applied

sciences
Article
Power Quality Improvement with a Pulse Width
Modulation Control Method in Modular Multilevel
Converters under Varying Nonlinear Loads
Majid Mehrasa 1, *, Radu Godina 2 , Edris Pouresmaeil 3 , Eduardo M. G. Rodrigues 4, * and
João P. S. Catalão 5
1 Department of Engineering and Architecture, The University of Trieste, 34127 Trieste, Italy
2 UNIDEMI, Department of Mechanical and Industrial Engineering, NOVA School of Science and Technology,
Universidade NOVA de Lisboa, 2829-516 Caparica, Portugal; r.godina@fct.unl.pt
3 Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland;
edris.pouresmaeil@aalto.fi
4 Management and Production Technologies of Northern Aveiro—ESAN,
3720-509 Oliveira de Azeméis, Portugal
5 Faculty of Engineering of the University of Porto and INESC TEC, 4200-465 Porto, Portugal; catalao@fe.up.pt
* Correspondence: m.majidmehrasa@gmail.com (M.M.); emgrodrigues@ua.pt (E.M.G.R.)




Received: 3 March 2020; Accepted: 5 May 2020; Published: 9 May 2020


Abstract: In order to reach better results for pulse width modulation (PWM)-based methods,
the reference waveforms known as control laws have to be achieved with good accuracy. In this
paper, three control laws are created by considering the harmonic components of modular multilevel
converter (MMC) state variables to suppress the circulating currents under nonlinear load variation.
The first control law consists of only the harmonic components of the MMC’s output currents and
voltages. Then, the second-order harmonic of circulating currents is also involved with both upper
and lower arm currents in order to attain the second control law. Since circulating current suppression
is the main aim of this work, the third control law is formed by measuring all harmonic components
of circulating currents which impact on the arm currents as well. By making a comparison between
the switching signals generated by the three proposed control laws, it is verified that the second-order
harmonic of circulating currents can increase the switching losses. In addition, the existence of
all circulating current harmonics causes distributed switching patterns, which is not suitable for
the switches’ lifetime. Each upper and lower arm has changeable capacitors, named “equivalent
submodule (SM) capacitors” in this paper. To further assess these capacitors, eliminating the harmonic
components of circulating currents provides fluctuations with smaller magnitudes, as well as a
smaller average value for the equivalent capacitors. Moreover, the second-order harmonic has a
dominant role that leads to values higher than 3 F for equivalent capacitors. In comparison with
the first and second control laws, the use of the third control-law-based method will result in very
small circulating currents, since it is trying to control and eliminate all harmonic components of
the circulating currents. This result leads to very small magnitudes for both the upper and lower
arm currents, noticeably decreasing the total MMC losses. All simulation results are verified using
MATLAB software in the SIMULINK environment.

Keywords: modular multilevel converter; control laws; harmonic component; second-order harmonic;
circulating currents

Appl. Sci. 2020, 10, 3292; doi:10.3390/app10093292 www.mdpi.com/journal/applsci

Appl. Sci. 2020, 10, 3292 2 of 27

1. Introduction
Among the various kinds of multilevel converters [1–3], modular multilevel converters (MMCs)
have attracted increasing attention for various industrial applications such as Static Synchronous
Compensators (STATCOM) [4], energy storage systems [5], power electronic-based transformers [6],
rolling mill factories [7], high-voltage direct current (HVDC) [8–10], solar photovoltaics [11],
grid-connected conditions [12], and motor drives [13]; simultaneously, many new modulation-based
control strategies have been recently developed in order to present more effective controllers for these
kinds of multilevel converters [14]. Several publications have focused on proposing modulation
techniques with the aim of reducing capacitor voltage ripples and switching losses, as well as allowing
a smaller cell capacitor size for MMCs [15,16]. In [17], a discontinuous modulation-based control
strategy was designed for MMCs based on adding a zero sequence to the basic modulation signals.
This strategy caused the MMC arms to be clamped with the upper or lower terminals of the dc-link bus,
which can help minimize the switching losses and noticeably reduce the capacitor voltage ripples,
especially for low modulation indices [17]. Another reduced-switching-frequency-based modulation
technique was proposed for MMCs in [18] that can also suppress the circulating currents. On the
other hand, in order to reach a smaller cell capacitor size without an increment in the total device
rating and decrement in the dc current control capability, a phase-shifted square wave modulation
(PS-SWM) strategy was proposed for MMCs in [19]. Moreover, for achieving reduced switching
losses with good harmonic performance, a novel modulation method which consists of a combination
of fundamental frequency modulation and multi-carrier-based sinusoidal pulse width modulation
schemes was presented in [20].
A growing trend towards space vector (SV)-based modulations [21] for the control of MMCs has
arisen in recent years. In [22], a dual space vector pulse width modulation strategy was designed for an
MMC. Eliminating the arm voltage balancing control, independent controllers for the three-phase upper
and lower arms employing redundant switching vectors for capacitor voltage balancing, and reducing
the current sensors used by 50% were the achievements of this strategy [22]. On the other hand, space
vector pulse width modulations were applied to MMCs for fault-tolerant challenges [23] and electric
ship propulsion systems [24] as well. Optimization issues were involved with control of the space
vector modulation-based MMC in [25]. In this referenced work, the maximum level numbers were
achieved along with optimized performance of decreasing common-mode voltage, balancing of the
capacitor voltage, and elimination of the circulating currents [25].
Optimal pulse width modulation (PWM) has been a popular discussion topic, leading to proposals
of new modulation-based control techniques for MMCs in recent years [26]. In [27], synchronous
optimal pulse width (SOP) was enhanced for MMCs in order to obtain improved quality of converter
output currents, low device switching frequency, and desired values of capacitor voltages. Optimized
phase disposition (PD) modulation for MMCs was proposed in [28] with the help of a single PD
modulator for the entire upper and lower arms as important parts for the control of MMCs [29].
This single modulator was implemented through a state machine decoder which had the duty of
distributing the balanced switching pulses to all submodules [28].
Another optimal pulse width modulation strategy for reducing the common-mode voltage of
a medium-voltage modular multilevel converter that fed open-end stator winding induction motor
drives was designed in [30]. The achievements of the modulation-based control technique designed
in [30] are low switching frequency, minimized harmonic currents of the machine stator, elimination of
common-mode voltages of the machine stator windings, and the desired capacitor voltages.
Other modulation strategies have also been considered to improve MMC performance in various
operating conditions. In [31], a new function-based modulation control technique for MMCs was
designed; it is noticeably less complex when compared to the existing control methods and is proper
for the conditions of load and parameter variations. In [32], a new modulation technique based on
generalized low-cost computational decoupled sampled average PWM was designed for MMCs in
which two averaged nearest voltage levels from the upper and lower arms in each sample period
Appl. Sci. 2020, 10, 3292 3 of 27

