and deactivating them during normal operation. The mathematical model of the MCDVR system is also established in this paper. The control scheme design and optimal parameter selection are outlined based on the detailed theoretical analysis of the converter. The transient states of the MCDVR in the compensation mode and current-limiting mode are also analyzed. Simulation results based on the PSCAD/EMTDC software, and experimental results on a laboratory setup help to validate the proposed topology and the theoretical analysis. [ABSTRACT FROM AUTHOR]

This paper proposes a model predictive control (MPC) method for modular-multilevel-converter (MMC) high-voltage direct current (HVDC). To control the MMC-HVDC system properly, the ac current, circulating current, and submodule (SM) capacitor voltage are taken into consideration. The existing MPC methods for the MMC-HVDC system utilize weighting factors to configure the cost function in combinations of the SM capacitor voltage balancing algorithm, ac current control, and circulating current control. Because all combinations of the switch states are considered in order to minimize the cost function, their possible combinations increase geometrically according to the increase of the level of the MMC, which is a significant disadvantage. This paper proposes a new MPC method with a reduced number of states for ac current control, circulating current control, and the SM capacitor voltage-balancing algorithm. The proposed cost functions are divided into three types according to their control purposes. Each cost function determines the minimum number of states for controlling the ac current, circulating current, and SM capacitor voltage. The efficacy of the proposed controlling method is verified through simulation results using PSCAD/EMTDC. [ABSTRACT FROM AUTHOR]

For an LCC–MMC hybrid HVDC transmission system with reverse current blocking diodes, this paper presents a method for dc-side harmonic current calculation and dc-loop impedance calculation. First, in the calculation of dc-side harmonic currents, the line-commutated converter at the rectifier side is replaced by the three-pulse harmonic voltage sources; the modular multilevel converter is represented by an equivalent passive circuit based on the linearization theory; an improved calculating method for the coupled line model is introduced into calculating the admittance matrix of the dc transmission lines to improve the computational efficiency; and then this paper describes the complete procedures of the proposed method. Second, based on the dc-side equivalent models mentioned before and the nodal voltage analysis method, this paper presents an analytical method for the calculation of dc-loop impedance according to the definition of dc-loop impedance Finally, the PSCAD/EMTDC simulation verifications have been carried out based on a 1500 MW/+ 500 kV MMC-HVDC system, a 3000-MW/\pm500-kV LCC–MMC hybrid HVDC system, and its dc network. The simulation results and the analytical results coincide with each other, and the effectiveness of the proposed methods is proved. [ABSTRACT FROM AUTHOR]

This paper introduces an enhanced equivalent model of the half-bridge symmetrical monopole modular multilevel converter (MMC) topology for the analyses of the electromagnetic transients. Compared with the existing MMC models, the proposed model reduces the simulation computational time without compromising accuracy, and contrary to the existing models, it provides accurate representation of the MMC behavior with respect to the dc-side fault. This paper also evaluates and verifies the accuracy of the proposed equivalent model under various operating conditions, that is, startup, dc-side pole-to-pole fault, and ac-side three-phase-to-ground fault. The study results indicate that: 1) in contrast to the existing equivalent models, the proposed enhanced model accurately represents the MMC under various operating conditions; 2) the implemented simplifications to the model do not adversely affect the accuracy of the simulation results; and 3) a reduced-level approximated model of the MMC is also adequately accurate for protection studies. [ABSTRACT FROM AUTHOR]

This paper proposes a startup sequence for a modular multilevel converter (MMC) HVDC-connected offshore wind farm (OWF) and demonstrates how it can be simulated using an electromagnetic transient-type tool. The objective is to analyze inrush currents of transformers and cables (HVAC and HVDC). Modeling accuracies and computational performances are examined using three existing modeling methods for the MMCs. [ABSTRACT FROM PUBLISHER]

The use of power converters as solid state transformers is an attractive solution to modernize the power network, but this solution has not been fully addressed for MV and HV substations. This paper presents a customized and simple control for the Modular Multilevel Matrix Converter (M3C), specially conceived for its operation on synchronous ports, which is the case of AC substations. The control allows bidirectional power transfer, generation/absorption of reactive power and provisions of ancillary services. The converter is compared to the back-to-back Modular Multilevel Converter (B2B-MMC) where the key performance indicators to carry out the comparison are power efficiency, number of semiconductor devices, passive components required, footprint, voltage cell balance, fault blocking capability and stress of components. The simulation results show the features, performance and attractiveness of the M3C topology in a 33/11 kV, 16 MW substation under different operating conditions, including grid faults and dynamic operation. The M3C presents similar efficiency and performance than the B2B-MMC, but it uses fewer semiconductor devices, passive components and total cell capacitor energy than the B2B-MMC, reducing cost and footprint. The experimental results show the performance of the M3C under less ideal conditions including a substation transformer saturation and power step response. [ABSTRACT FROM AUTHOR]

