This paper describes a modified phase-shifted carrier-based pulsewidth-modulation (PSC-PWM) scheme for modular multilevel converters (MMC). In order to reduce the average device switching frequency, a reduced switching-frequency (RSF) voltage balancing algorithm is developed. This paper also proposes a circulating current suppressing controller (CCSC) to minimize the inner circulating current in an MMC. Based on the double line-frequency, negative-sequence rotational frame, the three-phase alternative circulating currents are decomposed into two dc components and are minimized by a pair of proportional integral controllers. Simulation results based on a detailed PSCAD/EMTDC model prove the effectiveness of the modified PSC-PWM method and the RSF voltage-balancing algorithm. The proposed CCSC not only eliminates the inner circulating current but also improves the quality of the converter ac output voltage. A simple loss evaluation demonstrates that the RSF voltage-balancing algorithm and the CCSC reduce the converter power losses.

The modular multilevel converter (MMC) is an emerging and attractive topology for the high-voltage direct-current (HVDC) transmission system. This paper presents a generalized mathematical model for MMC in HVDC applications under balanced and unbalanced grid conditions. The dynamics of the positive-, negative-, and zero-sequence components are derived from the model. Then, a dual current control scheme with positive- and negative-sequence current controllers is applied to MMC. The power controller to eliminate negative-sequence current components and the other one to eliminate double-line-frequency voltage ripple are compared. Moreover, a zero-sequence current controller is proposed in addition to the positive- and negative-sequence current controllers. Time-domain simulations on a 61-level MMC-HVDC test system are performed in the PSCAD/EMTDC software environment. The results demonstrate that the MMC-HVDC system with or without converter transformer is able to operate under unbalanced conditions by the use of the proposed control scheme.

This paper applies nearest level control (NLC) to the modular multilevel converter (MMC). Since there are a number of submodules (SMs) in high-voltage applications of MMC and all SM voltages are required to be measured and sorted, if the uniform sampling frequency is not high enough, the SM will not be triggered as quickly as possible. Thus, the converter-output voltage levels and voltage harmonics will be affected. A method to systematically analyze the voltage harmonics is presented, considering the uniform sampling frequency. In order to select a proper sampling frequency, two critical values, which significantly influence the output voltage levels and voltage total harmonic distortions, are calculated. Simulation results based on PSCAD/EMTDC proved the validity of the proposed modulation scheme and the importance of a properly selected sampling frequency.

The modular multilevel converter (MMC) with half-bridge submodules (SMs) is the most promising technology for high-voltage direct current (HVDC) grids, but it lacks dc fault clearance capability. There are two main methods to handle the dc-side short-circuit fault. One is to employ the SMs that have dc fault clearance capability, but the power losses are high and the converter has to be blocked during the clearance. The other is to employ the hybrid HVDC breakers. The breaker is capable of interrupting fault current within 5 ms, but this technology is not cost effective, especially in meshed HVDC grids. In this paper, an assembly HVDC breaker and the corresponding control strategy are proposed to overcome these drawbacks. The assembly HVDC breaker consists of an active short-circuit breaker (ASCB), a main mechanical disconnector, a main breaker, and an accessory discharging switch (ADS). When a dc-side short-circuit fault occurs, the ASCB and the ADS close immediately to shunt the fault current. The main breaker opens after a short delay to isolate the faulted line from the system and then the mechanical disconnector opens. With the disconnector in open position, the ASCB opens and breaks the current. The proposed breaker can handle the dc-side fault with competitively low cost, and the operating speed is fast enough. A model of a four-terminal monopolar HVDC grid is developed in Power Systems Computer Aided Design / Electromagnetic Transients including DC, and the simulation result proves the validity and the feasibility of the proposed solution.

There are second-order harmonics in the dc voltage and current when the MMC-HVDC system is under unbalanced grid conditions, even if the negative-sequence current controller is employed. This paper presents a supplementary dc voltage ripple suppressing controller (DCVRSC) to eliminate the second-order harmonic in the dc voltage of the MMC-HVDC system. The instantaneous power of the converter arm and phase unit indicates that there are zero-sequence double-line frequency components in the three-phase unit voltages when the ac system is under an unbalanced fault. Since the zero-sequence components cannot be offset by each other, they lead to the second-order harmonic in the dc voltage and dc current. The DCVRSC is developed to compensate the zero-sequence components in three-phase unit voltages. Simulation results based on a detailed PSCAD/EMTDC model prove that the DCVRSC can eliminate the second-order harmonic in the dc voltage. Meanwhile, the ac currents are kept balanced under the unbalanced fault conditions.

This paper studies the techniques for modeling modular multilevel converter (MMC) based multi-terminal HVDC (MTDC) systems in the electromechanical transient mode. Firstly, the mathematical model of the MMC and its corresponding equivalent circuit are established, which are similar to those of the two level converters. Then, a power flow calculation method for AC/DC systems containing MMC-MTDC systems is developed. Two dynamic models for MMC-MTDC systems are developed in the paper. One is the detailed model, taking into account of the AC side circuit, the inner controllers, the modulation strategies, the outer controllers and the MTDC circuit. The other is the simplified model, which only reserves the outer controllers and partial dynamics of the MTDC circuit based on a quantitative analysis of the detailed model's dynamic processes, and it can be used in electromechanical transient simulation with a larger step size. Both the detailed and the simplified models are implemented on PSS/E and compared with the accurate electromagnetic transient models on PSCAD in a four terminal MMC-MTDC system; the result proves the validity of the developed models. Lastly, a stability study of a modified New England 39-bus system is executed, and the result shows that the AC fault can be isolated well in an MMC-MTDC asynchronously connected AC grid.