were utilized to drive the reference output voltages [32]. This modulation-based control strategy was
completed via a simplified voltage balancing method [32]. In addition, two novel modulation strategies
were proposed for HVDC and wind farm integration applications in [33] and [34], respectively. A new
modulation method, along with a capacitor voltage balancing method, was presented in [35] that was
able to provide fixed switching frequency at 50 Hz. Using reference [35], located at the nearest voltage
level control, the switching angles were calculated, and then every four pulse patterns were grouped
together in order to assess the average of the dc and fundamental ac components in the output voltages
of individual submodules [36,37].
In this paper, three control laws are proposed in order to suppress the circulating currents and
provide stable performance for MMCs under nonlinear load variation, since a study regarding linear
load was already made in [38]. To design the three proposed control laws, the harmonic components
of MMC output voltages, MMC output currents, and circulating currents are utilized. Three novelties
are presented that cannot be found in previous works. These novelties are the following: (1) For the
first time, an accurate mathematical equation is achieved for an MMC arm capacitor. This equation
can be employed for approaching more stable operating conditions for MMCs. (2) In the proposed
control strategy, the harmonic components of all MMC state variables are considered to reach full
stable operation for the MMC under various operating conditions. (3) A comprehensive assessment
related to how the second-order component and other harmonic components of circulating currents
can impact the switching signals and equivalent submodule (SM) capacitors is executed. On the
other hand, the following contributions are accomplished as well: (1) The proposed control strategies
are designed in an a-b-c reference frame, leading to simplicity of performance and highly reducing the
calculation burden of the controller design process. (2) Also, it is demonstrated that the appropriate
control of circulating current harmonics can significantly reduce the total MMC losses. The paper is
organized as follows. The MMC under study is described in Section 2. The proposed control strategies
are discussed in Section 3. Evaluation of the proposed control laws is accomplished in Section 4.
Section 5 is dedicated to obtaining the equivalent SM capacitors of the MMC’s arms. Section 6 presents
the simulation results in the MATLAB/SIMULINK environment. Finally, in Section 7, the conclusions
are drawn.

2. The Modular Multilevel Converter (MMC)

The general structure of the MMC under study in this paper is shown in Figure 1. This MMC
consists of n-many SMs in series in each arm, in which the SM voltage should be equal to Vdc /N.
Inductance and resistance elements are present in both arms and outbranches of the considered MMC,
as depicted in Figure 1. Considering the current directions, the relationship between the upper and
lower arm currents and the MMC output current can be stated as (1):

ik = iuk + ilk . (1)

On the other side, the MMC circulating currents can be written as follows (2):

(iuk − ilk ) idc

icirk = − . (2)
2 3
Appl. Sci. 2020, 10, 3292 4 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 4 of 27

idc iuc iub iua

+
vua
−
vdc
Rt
2
Lt
ia R L va
vb
ib vc
ic
Rt
vdc Lt
2 +
vla
−
ilc ilb ila

Figure 1. The configuration of the modular multilevel converter (MMC) under study.
study.

It
It can
can bebe deduced
deduced fromfrom (2)
(2) that
that the
the circulating
circulating current
current is
is dependent
dependent on on the the upper
upper and
and lower
lower
currents
currents as as well
well as
as the
the dc
dc link
link current,
current, which
which all
all are
are depicted
depicted in
in Figure
Figure 1.1. As
As previously
previously stated,
stated, the
the
control
control laws
laws of
of the
the MMC
MMCin inthe
thea-b-c
a-b-creference
referenceframe
frameare definedasasvvukukand
aredefined andvvlklk.. The accurate dynamic
dynamic
relations
relations between
between thethe control
control laws
laws and
and other
other MMC
MMC variables
variables can
can bebe determined
determined by by using Kirchhoff’s
Kirchhoff’s
Voltage
VoltageLawsLaws(KVLs)
(KVLs)in inFigure
Figure1.1.AsAsaaresult,
result,the
thefollowing
followingdynamic
dynamicequations
equationsare aregiven:
given:

−−v
vdcdc + v + L di uk + Rt i + L di
diuk dik k
2 + v uk + L t
uk t dt + R iuk + L
t uk dt + Ri
+ Rik ++vkv==0,0
k k
(3)
(3)
2 dt dt ,
vdc dilk dik
vdc2 − vlk + Lt didtlk + Rt ilk + L dtdik+ Rik + vk = 0. (4)
− vlk + Lt + Rt ilk + L + Rik + vk = 0 (4)
2 (3) and (4) are
The dynamic Equations dt utilized for achieving
dt the ultimate control laws.
.
3. The Proposed
The dynamicControl Strategies
Equations (3) and (4) are utilized for achieving the ultimate control laws.
In order to attain proper performance for the employed PWM, considering all operating responses
with theProposed
3. The Control
help of related Strategies
dynamic models will contribute to more accurate operation for the proposed
control strategies. Since the MMC works as an inverter
In order to attain proper performance for thein employed
this paper, the
PWM,worst responses with
considering harmonic
all operating
components
responses witharethe
considered for thedynamic
help of related output currents
models and
will voltages.
contributeThis means
to more that operation for the
accurate
proposed control strategies. Since the  MMC works  as aninverter in this paper, the worst responses
v = v cos
with harmonic components are considered ω t + n 2π
+ v m5 cos ω 2π
5 t + n 3 and + voltages. This means that
k m1 1  for3 the output  currents 
vm7 cos ω7 t + n 3 + vm11 cos ω11 t + n 3 +
2π 2π
 2π  2π  ∞ 2π  (5)
= vmω
vk cos 1 cos ω t + n + v cos ω t + n +
 
 .. .  ω 2π
P
vm13 t + 1n + =m 5 v 5 cos t + n
13
 3 3   mj
j=1,5,7 3 j 3
.
 2π   2π 
vm7 cos  ω7t + n  + vm11 cos  ω11t + n  + (5)
 3   3 
 2π  ∞
 2π 
vm13 cos  ω13t + n  + ... =
 3 

j =1,5,7
vmj cos  ω jt + n 
 3 .

And
Appl. Sci. 2020, 10, 3292 5 of 27

And    
ik = Im1 cos ω1 t + n 2π +
3  β 1 + I m5 cos ω5 t + n 2π
3 + β 5 +
  
Im7 cos ω7 t + n 3 + β7 + Im11 cos ω11 t + n 3 + β11 +
2π 2π
  ∞   (6)
Im13 cos ω13 t + n 2π
3 + β13 + . . . = Imj cos ω j t + n 2π 3 + βj .
P
j=1,5,7

The angle difference between the output currents and voltages is determined by βj . Also,
the angular frequencies are defined as ωj = j(2πf ). In addition, three states for circulating currents in
relationship (2) are employed to achieve the upper and lower arm currents.

3.1. Case 1: Zero Circulating Currents

One of the main aims of controlling MMCs is suppressing the circulating currents as much as
possible. In this subsection, zero circulating currents are assumed. Consequently, using (1), (2) and (5),
(6), the upper and lower arm currents will be equivalent with (7):
∞
2π i
X  
iu(l)k = 0.5 Imj cos ω j t + n + β j ± dc . (7)
3 3
j=1,5,7

According to (7), the achieved arm currents consist of harmonic components due to the output MMC
currents. As a result, by substituting the relationships (5)–(7) into the dynamic Equations (3) and (4),
the proposed control laws regarding to this case are:

vdc i i
vu(l)k = − Lt dc
3 − Rt 3
2
dc

∞  
3 + βj
Imj ω j sin ω j t + n 2π
P
±(0.5Lt + L)
j=1,5,7
∞   (8)
Imj cos ω j t + n 2π β
P
∓(0.5Rt + R) 3 + j
j=1,5,7
∞  
vmj cos ω j t + n 2π
P
∓ 3
j=1,5,7 .

Both proposed control laws in (8) will be affected by the magnitude and phase of various harmonic
components of the output voltages and currents. Also, the dc-link voltage can shift the proposed
control laws. The dc-link current can also contribute to the aforementioned shift. The proposed
control strategy under zero circulating currents is depicted in Figure 2. According to this figure, three
kinds of proportional-integral (PI) controller are utilized for regulating the magnitudes and phases of
{βj , Imj , vmj } in order to reach the desired values.
Appl. Sci. 2020, 10, 3292 6 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 6 of 27

*
I mj +
PI j
I mj − ×
ωj ×
× +
β *
j +
PI j + ( 0.5Lt + L )
βj −
ωj vukj
Time
× + sin() ( 0.5Rt + R )
+
2π
n +
3 × × −
cos()

*
vmj cos()
+ × −
PI j
vmj −
−
vlkj
+

(a)

vdc
2 +
idc
3 × −
Rt

v(ul ) k1 + v(ul ) k

v(ul ) k 5 +

v(ul ) k 7 +
.
.
.
v(ul ) kj +

(b)
Figure2.2. Proposed
Figure Proposed control
control strategy
strategy under
under zero
zerocirculating
circulatingcurrents:
currents: (a)
(a) harmonic
harmonic components
components of
of
control laws and (b) the control laws.
control laws and (b) the control laws.