This paper proposes a new modulated model predictive control method for the control of modular multilevel converters (MMCs) in voltage source converter-high voltage dc systems. The proposed method retains the advantages of the conventional finite control set-model predictive control methods by programing the nonlinear properties of the MMC into the design calculations while minimizing the ac line and circulating current ripples and steady-state error by generating modulated switching signals with a fixed switching frequency. In this paper, first, the predictive modeling of the MMC is provided. Next, the proposed control method is described. Then, the application of the proposed method to an MMC system is detailed. Finally, experimental results from an MMC system connected to a three-phase grid are provided to validate the theoretical outcomes. [ABSTRACT FROM AUTHOR]

Modular multilevel converters (MMCs) have become one of the most promising topologies for high-voltage dc–ac conversion. DC-side fault blocking capability of the MMC has prompted significant research in recent years. In this paper, a new switched capacitor submodule (SCSM) for MMCs is proposed which provides operation with DC fault blocking capability. In addition, successful voltage balancing is achieved with half the number of voltage sensors used with existing MMC cells. Generally, conventional sensor-based balancing techniques require a significant amount of measurements, 2m(N-1) voltage sensors, and 2m current sensors for an N-level m-phase MMC. The proposed cell will thus aid in reducing the complexity of the control system. A detailed illustration of the operational concept of the proposed architecture is presented in this paper. A comparison between the proposed SCSM and other existing MMC cells has been included to highlight the benefits of the proposed SCSM. A simulation model for an MMC-based HVDC system along with the proposed cell has been built to test its performance during normal as well as abnormal operating conditions. The simulation results show the effectiveness of the proposed architecture. [ABSTRACT FROM PUBLISHER]

Reliability evaluation of multiterminal HVDC systems has received very little attention in the past. This paper presents reliability modeling and analysis of an HVDC transmission system incorporating a voltage-sourced converter (VSC) tapping station. The use of VSC tapping stations enables the supply of power along the route to areas with comparatively little consumption. In this paper, a comprehensive detailed reliability model is developed and then converted to a manageable and computationally efficient model. Using this equivalent reliability model, various reliability indices are calculated at the load point of the system and the impacts of the VSC tapping station on these indices are illustrated. Sensitivity analyses are conducted to investigate the impacts of the load level and the location of the tapping station on the reliability indices. The conducted studies are numerically applied on a typical HVDC system and thorough discussions are presented. [ABSTRACT FROM AUTHOR]

Medium to long-distance underground ac lines and both short- and long-distance HVdc are frequently integrated into network expansion plans. In conjunction with growing numbers of power-electronic converters in the grid, there is a rising risk related to the effects of harmonic currents. Resonance analysis should therefore be part of power system expansion planning. In this paper, network harmonic modeling and analysis are discussed, in particular, power transformer and power converter frequency models are proposed. Frequency scanning and resonance mode analysis are compared and discussed. The changes in resonance response due to transmission network expansion are drawn. The methods are applied to the investigation of the impact of one link reinforcement, both ac and ac solutions, as well as the impact of the power transformer disconnection. The performed analysis enables finding the resonance location at each studied case. The frequency analysis methods presented in this paper enable forseeing network frequency behavior that is valuable for both network analysis and network expansion planning. [ABSTRACT FROM AUTHOR]

In the presence of multiple power converters in a power system the total current may exhibit zero-crossing distortion in the form of recurrent damped oscillations with high magnitude. These oscillations are synchronized with the power system frequency. This paper presents a comprehensive analysis of the input current of single-phase ac-dc converters fitted with power factor correction (PFC) controllers. Emphasis is given on the impacts of the source impedance, and on how the number of converters connected to a common coupling point (PCC) impacts the PFC controller’s performance. A system model is developed followed by simulation and measurements in a real installation with electronic ballasts used to drive fluorescent lighting tubes. Results show that the recurrent damped oscillations originating from PFC controllers are close to the harmonic range and with a very low level of cancellation between devices. The magnitude therefore increases proportionally with the number of devices. As the source impedance increases, instability may occur. Possible explanations for these observations are discussed. [ABSTRACT FROM AUTHOR]

