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I. INTRODUCTION
IGH-POWER converters for utility applications require
H line-frequency transformers for the purpose of enhanc-
ing their voltage or current rating [1]–[4]. The 80-MVA Static
synchronous Compensator (STATCOM) commissioned in 2004
consists of 18 neutral-point-clamped (NPC) converter legs [4],
where each of the ac sides is connected in series by the corre-
sponding transformer. The use of line-frequency transformers, Fig. 1. Circuit configuration of a chopper-cell-type modular multilevel in-
however, not only makes the converter heavy and bulky, but verter: (a) Power circuit, and (b) Bidirectional PWM chopper-cell with a floating
also induces the so-called dc magnetic flux deviation when a dc capacitor.
single-line-to-ground fault occurs [5].
Recently, many scientists and engineers of power systems of view. As for the FCMC, the four-level pulsewidth modulation
and power electronics have been involved in multilevel convert- (PWM) inverter is currently produced by one manufacture of in-
ers intended for achieving medium-voltage power conversion dustrial medium-voltage drives [12]. However, the high expense
without transformers [6]–[8]. Two of the representatives are: of flying capacitors at low carrier frequencies (say, lower than
1) the diode-clamped multilevel converter (DCMC) [6], [7]; 1 kHz) is the major disadvantage of the FCMC [13].
2) the flying-capacitor multilevel converter (FCMC) [8]. A modular multilevel converter (MMC) has been proposed
The three-level DCMC, or a NPC converter [9] has been put in [14]–[20], intended for high-power applications. Fig. 1 shows
into practical use [10]. If a voltage-level number is more than a basic circuit configuration of a three-phase modular multilevel
three in the DCMC, inherent voltage imbalance occurs in the inverter. Each leg consists of two stacks of multiple bidirectional
series-connected dc capacitors, thus resulting in requiring an cascaded chopper-cells and two noncoupled buffer inductors.
external balancing circuit (such as a buck–boost chopper) for a The MMC is suitable for high- or medium-voltage power con-
pair of dc capacitors [11]. Furthermore, a significant increase version due to easy construction/assembling and flexibility in
in the clamping diodes required renders assembling and build- converter design. Siemens has a plan of putting it into practical
ing of each leg more complex and difficult. Thus, a reasonable use with the trade name of “high-voltage direct current (HVDC)-
voltage-level number would be up to five from a practical point plus.” It is reported in [19] that a system configuration of the
HVDC-plus has a power rating of 400 MVA, a dc-link voltage
Manuscript received July 16, 2008; revised October 16, 2008. Current version
published July 22, 2009. Recommended for publication by Associate Editor of ±200 kV, and 200 cascaded chopper cells per leg. The au-
S. Bhattacharya. thors of [14]–[20], however, have made no detailed description
The authors are with the Department of Electrical and Electronic Engineering, of staircase modulation, especially about a crucial issue of how
Tokyo Institute of Technology, 152-8552 Tokyo, Japan (e-mail: mhagi@akg.
ee.titech.ac.jp; akagi@ee.titech.ac.jp). to achieve voltage balancing of 200 floating dc capacitors per
Digital Object Identifier 10.1109/TPEL.2009.2014236 leg. Moreover, no experimental result has been reported yet.
0885-8993/$26.00 © 2009 IEEE
1738 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 24, NO. 7, JULY 2009
This paper focuses on voltage-balancing control and oper- Fig. 3. Circuit configuration of MMCs: (a) Star-configured MMC, and
ating performance of a pulsewidth-modulated MMC (PWM- (b) Delta-configured MMC.
MMC) equipped with either two noncoupled buffer inductors
or a single coupled buffer inductor per leg. The final aim of this that the star/delta-configured MMC topology is not applicable
paper is to apply the PWM-MMC to medium-voltage power to industrial motor drives, but it is suitable for STATCOMs and
converters in a power rating of 1–10 MVA, a dc-link voltage of energy storage systems [21]–[23]. This consideration is one of
10–30 kV, and a switching frequency of 200–2000 Hz. Combin- the most significant differences in function and application be-
ing averaging control with balancing control enables achieve- tween the double-star-configured MMC topology in Fig. 1 and
ment of voltage balancing of multiple floating dc capacitors the star/delta-configured MMC topology in Fig. 3.
without any external circuit. In addition, this paper proposes The bridge-cell-type MMC replaces the chopper cell in
the dual MMC for low-voltage large-current power conversion. Fig. 1(b) with single-phase full-bridge converter cells. Hence,
Each dc side of positive and negative chopper-cells possesses a the dc-voltage source E can be replaced with a single-phase
common dc capacitor, whereas its ac side is connected in par- ac-voltage source [16]. The detail of the dual MMC is discussed
allel via multiple buffer inductors. The similarity between the in Section V. In this paper, the chopper-cell-type MMC is
two MMCs exists in terms of circuit configuration and control referred to simply as “the MMC” because attention is paid to
method. The validity of the two MMCs is confirmed not only it exclusively.
by simulated results, but also by experimental results.