3.2.
3.2.Case
Case2:
2: Circulating
Circulating Currents
Currentswith
withaadc
dcComponent
Componentand
andSinusoidal
SinusoidalSecond-Order
Second-OrderFrequency
Frequency
More
Moredetailed
detailedcirculating
circulatingcurrents
currentscould
couldachieve
achievemore
moreaccurate
accuratecontrol
controllaws
lawsfor
forthe
theproposed
proposed
control strategy. In this subsection, the circulating currents consist of the dc component and
control strategy. In this subsection, the circulating currents consist of the dc component and sinusoidal
second-order frequency asfrequency
sinusoidal second-order shown inas(9):
shown in (9):

 π
22π 

==
icirkicirk I dc _ cir++Imcir2
Idc_cir cos ωω22tt +
I mcir 2cos + nn ++ααcircir2
2  . (9)
(9)
 3 .

In this state, the relationships (1), (2), (6), and (9) are used to drive the following upper and lower
arm currents:
Appl. Sci. 2020, 10, x FOR PEER REVIEW 7 of 27

Appl. Sci. 2020, 10, 3292 7 of 27

∞
 2π 
 I cos  ω t + n 3 drive
iu (l ) k = 0.5
In this state, the relationships (1), (2), (6), and (9)are used to
+β ± mj
 following upper and lower
the
j =1,5,7
j j

arm currents: (10)

idc ∞
ω t + n 2π2π+ β ± 
cos ω
iu±(l)Ik = 0.5± I Imjcos
 2j t + n 3 + jα cir 2 
P
dc _ cir j=1,5,7
mcir 2
3i  3  
.
(10)
dc
3 ± Idc_cir ± Imcir2 cos ω2 t + n 2π
3 + αcir2 .
As can
As can be
be seen
seen from
from (10),
(10),the
thesecond-order
second-orderharmonic
harmonicappears
appears in in
both thethe
both upper andand
upper lower arm
lower
currents. This means that asymmetric currents pass through the upper and lower
arm currents. This means that asymmetric currents pass through the upper and lower arms of the arms of the
considered MMC that should be perceived in the proposed shift level PWM
considered MMC that should be perceived in the proposed shift level PWM (SLPWM). (SLPWM).
These currents
These currents can
can be
be incorporated
incorporated into
into proposed
proposed control
control laws
laws byby substituting
substituting (10)
(10) into
into the
the
dynamic Equations (3) and
dynamic Equations (3) and (4): (4):

v i i  ∞
 2π 
vu ( l ) k = vdcdc − Rtidcdc − Rt I dc _ cir − Ltidcdc ±( 0.5 Lt + + L )  ∞ I mjω j sin ω
 j t + n 2π+ β j  
vu(l)k = 22 − Rt 33 − Rt Idc_cir − Lt 33 ± (0.5Lt + +L) j =1,5,7 Imj ω j sin  ω j t + n33 + β j 
P 
j = 1,5,7
 2π   ∞
 2π 
 
((0.5Rtt + R))  Imjmj cos ωj j t + n + βj j 
∞
+ L I
t mcirω
+Lt Imcir2 ω sin
2 2sin  ω t + n +
ω 2t + n 33 + αcir2
2π α 
cir 2 ∓  0.5 R + R P I cos ω t + n 2π + β (11)
(11)
2 2   =1,5,7
jj= 1,5,7  33  
    P 2π 
 
 2π ∞∞

t I mcir 2 cos  ω 3 ++αα cir 2     mj cos  ω jjt + n 3 
−R−tRImcir2 cos ω2 t2+ t +nn2π cir2 ∓  vmj cos ω t + n 2π 
 3  j=j 1,5,7
=1,5,7  3  ..

Theproposed
The proposedcontrol
controlstrategy
strategyunder
undercirculating
circulatingcurrents
currentswith
withaadcdccomponent
componentandand second-order
second-order
harmonicisisillustrated
harmonic illustratedin
inFigure
Figure3.3. As
As can
can be
be deduced
deduced from
fromthis
thisfigure,
figure,the
theharmonic
harmoniccomponents
componentsof of
thedesigned
the designedcontrol
controltechnique
techniquearearedivided
dividedinintwo
twoparts.
parts.The
Thefirst
firstpart
partbelongs
belongsto
tothe
thesame
sameharmonic
harmonic
components as
components as those
those due
due to
tozero
zerocirculating
circulatingcurrents.
currents. In
In this
this part,
part, the
the MMC
MMC output
output currents
currents and
and
voltagescause
voltages causethese
theseharmonic
harmoniccomponents.
components.

vukj
−

−
ω2
Lt ×
*
I mcir 2 + × × +
PI c 2
I mcir 2 − Rt ×

α cir
*
+ × −
2 cos()
PI c 2 +
α cir 2 −
ω2 −
× + sin()
Time
+ +
2π vlkj
n +
3 +
+
−

(a)

Figure 3. Cont.
Appl. Sci. 2020, 10, 3292 8 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 8 of 27

vdc
2 +
idc
3 × −
Rt
I dc _ cir
× − v(ul ) k
Rt

v( ul ) k1 +
v(ul ) k 5 +
v( ul ) k 7 . +
.
.
v(ul ) kj +

(b)
Figure3.3.Proposed
Figure Proposedcontrol
controlstrategy
strategyunder
undercirculating
circulatingcurrents
currentswith
withaadc
dccomponent
componentandandsecond-order
second-order
frequency sinusoid: (a) harmonic components of control laws and (b) the control
frequency sinusoid: (a) harmonic components of control laws and (b) the control laws.laws.