The single-phase-to-ground (SPG) fault at the valve side of the converter transformer is one of the most critical faults threatening the operation of bipolar half-bridge modular-multilevel-converter-based multi-terminal direct-current (HB-MMC MTDC) systems. Following a valve-side SPG fault, the upper-arm submodule (SM) capacitors in the faulty converter may suffer a serious overvoltage, and the grid-side fault currents may experience no zero-crossings. The existing protection methods generally rely on tripping the grid-side alternate-current circuit-breaker (ACCB), which cannot fully isolate the fault. The healthy poles and stations may encounter severe disturbance and be all blocked, which will lead to a power outage of the entire MTDC system. This paper proposes an ACCB-independent scheme based on thyristor-pairs and damping SMs to address these problems. Antiparallel thyristor-pairs are connected in series within the upper and lower arms in each phase. Serial damping SMs are connected within the lower arms to help the lower-arm thyristor pairs cut off the fault currents. Although the proposed additional devices inevitably cause conduction losses, they can effectively protect the faulty converter and healthy circuit in the MTDC system. Simulations in PSCAD/EMTDC have been conducted to verify the effectiveness of the proposed strategy. [ABSTRACT FROM AUTHOR]

Differing from a two-level voltage source converter (TL-VSC), the internal dynamics of a modular multilevel converter (MMC) are much more complicated. Since the fluctuation of submodule capacitor voltage is unavoidable when transmitting power, the MMCs output voltages cannot track the references perfectly. The interaction between the time-varying capacitor dynamics and controllers may lead to self-instability of the MMCs. In order to address this self-instability issue, this paper first establishes the small-signal closed loop transfer function matrices (TFMs) of the external and internal control loop by the harmonic linearization method. Further, a novel design principle of MMC controllers is proposed. Then, the critical impact factors on the stability of circulating current controller and AC voltage controller are investigated based on the generalized Nyquist criterion(GNC). The proposed models and analysis methods are validated by time-domain simulations in PSCAD/EMTDC. [ABSTRACT FROM AUTHOR]

Resonances can have a negative impact on a voltage-source converter–high voltage dc (VSC–HVDC) system. This paper develops dc impedance models for the rectifier and inverter stations for a VSC-HVDC system when they are viewed from a dc terminal. The impedance models take converter controllers into account. The derived impedance models are validated by comparing frequency responses of the analytical model and the impedance measured at the dc terminal from a detailed VSC–HVDC model simulated in a real-time digital simulator. Resonances are examined in the frequency domain (e.g., Bode plots and Nyquist plots) using the derived analytical impedance models. The analysis is verified by time-domain simulations. Real-time digital simulation in RT-Lab demonstrates that the dc capacitor has a significant impact on resonances while the power transfer level has an insignificant impact on resonances. [ABSTRACT FROM AUTHOR]

To determine the operating region of modular multilevel converter (MMC) station under unbalance grid conditions, this paper proposes the analytical and point-scanning methods. First, the imbalance of PCC voltages is expressed in terms of two proposed indexes for single phase fault (SPF), which can be directly calculated from the grid parameter and grounding impedance. Next, the algebraic equation to solve the PCC voltage for the given PCC power is presented. The existence of PCC voltage is considered as one constraint. Moreover, the other constraints for transformer rating, converter rating, ac current and output voltage are also analyzed to adapt the unbalance conditions. Based on the proposed method, the effect of the grid imbalance on the operating region of MMC is analyzed and then the common constraints to confine the operating region are determined. Following that, the boundary control is proposed to limit the operation of MMC on the boundary of the operating region under unbalanced conditions. The open and modular control structure allows more constraints to be considered for the boundary control. The simulation results validate the correctness of the proposed methods to define the operating region and the effectiveness of the boundary control. [ABSTRACT FROM AUTHOR]

Current-transformer (CT) saturation causes severe distortion in the measured current waveform which may lead to maloperation of the protective devices. This paper proposes a low-cost, power-electronic device to prevent the CT from saturation. The proposed compensator is inserted in series with the relay in the CT secondary circuit and acts as a controlled voltage source (CVS). The proposed CVS generates a time-varying voltage to cancel the voltage developed across the CT burden; therefore, the CT magnetic flux remains almost constant and undistorted during the power system transients. It will be shown that this device can precisely compensate fault current, inrush current, and other probable transient currents despite its simplicity. The proposed device can be employed to compensate the already in-service CTs connected to nondigital and digital relays. Comprehensive computer simulations are carried out to validate the effectiveness of the proposed compensator. The performance of a sample compensator of this type is validated through special high-current laboratory experiments (carried out over several hundred amperes up to 1.6 kA), and the obtained results illustrate the capability of the proposed compensator to prevent CT saturation. [ABSTRACT FROM PUBLISHER]

A novel apparatus based on variable inductors to control the insertion compensating voltage of the transmission line is proposed in this paper. The apparatus can change the alternative voltage into the desired alternative voltage directly by using the control strategy proposed in this paper and insert the voltage into the line. Since the amplitude and the phase angle of the voltage supplied by the apparatus can be adjusted continuously and independently, the apparatus can control the real- and reactive- power flow independently and realize the direct voltage regulation (DVR) and the phase angle regulation (PAR) of the transmission line. The control methods suited for the proposed apparatus about the independent control of real and reactive power flow in the transmission line and the DVR and the PAR are also proposed. The control strategy and methods are verified with experimental results and simulation results. [ABSTRACT FROM PUBLISHER]