C. Definition of DC Loop Currents
II. TOPOLOGIES OF MMCS Fig. 1 shows a three-phase inverter based on the MMC.
A. Classification From the Topologies Each leg of the circuit consists of two stacks of four bidirec-
tional chopper-cells and two noncoupled buffer inductors. Each
Fig. 2 shows a classification of MMCs based on single-phase
chopper-cell consists of a floating dc capacitor and two
half-bridge or full-bridge converter-cells. From their topologies,
insulated-gate bipolar transistors that form a bidirectional chop-
MMCs can be classified into:
per. Attention is paid to the u-phase chopper-cells because the
1) double-star-configured MMCs;
operating principle is identical among the three legs.
2) a star-configured MMC [Fig. 3(a)];
The following circuit equation exists in Fig. 1(a)1 :
3) a delta-configured MMC [Fig. 3(b)]; and
4) the dual MMC (Fig. 14).
8
d
Moreover, the double-star-configured MMCs can be classi- E= vj u + l (iP u + iN u ). (1)
j =1
dt
fied into:
1) a chopper-cell-type MMC (Fig. 1); and Here, E is a supply dc voltage, vj u is an output voltage of the u-
2) a bridge-cell-type MMC. phase chopper-cell numbered j, l is a buffer inductance, and iP u
and iN u are positive- and negative-arm currents, respectively.
B. Comparisons in Function and Application The Kirchhoff’s voltage law (KVL) loop given by (1) is referred
to as the “dc loop,” which is independent of the load. The circu-
The double-star-configured MMC topology possesses the
lating current along the u-phase dc loop, iZ u can be defined as
common dc-link terminals as shown in Fig. 1(a), which en-
able dc-to-ac and ac-to-dc power conversion. However, the iu iu
iZ u = iP u − = iN u +
star/delta-configured MMC topology has no common dc-link 2 2
terminals as shown in Fig. 3. As a result, it has no capability 1
= (iP u + iN u ). (2)
of achieving dc-to-ac and ac-to-dc power conversion although 2
it can control active power back and forth between the three-
phase ac terminals and the floating dc capacitors. This means 1 The subscript symbol j means numbering of each chopper cell.
HAGIWARA AND AKAGI: CONTROL AND EXPERIMENT OF PULSEWIDTH-MODULATED MODULAR MULTILEVEL CONVERTERS 1739
Fig. 5. Voltage command of each arm: (a) Positive arm, and (b) Negative arm.
TABLE II
CONTROL GAINS USED FOR SIMULATION
TABLE III
CIRCUIT PARAMETERS USED FOR EXPERIMENT
TABLE IV
CONTROL GAINS USED FOR EXPERIMENT
Fig. 7(a) yields the following equation: where a reasonable approximation of vB∗ 1 = vB∗ 2 = vA∗ 0 was
4 made. Equation (17) implies that chopper-cells 1 and 2 were
1 2
l d operated under the same modulation index. As a result, vC 1 was
v0 = vj − vj − i0 (14)
2 j =3 2 dt equal to vC 2 in Fig. 9 because the chopper-cells 1 and 2 utilize a
common arm current iP , and (17) leads to a relation of v1∗ = v2∗ .
j =1
d In a similar way, vC 3 was equal to vC 4 in Fig. 9. Experimental
v0 = R + L i0 . (15)
dt waveforms of iZ and i∗Z show that no steady-state error, even in
a small control gain, existed between iZ and i∗Z in terms of their
The waveform of v0 is slightly different from that in a DCMC
dc components because of an extremely low resistance along
and an FCMC, due to the existence of the second term of the right
the dc loop.
hand in (14). Note that both DCMC and FCMC have a complete
staircase waveform with a constant (not curved) voltage level.
Substituting (14) into (15) yields C. Operating Performance Under a Transient-State Condition
4 Fig. 10 shows experimental waveforms of the MMC when the
1 2
l d
vj − vj = Ri0 + L + i0 . (16) voltage command was reduced to half, but the circuit parameters
2 j =3 j =1
2 dt and the control gains were not changed. The transient voltage
HAGIWARA AND AKAGI: CONTROL AND EXPERIMENT OF PULSEWIDTH-MODULATED MODULAR MULTILEVEL CONVERTERS 1743
Fig. 10. Experimental waveforms when the voltage command was changed
from 50 to 25 V.
Fig. 13. Experimental waveforms when a coupled buffer inductor was used.
Fig. 11. Experimental waveforms when only the balancing control was while the terminal “c,” or the midpoint is directly connected
disabled.
to the load. The relation of lab = 4lac = 4lbc exists in Fig. 12.