The
Thesecond
secondpart
partisisformed
formedbybythe
thesecond-order
second-orderharmonic
harmonicfor
forcirculating
circulatingcurrent,
current,as
asdepicted
depictedin
in
Figure
Figure3.3.In
Inaddition,
addition,thethedc
dccomponent
componentof ofcirculating
circulatingcurrents
currentswill
willimpact
impacton
onthe
theproposed
proposedcontrol
control
laws
lawsaccording
accordingto toFigure
Figure3b.3b.More
Moredetailed
detailedcirculating
circulatingcurrents
currentsused
usedininthe
theproposed
proposedcontrol
controllaws
lawscan
can
lead to more accurate PWM reference waveforms.
lead to more accurate PWM reference waveforms.

3.3.
3.3.Case
Case3:
3: Circulating
Circulating Currents
Currents with
with Harmonic
HarmonicDistortions
Distortions
In
Inaddition
additionto
tothe
thesecond-order
second-orderharmonic,
harmonic,harmonic
harmonicdistortions
distortions with
withvarious
variousfrequencies
frequencies are
are
assumed
assumedasasthe
theworst-case
worst-casescenario
scenariofor
forcirculating
circulatingcurrents
currentsininthis
thissubsection.
subsection.
The
Theconsidered
consideredcirculating
circulatingcurrents
currentscan
canbe
bewritten
writtenasas(12):
(12):
∞∞
 2π 

2π
 
ω α
X
icirk==Idc_cir
icirk Idc _ cir++ IImcirj
mcirj cos
cos ω
 jj tt++ n
n +
+ α cirj
cirj  (12)
(12)
j=j =1,2,5,7
1,2,5,7  33  ..

Aftersome
After somemathematical
mathematical calculations
calculations with
with the the
helphelp of relationships
of relationships (1),(6),
(1), (2), (2), (6),
and andthe
(12), (12), the
upper
upper
and andarm
lower lower arm currents
currents are obtained
are obtained as the following:
as the following:
∞
 2π  i
P
∞
= 0.5
iiuu((ll))kk = 0.5 cos ω
IImjmjcos + nn 2π ++ ββj j ±±idcdc
ω jj tt +
=1,3,7
jj= 1,3,7  3
3  33
∞ (13)
(13)
∞
cos ω 2π+ α 

 
P 2π
+
+IIdc_cir ±
dc _ cir ±
II mcirjcos ω t + n 3 +α
j t

+ n cirj

j=1,2,5,7 mcirj 
j
3
cirj
.
j =1,2,5,7 .
According
Accordingtoto(13),
(13),all
allharmonic
harmoniccomponents
componentsof ofthe
thecirculating
circulatingcurrents
currentsemerge
emergein
inboth
boththe
theupper
upper
and
and lower arm currents. Using (3) and (4), the aforementioned upper and lower currents can beused
lower arm currents. Using (3) and (4), the aforementioned upper and lower currents can be used
to
todesign
designthe
thecontrol
controllaws
lawsinin(14):
(14):
Appl. Sci. 2020, 10, 3292 9 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 9 of 27

vdc idc i
v v = −i R −RI − L idc
vu(l)k =u (l )2dck − 2Rt dc t t dc _ cir
3 −3 Rt Idc_cir − Lt 3
t dc
3
∞ ∞  2π 
( 0.5LL)t + L ) 

±(0.5L±t + ImjIω
mjω j sin ω + nn 2π
ωjjtt + β jβ j
3 ++
P
j sin
j =1,3,7
j=1,3,7  3 
∞ ∞
π
ω j tj t++ n  ∓ (0.5R + R)
22π
+ Lt 
 
ωω j sin  ω   ( 0.5Rt + Rt)
+ααcirjcirj
P
+ Lt Imcirj
I mcirj j sin n 3 + (14)(14)
j=1,2,5,7
j =1,2,5,7  3 
∞ ∞∞
∞
2π
ω jtω+j t +n n2π  R
 
 cos 3 ++ββjj − 
P P
× ×Imj I mj cos − Rtt I I
mcirj mcirj
j=1,3,7 j =1,3,7  3  j j== 1,2,5,7
1,2,5,7
∞
 n 2π +2πα  P∞ v cos  ω t+ 2πn 2π
   
× cos ω× cos
jt + ω j t +
3 n + α
cirj ∓
cirj    v mj
mj cos  ω j t +j n  3
 3 j=1,5,7  3 j =1,5,7  . .
Based onon
Based thethe
achieved
achievedcontrol
controllaws
laws(14),
(14),the
theproposed control strategy
proposed control strategyunder
undercirculating
circulatingcurrents
currents
with harmonic
with harmonic distortions
distortionsis isexpressed
expressedbybyFigure
Figure4.4. As
As can be seen
can be seen from
from Figure
Figure4a,4a,the
theproposed
proposed
control laws
control are
laws arehighly
highlyaffected
affected by bythe
thevarious
various harmonic
harmonic components
components of theofcirculating
the circulating currents.
currents. Two
Twoadditional
additional kinds of PI controllers are employed in this part to provide more appropriate
kinds of PI controllers are employed in this part to provide more appropriate control in control
such operating
in such operating conditions.
conditions.

vukj
−

−
*
I mcirj +
PI cj
I mcirj − ×
ωj × +
×

α cirj
*
+
PI cj + Lt −
α cirj −
ωj
× + sin() Rt
Time −
+
2π
n + +
3 × ×
vlkj
cos() +
+
−