For converter transformer, current differential protection fails to operate in the case of internal fault occurs during dc bias or inrush current. Therefore, a new criterion is proposed in this paper to construct a new differential protection scheme. The new criterion is established by the ratio of wavelet energy entropy (RWEE) of current fault component on the primary to that on the secondary side. Once an internal fault occurs, the energy entropy (WEE) of the primary side is much larger than that on the secondary side, and then a large RWEE can be obtained. Otherwise, WEE of both sides are similar, and RWEE is around one. The simulation results show that the proposed criterion can perform well under inrush current, CT saturation, and dc bias conditions. It can discriminate the internal fault from external fault. Most importantly, it avoids the refusal of tripping when an internal fault occurs. [ABSTRACT FROM AUTHOR]

Due to the demand for high reliability, modular multilevel converters (MMCs) are designed with redundant submodules. Redundant submodules can be integrated into the converter by employing different redundancy schemes: the conventional active scheme, the load-sharing active scheme, and the passive scheme. Different schemes have different impacts on the improvement of converter reliability. The contributions of this paper include that an analytical method is proposed to evaluate the reliability of MMCs under different redundancy schemes and the factors’ influence on the converter reliability is analyzed to determine the proper redundancy scheme. Reliability models of MMCs under different redundancy schemes are built using Markov chains and the iteration method. Based on the proposed models, the effects of redundant schemes are evaluated in terms of the converter reliability. A case study is conducted to validate the feasibility and robustness of proposed models and to specify the conditions in the favor of each redundancy scheme. The benefits of sharing redundancy among arms are also explored from the reliability point of view. If insulated-gate bipolar transistors (IGBTs) and capacitors are dominant components in a submodule in terms of failure rates, the load-sharing active scheme performs better; otherwise, setting the redundant submodules in an idle state is more effective. It is also found that the number of required redundant submodules is greatly reduced by sharing redundancy among arms. [ABSTRACT FROM AUTHOR]

This paper presents a gradient-based nonlinear optimization wrapper for an electromagnetic transient simulation program to assist in the design of hardware and control parameters of flexible ac transmission system (FACTS) apparatus. A new second-order sensitivity analysis method is introduced that quantifies the sensitivity of the optimal solution to parameter uncertainties. Using this approach, the sensitivity of the harmonic elimination capability of a pulsewidth-modulated voltage-source converter to variations in switching angles is investigated. This paper also adapts the method of Pareto optimization to the simulation-based design of FACTS apparatus when multiple design objectives are to be satisfied. The developed Pareto optimization tool generates a Pareto frontier plot to visualize the design tradeoffs between the multiple objectives. The effectiveness of the tool is demonstrated through a design example that selects optimal values for the dc-bus capacitor and the control settings of a STATCOM. [ABSTRACT FROM AUTHOR]

This paper presents an in depth analysis to show that the conventional power balance model for the dc-side control of the Neutral Point Diode Clamped (NPC) converter is not adequately accurate for all operating conditions. The inaccuracy is due to the fact that the instantaneous power of the ac-side inductors is assumed to be negligible in the power balance equation. This paper shows that this assumption obscures (i) the impact of operating point which is a direct consequence of the inherent nonlinear nature of the problem and (ii) the nonminimum-phase property of the plant in the rectifying mode of operation. Thus, the conventional dc-side control model may lead to unsatisfactory performance or even instability. To overcome the shortcoming, this paper also develops accurate nonlinear and linearized models for the dc-side controller design, including the impact of the ac-side interface reactors. The analytical results and the conclusions are validated by digital time-domain simulation of a study system in the PSCAD/EMTDC environment. The mathematical developments and conclusions of the paper are equally applicable to the conventional two-level VSC. [ABSTRACT FROM AUTHOR]

This paper proposes an optimal design method of modular multilevel converter (MMC) levels to approach the reasonable compromise between accuracy and computational efficiency. The entire procedure is benchmarked by a Thévenin equivalent 451-level MMC model. First, the calculation method of the critical maximum simulation time step is proposed to faithfully represent each voltage level of the staircase waveforms. Second, the previously developed improved analytic hierarchy process is adopted to integrate the relative errors of all the main electrical parameters into one comprehensive relative error at each MMC level. Third, the steady state, ac, and dc transient state relative error results as well as the central-processing unit times of all models are normalized and curve fitted based on the benchmark model. Finally, the optimal MMC level is obtained by the plotted curves and the given subjective weights considering the accuracy and efficiency. And the effectiveness and robustness of the proposed method are validated by various simulation scenarios on PSCAD/EMTDC. [ABSTRACT FROM PUBLISHER]