It should be noted that the inductor presents no inductance to
i0 because the magnetic fluxes produced by the fundamental
frequency components in iP and iN cancel out each other. As
a consequence, the inductor presents the inductance of lab only
to the circulating current iZ . The use of the coupled inductor
results in bringing considerable reductions in size, weight, and
cost to the magnetic core.4
Fig. 12. Coupled inductor used for experiment. Fig. 13 shows experimental waveforms when the coupled
inductor was utilized. In Fig. 13, each chopper cell was oper-
fluctuations in vC 1 and vC 3 were suppressed to less than 5% ated at a modulation index of 0.83, while the balancing control
with respect to its rated voltage of 70 V. using the load current was utilized (see the Appendix.). Since
Fig. 11 shows experimental waveforms before and after the the inductor produces no effect on i0 , (14) can be rewritten as
balancing control was disabled intentionally but the averaging follows:
4
1
control was enabled. The voltage imbalance was gradually ex- 2
panding with the passage of time. Hence, the balancing control v0 = vj − vj . (18)
2 j =3
is indispensable for stable operation. j =1
V. DUAL MMC
Fig. 14 shows a half-bridge circuit of the other MMC with
a dual relation to Fig. 7. Each dc side of positive and negative
chopper-cells possesses a common dc capacitor, whereas its ac
side is connected in parallel via two buffer inductors.5
A. Control Method
The control method of the dual MMC is basically the same
as that of Fig. 1 except for the following: although Fig. 1 has
a common dc loop to cascaded chopper-cells per leg, the dual
MMC has multiple dc loops because the multiple chopper-cells
forming an arm are connected in parallel. This means that the Fig. 15. Experimental waveforms obtained from Fig. 14, where f = 50 Hz,
∗ = 70 V, and E = 70 V.
vC
multiple current minor loops should be provided for the aver-
aging control. Chopper-cell 1 in Fig. 14, for instance, should
control a circulating current iZ 1 included in iP 1 . Here, iZ 1 is inductance in the dual MMC is smaller than that in Fig. 7 due to
obtained as parallel connection of the two buffer inductors. Fig. 15 shows
i0 that iP 1 and iN 1 are halves of iP and iN, respectively. Therefore,
iZ 1 = iP 1 − . (19)
4 the dual MMC is suitable for low-voltage large-current power
conversion.
cells v̄C u p and v̄C u n , which are given as follows: component included in vB j u forms an active power with that of
iP u or iN u .
1
4
v̄C u p = vC j u (21)
4 j =1
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1746 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 24, NO. 7, JULY 2009
[25] H. Fujita, S. Tominaga, and H. Akagi, “Analysis and design of a dc voltage- Hirofumi Akagi (M’87–SM’94–F’96) was born in
controlled static var compensator using quad-series voltage-source invert- Okayama, Japan, in 1951. He received the B.S.
ers,” IEEE Trans. Ind. Appl., vol. 32, no. 4, pp. 970–977, Jul./Aug. 1996. degree from the Nagoya Institute of Technology,
Nagoya, Japan, in 1974, and the M.S. and Ph.D. de-
grees from the Tokyo Institute of Technology, Tokyo,
Japan, in 1976 and 1979, respectively, all in electrical
engineering.
In 1979, he was with the Nagaoka University of
Technology, Nagaoka, Japan, as an Assistant and then
Associate Professor in the Department of Electrical
Engineering. In 1987, he was a Visiting Scientist at
the Massachusetts Institute of Technology, Cambridge, for ten months. From
1991 to 1999, he was a Professor in the Department of Electrical Engineer-
ing, Okayama University, Okayama, Japan. From March to August of 1996, he
was a Visiting Professor at the University of Wisconsin, Madison, and then the
Massachusetts Institute of Technology. Since January 2000, he has been a Pro-
fessor in the Department of Electrical and Electronic Engineering at the Tokyo
Institute of Technology, Tokyo, Japan. He has made presentations many times
as a keynote or invited speaker internationally. He has authored or coauthored
more than 80 IEEE Transactions papers, and two invited papers in Proceedings
of the IEEE. According to Google Scholar, the total citation index for all his
papers is more than 7000. His current research interests include power conver-
sion systems, ac motor drives, active and passive EMI filters, high-frequency
resonant inverters for induction heating and corona discharge treatment pro-
Makoto Hagiwara (M’06) was born in Tokyo, Japan, cesses, and utility applications of power electronics such as active filters for
in 1979. He received the B.S., M.S., and Ph.D. de- power conditioning, self-commutated back-to-back (BTB) systems, and flexi-
grees in electrical engineering from the Tokyo Insti- ble ac transmission system (FACTS) devices.
tute of Technology, Tokyo, Japan, in 2001, 2003, and Prof. Akagi served as the President of the IEEE Power Electronics Society
2006, respectively. (PELS) for 2007–2008. He was elected as a Distinguished Lecturer of the IEEE
Since April 2006, he has been an Assistant Pro- Industry Applications Society (IAS) and PELS for 1998-1999. He received two
fessor in the Department of Electrical and Electronic IEEE IAS Transactions Prize Paper Awards in 1991 and 2004, and two IEEE
Engineering, Tokyo Institute of Technology. His cur- PELS Transactions Prize Paper Awards in 1999 and in 2003, nine IEEE IAS
rent research interests include self-commutated con- Committee Prize Paper Awards, the 2001 IEEE William E. Newell Power Elec-
verters for utility applications. tronics Award, the 2004 IEEE IAS Outstanding Achievement Award, and the
2008 IEEE Richard H. Kaufmann Technical Field Award.