(a)
vdc
2 +
idc
3 × −
Rt
I dc _ cir
× − v(ul ) k
Rt

v( ul ) k1 +
v( ul ) k 5 +
v( ul ) k 7 . +
.
.
v( ul ) kj +

(b)
Figure
Figure 4. Proposed
4. Proposed control
control strategy
strategy underunder circulating
circulating currents
currents with harmonic
with harmonic distortions:
distortions: (a)
(a) harmonic
harmonic components of control laws and (b) the control laws.
components of control laws and (b) the control laws.
Appl. Sci. 2020, 10, 3292 10 of 27

4. Evaluation of the Proposed Control Laws

The proposed control laws have a key role in reaching stable responses of the MMC under study.
In this section, the three proposed control laws are compared to each other. Using the parameters in
Table 1, the upper and lower control laws given in (8), (11), and (14) are drawn in Figure 5.

Table 1. The parameters of the proposed MMC in load change conditions.

Parameters Value Parameters Value

Appl. Sci. 2020, 10, x FOR PEER REVIEW 10 of 27
MMC Inductance (H) SM Number 1× 10−3 10
4. MMC resistance
Evaluation (Ohm)
of the 1 Laws
Proposed Control Fundamental Frequency (Hz) 60
MMC Arm Inductance (H) 2.5 × 10−3 Switching Frequency (kHz) 20
MMCTheArmproposed
Resistancecontrol
(Ohm)laws have0.1a key role in
Thereaching stable
Impedance of responses of theLoad
First Nonlinear MMC under study.
(Ohm) 81
In thisSM
section, the(V)
Voltage three proposed control
40 lawsTheareImpedance
comparedoftoSecond
each other. Using
Nonlinear the (Ohm)
Load parameters92in
dc-Link
Table 1, the Voltage
upper and(V) lower control
400 Maximum
laws given in (8), (11), Output
and (14) Voltagein(V)
are drawn Figure 5. 200

2
Upper and Lower CL1

1.5

Upper CL1
1 Lower CL1

0.5

0
0.42 0.43 0.44 0.45 0.46 0.47 0.48
Time[s]

(a)
2
Upper and Lower CL2

1.5

Upper CL2 Lower CL2

1

0.5

0
0.42 0.43 0.44 0.45 0.46 0.47 0.48
Time[s]

(b)
2
Upper and Lower CL3

1.5

1 Upper CL3 Lower CL3

0.5

0
0.42 0.43 0.44 0.45 0.46 0.47 0.48
Time[s]
(c)
Figure 5. The proposed upper and lower control laws (CL) for the (a) first controller, (b) second
Figure 5. The proposed upper and lower control laws (CL) for the (a) first controller, (b) second
controller, and (c) third controller.
controller, and (c) third controller.

Table 1. The parameters of the proposed MMC in load change conditions.

Parameters Value Parameters Value

MMC Inductance (H) 1 × 10−3 SM Number 10
MMC resistance (Ohm) 1 Fundamental Frequency (Hz) 60
MMC Arm Inductance (H) 2.5 × 10−3 Switching Frequency (kHz) 20
MMC Arm Resistance (Ohm) 0.1 The Impedance of First Nonlinear Load (Ohm) 81
Appl. Sci. 2020, 10, 3292 11 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 11 of 27

All figures were obtained without the harmonic compensation. Under Under zero
zero circulating
circulating currents,
currents,
the proposed control laws of phase “a” are shown in Figure 5a. Since the
proposed control laws of phase “a” are shown in Figure 5a. Since the magnitude of the second- magnitude of the second-order
harmonic
order harmonicof circulating current
of circulating used used
current for drawing
for drawing Figure 5b is5bconsidered
Figure is considered small, thethe
small, twotwofigures of
figures
Figure 5a,b seem to be the same. As can be seen from this figure,
of Figure 5a,b seem to be the same. As can be seen from this figure, the harmonic components the harmonic components of the
output currents
currents and andvoltages
voltagescause
causethethe control
control laws
laws to to
havehave waveforms
waveforms withwith greater
greater nonlinearity.
nonlinearity. On
On
the the
otherother
hand, hand, the harmonic
the harmonic components
components due dueto the tocirculating
the circulating currents
currents generate
generate controlcontrol
laws laws
with
with
moremore distortions,
distortions, as shown
as shown in Figure
in Figure 5c. In5c. In addition,
addition, the existence
the existence ofharmonic
of the the harmonic components
components in
in the
the circulating
circulating currents
currents cancan raise
raise thethe magnitude
magnitude ofofthethe controllaws
control lawsby bymore
morethanthan2,2,leading
leading to to SLPWM
with over-modulation,
over-modulation,as asdepicted
depictedininFigure
Figure5c. 5c.Also,
Also,according
accordingtotothis thisfigure,
figure,a negative
a negative magnitude
magnitude is
achieved for the third upper control laws. From Figure 5a,b, it seems
is achieved for the third upper control laws. From Figure 5a,b, it seems that both the first and that both the first and second
control laws have similar waveforms. In practice, the effect effect of the second-order harmonic component
of the circulating currents can be be realized by making a comparison
realized by making a comparison between between the the switching
switchingsignals.
signals.
Figure 6 shows a 10-level shifted PWM used for the the considered
considered MMC MMC with with 1010 SMs
SMs in in each
each arm.
arm.
Based on on this
this figure,
figure,each
eachtriangle
trianglewaveform
waveformisisemployed
employed forfor
itsits corresponding
corresponding SM. SM.
By Byuseuse of the
of the 10-
10-level triangle waveforms given in Figure 6, the SLPWM strategy
level triangle waveforms given in Figure 6, the SLPWM strategy was applied to the first and was applied to the first and second
control laws of phase “a” in Figure 5a,b, respectively.
respectively. In comparison with the switching signals of the
first control
controllaws lawsininFigure
Figure 7a,7a,
more
more switching
switching operations
operations are executed
are executed by thebysecond control-law-based
the second control-law-
SLPWM, as depicted in Figure 7b. More switching operations causes
based SLPWM, as depicted in Figure 7b. More switching operations causes greater switching losses.greater switching losses. Thus,
if a second-order
Thus, harmonic
if a second-order component
harmonic exists inexists
component the MMC in thecirculating currents, the
MMC circulating MMC the
currents, switching
MMC
losses are noticeably
switching increased. increased.
losses are noticeably
To further assess the switching signals, a distributed pattern of switching signals was driven by
the third control-law-based
control-law-based SLPWM, SLPWM, as as demonstrated
demonstrated by by Figure
Figure 7c. 7c. In comparison with the switching
signals of the first control laws in Figure 7a, inappropriateinappropriate switching signals were achieved by the
third control laws, as shown in Figure 7c. Furthermore, due to the over-modulation condition caused
by the harmonic components of circulating currents, the third control laws cannot provide accurate
switching signals in a certain operating period. period.