An interline dynamic voltage restorer (IDVR) is a new device for sag mitigation which is made of several dynamic voltage restorers (DVRs) with a common dc link, where each DVR is connected in series with a distribution feeder. During the sag period, active power can be transferred from a feeder to another one and voltage sags with long durations can be mitigated. IDVR compensation capacity, however, depends greatly on the load power factor, and a higher load power factor causes lower performance of IDVR. To overcome this limitation, a new idea is presented in this paper which enables reducing the load power factor under sag conditions and, therefore, the compensation capacity is increased. The proposed IDVR employs two cascaded H-bridge multilevel converters to inject ac voltage with lower total harmonic distortion and eliminates the necessity to low-frequency isolation transformers in one side. The validity of the proposed configuration is verified by simulations in the PSCAD/EMTDC environment. Then, experimental results on a scaled-down IDVR are presented to confirm the theoretical and simulation results. [ABSTRACT FROM AUTHOR]

The design and operation of full-bridge (FB) MMCs that meet HVDC specifications are studied in this paper. Three new design parameters: 1) the overmodulation index (k MMC); 2) the dc modulation index (M dc); and 3) the minimal dc voltage (V minpu) are introduced to specify the operation of an FB MMC. Power increase and semiconductor count increase with the increase of k MMC are analyzed to understand the benefits of overmodulation. The required number of submodules and the number of more costly FB submodules for specified rated dc voltage V minpu and k MMC are calculated. The relationship of the submodule inserting logic and dynamics of an arm is analyzed. Submodule voltage balancing is studied, and the constraints on the required number of FB submodules are deduced. The capability of overmodulation and the operation under low dc voltage with optimal submodule counts are verified using Electromagnetic Transients Program simulation. [ABSTRACT FROM AUTHOR]

This paper presents three dynamic linear state-space models of the modular multilevel converter (MMC) which are suitable for small-signal dynamic studies and controller design. The three models differ by the number of states (two, six, and ten) and, therefore, are suitable for different applications based on the required accuracy. The 2nd- and 6th-order models ignore dynamics of the second harmonics and circulating current suppression control (CCSC). The main challenges of dynamic analytical modelling of MMC are the nonlinear multiplication terms in ABC frame equations for modulating oscillating signals. The multiplication nonlinear terms are therefore considered directly in the rotating DQ frame. This requires simultaneous modeling in zero sequence, fundamental frequency DQ and double fundamental frequency DQ2 frames. The proposed linear analytical models are implemented in state space in MATLAB. The validity and accuracy of the models are verified against a detailed 401-level MMC model in PSCAD/EMTDC in both time and frequency domains. The results show very good accuracy for the 10th-order model and decreasing accuracy for the lower order models. The influence of phase-locked loop and CCSC gains on the MMC dynamic is also studied using the proposed 10th model, and the results verify the suitability of the model for this purpose. [ABSTRACT FROM PUBLISHER]

The modular multilevel converter (MMC) has become one of the most promising converter topologies for medium/high-power applications. Since the MMC is structured based upon stacking up a number of series-connected identical submodules (SMs), to improve its fault tolerance and reliability, SM failure detection and location is of significant importance. In this paper, the impact of open-circuit switch failures of the SMs on the operation of the MMC is analyzed. Based on the analysis under SM failure conditions, two SM failure detection and location methods are proposed, that is, a clustering algorithm (CA)-based method and a calculated capacitance (CC)-based method. In the proposed CA-based method, a pattern-recognition-based fault diagnosis approach, which employs the clustering algorithm to detect and locate the faulty SMs with open-switch failures through identifying the pattern of 2-D trajectories of the SM characteristic variables, is developed. The proposed CC-based method is based on the calculation and comparison of a physical component parameter, that is, the nominal SM capacitance, and is capable of failure detection, location, and classification within one stage. The performance of the proposed failure detection methods for an MMC system is evaluated based on time-domain simulation studies in the PSCAD/EMTDC software environment. The reported study results demonstrate the capabilities of the two proposed methods in detecting and locating any SM failure under various conditions accurately and efficiently. [ABSTRACT FROM PUBLISHER]

This paper presents the model for the modular multilevel converter (MMC) in phasor format, which is convenient for power-flow and parameter studies. The model is derived in rotating the d–q coordinate frame, and the coordinate frame at double the fundamental frequency, in steady state. A substantial analytical basis is presented in order to facilitate direct mathematical manipulations of nonlinear terms in the rotating frame. An eighth-order model is first derived which includes circulating current representation. Later, the circulating current suppression controller (CCSC) is modelled and the magnitude of second harmonic control inputs is studied. The final model for MMC with CCSC is given in a simple and convenient form for power-flow studies. The accuracy of the proposed models is verified against a detailed dynamic MMC benchmark model in PSCAD. Finally, a comparison between the MMC model and two-level voltage-source converter model is given. [ABSTRACT FROM AUTHOR]

This paper presents a breaker arrangement concept, the multiline breaker (MLB), for the protection of multiterminal high voltage dc (MTdc) networks. Based on the design of a hybrid breaker, the MLB is an economically attractive solution for the protection of multiple dc lines in nodal connection using a single main breaker path. By using commutation units, the MLB directs the fault current through the main breaker in a unidirectional way, irrespective of the fault location. Hence, this study presents the design requirements for the MLB, regarding both hardware and control, and evaluates its operation within a grid. For this reason, a four-terminal half-bridge multilevel modular converters-based MTdc grid in radial configuration was used and pole-to-ground dc fault conditions were investigated. The dc fault response of the grid with one MLB at the central node is compared to the respective response of the grid when one hybrid breaker is employed at each dc line. The simulations show that the MLB is feasible and that the overall MTdc grid fault response for the two protection systems is very similar. As a result, the design advantages of the MLB make it a promising solution for the dc fault isolation in MTdc grids. [ABSTRACT FROM AUTHOR]

This paper presents a three-phase transformerless structure of modular multilevel converters based on cascaded pulsewidth-modulated chopper cells in medium-voltage D-STATCOM application. It is suggested for installation on unbalanced medium-voltage power-supply systems to achieve higher performance in improving power quality. This paper proposes a new control strategy based on power-flow analysis with a focus on dc capacitor voltage control that is insulated from the source voltage fault. This control strategy enables the D-STATCOM system to compensate unbalanced nonlinear load even under asymmetrical grid fault conditions and it has no limitations on the cascaded number. Experimental results obtained from a 60-V 3-kVA downscaled prototype verify that this D-STATCOM system performs satisfactory, not only compensating for unbalanced nonlinear load but also keeping the capacitor voltages maintained at the given value even in unbalanced power systems. [ABSTRACT FROM AUTHOR]

Hybrid AC/DC transmission grids require high-speed operation and high reliability for relay protection. Traditional derivative-based traveling wave protection methods have exposed the problems of low sensitivity and low reliability. In this paper, the fault traveling wave is analyzed considering the attenuation, distortion, and boundary effect of the DC transmission line as well as three converter types. The expressions of the fault initial traveling wave are derived and the conclusions show that 1) the expressions of the fault initial traveling wave at the end of the transmission line have the formation of a(1 − exp(−bt)); 2) the index of the exponential function in the fault initial traveling wave expression is related to the fault location, and is not affected by the fault impedance and line attenuation. Then a Levenberg–Marquart fitting method is proposed to fit the measured zero-mode fault current initial traveling wave and extract the index coefficients. Finally, a novel traveling wave protection method for DC transmission lines is proposed using the obtained index coefficients. The simulation results show that 1) the proposed protection method can complete fault identification within 1 ms, even with high fault impedance; 2) the proposed protection method has high robustness to the influence of the noise. [ABSTRACT FROM AUTHOR]

Using voltage-source converter high-voltage direct current (VSC-HVDC) to interconnect weak ac power systems has drawn much attention. Under the traditional vector control for the VSC that the response of AC voltage loop cannot match that of the active power loop may limit power transmission capability of the VSCs that interconnect with weak power systems. To enhance the power transmission capability and stability, this paper proposes a power compensation control that is based on the analysis of characteristics of power–voltage (PV) curves. This method can improve the damping control performance of the active power and the ac voltage by adjusting the compensated values adaptively. A small-signal model of the integrated system is established to study the performance of the proposed control method. The impact of the compensation coefficients and steady-state operating points on the system stability is studied. Motivated by an on-going back-to-back project in China, corresponding electromagnetic transient simulation models are constructed in MATLAB/Simulink environment to verify the effectiveness of the proposed method on the performance of operating limits, damping performance, disturbance withstanding capability, and fault ride-through capability. [ABSTRACT FROM AUTHOR]

The modular multilevel converter (MMC or M2C) is an emerging attractive multilevel topology for medium-voltage high-power applications. The capacitor voltage balancing control and the improvement of output current rating are two challenging issues of MMC. This paper proposed a new parallel-connected diode-clamped M2C (DCM2C), in which each arm consists of two parallel-connected clusters. In this topology, the capacitor voltages can be balanced automatically without any balancing control algorithms. Theoretically, no voltage sensors are needed to measure the capacitor voltages theoretically. Thus, the control of the converter can be simplified greatly. With a simple current-sharing control, an equal current distribution can be achieved between the two clusters. Furthermore, an extended parallel-DCM2C is proposed for larger current applications, and the corresponding current-sharing control method is developed. Experimental results validated the voltage self-balancing capability of parallel-DCM2C and the effectiveness of the proposed current-sharing control. [ABSTRACT FROM PUBLISHER]