Figure 6.
Figure 6. The
The 10-level
10-level triangle
triangle waveforms
waveforms used.
used.
Appl. Sci. 2020, 10, 3292 12 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 12 of 27

(a)

(b)

(c)
Figure7.7.The
Figure Thesignals
signalsofofupper
upperand
andlower
lowerswitches
switchesofofthe
theMMC
MMCfor
forthe
the(a)
(a)first
firstcontroller,
controller,(b)
(b)second
second
controller,and
controller, and(c)(c)third
thirdcontroller.
controller.
Appl. Sci. 2020, 10, 3292 13 of 27

5. Accurate Sizing of the Equivalent SM Capacitors of the MMC Arms

Each MMC arm has its own equivalent capacitor. To accurately determine the size of this capacitor,
the voltage across all SM capacitors and the current flows in each arm must be analyzed. According to
the proposed control strategies discussed in Section 2, three equivalent capacitors can be obtained.
The basic relationship between the arm currents and the voltages across the SM capacitors is written
as (15):
dvu(l)k
iu(l)k = Cu(l)k . (15)
dt
For the first control techniques, it was assumed that the circulating current is equal to zero. Thus,
by substituting (7) and (8) into (15), the equivalent capacitor of the SMs in each arm for the first control
techniques can be represented as follows:
∞
idc
 
Imj cos ω j t + n 2π
3 + βj ±
P
0.5 3
j=1,5,7
Cu(l)k =  ∞    (16)
 ±(0.5Lt + L) P I ω2 cos ω t + n 2π + β 
 mj j j 3 j 
 j=1,5,7 
 ∞   
3 + βj
Imj ω j sin ω j t + n 2π
 P 
 ±(0.5Rt + R) 
 
 j=1,5,7 
 ∞   
vmj ω j sin ω j t + n 2π
P
 ±
 
3

j=1,5,7 .

The same scenario was applied to the second and third control techniques. After substituting
the relationships (10), (11) and (13), (14) into (15) and performing some mathematical calculations,
the equivalent capacitors of the SMs in each arm for the second and third cases were derived as
(17) and (18), respectively.
∞   i
Imj cos ω j t + n 2π 3 + βj ± 3
P dc
0.5
j=1,5,7  
±Idc_cir ± Imcir2 cos ω2 t + n 2π 3 + αcir2
Cu(l)k =  ∞    (17)
Imj ω2j cos ω j t + n 2π β
P

 ±(0.5Lt + +L) 3 + j


 j=
 1,5,7  
 

 +Lt Imcir2 ω2 cos ω2 t + n 3 + αcir2
2 2π 

 ∞   
Imj ω j sin ω j t + n 2π3 + βj
P
±(0.5Rt + R)
 
 
j=1,5,7
 
   
+Rt Imcir2 ω2 sin ω2 t + n 2π α
 

 3 + cir2 

 ∞   
vmj ω j sin ω j t + n 2π
P

 ± 3


j=1,5,7 .
Appl. Sci. 2020, 10, 3292 14 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 14 of 27

∞   2  i
0.5 0.5 j = cos ω jtt +
I mjcos + nn 2π ++ jβ  ±dc idc
P
I mj
1,3,7  j 33 j 3 3
j=1,3,7
∞  2 
 I dc ±
_ cir    ω
j t j+t n + +

IImcirj
mcirj cos
3 cirj αcirj
+3n 2π
P
±Idc_cir cos
j =1,2,5,7  
C = j=1,2,5,7
Cu(l)k =u (l) k   1  ∞   2   (18)
 ± 1Lt2+Lt L+ L P II mj ωj2cos  ωj t +t + +  j  + 
2 
n 2π
 2   j =1,3,7 cos  n
3 + β j +

mj j j 3 
  ∞  j=1,3,7 2  
 
 
 Lt t  IImcirj mcirj ω  ω + +

j t +t n
  L P 2

j 2cos 2π cirj 
α (18)

  j =1,2,5,7 cos
j  j + n
3 3  cirj 


 j=1,2,5,7 
2

   1
 1 R + R P ∞  
 ± 2 R t2+t R   IImj mj   ω + + + +

ω j jsin
sin j t j+t n+ n 2π j β

  j =1,3,7  3 3   j 
  j=1,3,7
 
 
2 2π 


∞
 R  R P II ωsinsin 
  
 
+ +

 t t j =1,2,5,7 mcirj
mcirj j j  j j ω t tn+ n + α
cirj  cirj


 3 3 

 j=1,2,5,7 

2 2π
∞ 

  P   

 ±    vvmj
 
mj  sin ωj t j+t n+ n 3
ωj jsin



j=1,5,7  3  .