This paper investigates the controllability of modular multilevel converters for high voltage direct current applications. The paper provides an in-depth analysis of a computationally efficient method to calculate the required amount of triplen harmonic injection (THI) and to devise an overmodulation strategy based on a three-dimensional representation of the converter control voltages in the vector space. The proposed method allows simultaneous converter operation and power quality control in an extended ac voltage range without degrading the submodules (SM's) capacitor voltage ripple or spectra of generated waveforms with respect to well-known THI methods. The advantages of the presented technique with respect to traditional THI techniques are: first, the converter controllability is extended during ac-side voltage disturbances; second, the SM's capacitor voltage ripple is upper bounded; and third, the insulation stress due to the common-mode voltage at the transformer's secondary windings is minimized. The performance of the claimed features is supported by simulation results for both steady-state and transient operating conditions. [ABSTRACT FROM PUBLISHER]

This paper deals with an analytical model to evaluate the noncharacteristic harmonics that are generated by three-phase three-wire voltage-source converters (VSCs) operating under unbalanced sinusoidal voltage conditions. This model permits the calculation of the oscillating current on the VSC dc side by considering the unbalanced voltages on its ac side. It can be used to prove that the use of dc voltage control techniques to eliminate VSC dc-side double frequency voltage ripple necessarily creates three-phase currents with undesirable low-frequency harmonic components on the VSC ac side. In this paper, the attention is directed to the instantaneous oscillating real power component at twice the line frequency, rather than to other power components. The noncharacteristic current components analyzed in this paper, such as the fundamental negative sequence and third-order harmonic components of positive and negative sequences are calculated using the proposed model in time-domain simulations. A simple model to calculate the dc-side capacitor to mitigate these noncharacteristic harmonic problems is presented. [ABSTRACT FROM PUBLISHER]

The half-bridge-based modular multilevel converter (MMC) has emerged as the favored converter topology for voltage-source HVDC applications. The submodules within the converter can be constructed with either individual insulated-gate bipolar transistor (IGBT) modules or with series-connected IGBTs, which allows for different redundancy strategies to be employed. The main contribution of this paper is that an analytical method was proposed to analyze the reliability of MMCs with the consideration of submodule arrangements and redundancy strategies. Based on the analytical method, the relative merits of two approaches to adding redundancy, and variants created by varying the submodule voltage, are assessed in terms of overall converter reliability. Case studies were conducted to compare the reliability characteristics of converters constructed using the two submodule topologies. It is found that reliability of the MMC with series-connected IGBTs is higher for the first few years but then decreases rapidly. By assigning a reduced nominal voltage to the series valve submodule upon IGBT module failure, the need to install redundant submodules is greatly reduced. [ABSTRACT FROM PUBLISHER]

The modular multilevel converters (MMCs) are attractive topologies for the high-voltage direct current (HVDC) transmission system. Since the complicated structure of MMC with hundreds sub-modules per arm, building an accurate model to design the appropriate control strategy is one of the main technical challenges. In this paper, the average-value model (AVM) of the MMCs considering the sub-module capacitor voltage ripple is established to explore the control dynamic performance of MMCs. The effect of the sub-module capacitor voltage ripple on the MMC dynamic behavior is explored and the equivalent impedances of the DC and AC sides in the MMC converters are extracted and evaluated. Based on the equivalent impedances, a particular AVM of MMCs, which comprises the equivalent capacitors reflecting the capacitor voltage ripple, is presented. Furthermore, the detailed interaction of the AC side voltages, AC side currents and arm voltages and the coupling relationship of AC output current id and iq can be also precisely described by the introduced AVM. Finally, the effectiveness of the presented model is verified by the PSCAD/EMTDC simulations. [ABSTRACT FROM PUBLISHER]

The insulation coordination of the converter station is very important for the security and economy of the UHVDC power transmission system, and lightning surge overvoltages at the converter station should be calculated accurately. This paper mainly analyzes the influence of modeling methods on the lightning surge overvoltages caused by the backflashover of the incoming dc transmission lines by using the PSCAD program, such as the selection of lightning stroke current waveform, tower model, flashover criterion of the insulator, and so on. The simulation results show that modeling methods have a great influence on the backflashover lightning withstand level of the incoming dc transmission lines, but their influences on the lightning surge overvoltages of the equipment in the converter station are not so obvious. [ABSTRACT FROM AUTHOR]

Multimodule converter-based high-voltage dc (HVDC) power transmission incorporates numerous voltage-source converters (VSCs) connected in series/parallel to provide increased voltage/current and, hence, power ratings. When a selective harmonic elimination pulsewidth-modulation (SHE-PWM) technique is employed, the switching losses of the VSC modules are reduced but the voltages of the series-connected dc capacitors are not naturally balanced. In this paper, a voltage-balancing technique is reported. The technique relies on monitoring the voltage of each dc capacitor and when such voltage exceeds its preset band, the realization of the multilevel waveform reallocates the task to another VSC module to ensure that voltage balance between all capacitors is achieved. Three-phase bipolar VSC modules are considered in this paper and each one is modulated by a precalculated multilevel SHE-PWM waveform. The time-domain waveforms and their line-to-line voltage spectra are verified by simulation using PSCAD/EMTDC. The selected results are presented to confirm the viability of the proposed method. [ABSTRACT FROM PUBLISHER]

The number of semiconductor switches in a modular multilevel converter (MMC) for HVDC transmission is typically two orders of magnitudes larger than that in a two or three level voltage-sourced converter (VSC). The large number of devices creates a computational challenge for electromagnetic transient simulation programs, as it can significantly increase the simulation time. The paper presents a method based on partitioning the system's admittance matrix and deriving an efficient time-varying Thévenin's equivalent for the converter part. The proposed method does not make use of approximate interfaced models, and mathematically, is exactly equivalent to modelling the entire network (converter and external system) as one large network. It is shown to drastically reduce the computational time without sacrificing any accuracy. The paper also presents control algorithms and other modelling aspects. The efficacy of the proposed method is demonstrated by simulating a point-to-point VSC-MMC-based HVDC transmission system. [ABSTRACT FROM AUTHOR]

Different from the traditional converter transformer and ac passive filtering method, this paper presents a new converter transformer and a corresponding inductive filtering method for HVDC systems. Based on this, characteristic parameters of the new converter transformer are studied in detail by theoretical analysis, simulation, calculation, and experimental verification. By deducing voltage relation, the constraint condition of the turn ratio is obtained, which can satisfy the demand of a 12-pulse converter in HVDC systems. By deducing current relations, the characteristics of the fundamental and the harmonic currents in the winding are obtained. According to the established operation equations, the simple but practical calculation methods for the short-circuit impedance and the rated capacity are proposed. Then, the change characteristic of the short-circuit impedance is analyzed and calculated. The detailed simulation and test results verified the correctness of the aforementioned theoretical analysis and calculation. [ABSTRACT FROM AUTHOR]

Modern industrial customers, such as pulp and paper industries, have increased the vulnerability to power quality problems. A voltage source converter based high-voltage direct current (VSC-HVDC) transmission has the potential to offer high power quality when transmitting large amount of power. Therefore, in this paper, a VSC-HVDC transmission is proposed to supply such industrial plants in order to improve their power quality. The proposed VSC-HVDC together with an industrial plant is simulated in PSCAD/EMTDC to investigate the dynamic performance of the studied system during various operation conditions and after different events. Grid faults, different power production levels of the generator and trip of the generator are studied. Simulation results show that with a VSC-HVDC supply the power quality of industrial plants can be significantly improved. The extent of the improvement strongly depends on the VSC current limits, the generator power production levels and the generator ratings. [ABSTRACT FROM AUTHOR]

This paper presents the control system based on the so-called repetitive control for a five-level flying-capacitor dynamic voltage restorer (DVR). This DVR multilevel topology is suitable for medium-voltage applications and operated by the control scheme developed in this paper. It is able to mitigate power-quality disturbances, such as voltage sags, harmonic voltages, and voltage imbalances simultaneously within a bandwidth. The control structure has been divided into three subsystems; the first one improves the transient response of the filter used to eliminate the modulation high-frequency harmonics, the second one deals with the load voltage; and the third is charged with maintaining balanced voltages in the flying capacitors. The well-developed graphical facilities available in PSCADIEMTDC are used to carry out all modelling aspects of the repetitive controller and test system. Simulation results show that the control approach performs very effectively and yields excellent voltage regulation. [ABSTRACT FROM AUTHOR]

A three-phase converter configuration, with each phase consisting of a series chain of H-bridges has become a popular multilevel solution for STATCOM application. Such a configuration, however, is not suitable for HVDC transmission. A new concept, where the series chain of H-bridge cells is used to derive a multilevel voltage reinjection waveform, is described in a companion paper. Its application to HVDC transmission is discussed in this paper and extensive use is made of EMTDC simulation to verify its steady-state and dynamic behavior. [ABSTRACT FROM AUTHOR]

This paper presents a comparative evaluation of direct ac-ac converters and multipulse voltage source dc-ac converters for providing series compensation of transmission systems. This paper provides a detailed discussion of power circuit design issues related to various performance considerations for both approaches. A benchmark case study is used to demonstrate the operation and performance of both designs in terms of steady-state and dynamic performance indices. It is shown through detailed computer simulations that both approaches are competitive with respect to each other in terms of their functional performance. [ABSTRACT FROM AUTHOR]