j =1,5,7
.
Figures
Figures8 and
8 and9 9illustrate
illustrate the time-based
time-basedvariations
variations of of
thethe equivalent
equivalent capacitors
capacitors of theofupper
the upper
and
andlower
lowerSMs SMsforforthethe three
three proposed
proposed control
control strategies,
strategies, alongalong
withwith
theirtheir
zoom zoom fragments.
fragments. It canItbe
can
understood from
be understood from Figure
Figure8b,c8b,cthat
thatthe
the upper
upperarm armequivalent
equivalentcapacitors
capacitorsfor forthe
thesecond
secondand andthird
third
proposed
proposed control
control strategiestend
strategies tendtotoreach
reachgreater
greatermagnitudes
magnitudes when when compared
comparedtotothe thefirst
firstproposed
proposed
controller.
controller. In In other
other words,the
words, theupper
upperequivalent
equivalent capacitor
capacitor ofof the
the first
first proposed
proposedcontroller
controllershownshown inin
Figure 8a shows fluctuations with smaller
Figure 8a shows fluctuations with smaller magnitudes. magnitudes.
Moreover,
Moreover, several
several fluctuations
fluctuations withwith
muchmuch greater
greater magnitudes,
magnitudes, around
around 3.1are
3.1 F, F, seen
are seen
in theinupper
the
upper equivalent capacitor of the second proposed controller, depicted in Figure
equivalent capacitor of the second proposed controller, depicted in Figure 8b. This means that the 8b. This means that
the second-order frequency component of the circulating currents dominates the equivalent capacitor
second-order frequency component of the circulating currents dominates the equivalent capacitor
magnitudes. Thus, it can be said that the elimination of this component helps the MMC approach to
magnitudes. Thus, it can be said that the elimination of this component helps the MMC approach to
smaller SM equivalent capacitors.
smaller SM equivalent capacitors.
To further analyze the lower arm equivalent capacitors of phase “a”, Figure 9 is evaluated in the
To further analyze the lower arm equivalent capacitors of phase “a”, Figure 9 is evaluated in the
following. Based on Figure 9a,b, the lower equivalent capacitors of the first and second controllers
following. Based on Figure 9a,b, the lower equivalent capacitors of the first and second controllers
attain the same results as the upper equivalent capacitors, as previously discussed from Figure 8a,b.
attain the same
However, theresults
effects asof the upper
other equivalent
harmonic capacitors,
components of the ascirculating
previouslycurrents
discussedare from Figure
revealed 8a,b.
in the
However, the effects of other harmonic components of the circulating currents
lower equivalent capacitor due to the third proposed control technique, as depicted in Figure 9c.are revealed in the lower
equivalent capacitor
Departing fromdue to the third
magnitudes proposed
between 0.3 Fcontrol
and −0.2technique,
F, several as depicted with
fluctuations in Figure
high 9c.
magnitudes
Departing
−1.6 F and 1.5 from magnitudes
F appear in the between
lower equivalent −0.2 F, several
0.3 F andcapacitor due to fluctuations with high
the third proposed magnitudes
controller, as
−1.6 F and 1.5 F appear in the lower equivalent capacitor due to the third proposed
shown in Figure 9c. It can be concluded from this discussion that the elimination of harmonic controller, as shown
in Figure 9c. It can
components causesbe concluded
the MMC to from this discussion
require smaller SMthat the elimination
equivalent capacitors of in
harmonic
order tocomponents
reach the
causes the MMC
desired to require smaller SM equivalent capacitors in order to reach the desired state variables.
state variables.

(a)

Figure 8. Cont.
Appl. Sci. 2020, 10, 3292 15 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 15 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 15 of 27

(b)
(b)

(c)
(c)
Figure 8. Equivalent
Equivalent capacitors
capacitors for upper
for for
the the upper arm
arm arm
of of phase
phase “a”:
“a”: (a) (a) first controller,
first (b) second
Figure 8. 8.
Figure Equivalent capacitors the upper of phase “a”: (a)controller, (b) second
first controller, (b) controller,
second
controller, and (c) third controller.
and (c) third and
controller, controller.
(c) third controller.

(a)
(a)

Figure 9. Cont.
Appl. Sci. 2020, 10, 3292 16 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 16 of 27

(b)

(c)
Figure 9.
Figure 9. Equivalent
Equivalent capacitors for the
capacitors for the lower
lower arm
arm of
of phase
phase “a”:
“a”: (a)
(a) first
first controller, (b) second
controller, (b) second controller,
controller,
and (c) third controller.
and (c) third controller.

6. Simulation Results
The three proposed control
control strategies
strategies are
are compared
compared in in this
this section.
section. The MMC under simulation
and descriptions
descriptions of the proposed control techniques are depicted Figure
of the proposed control techniques are depicted in 10. 10.
in Figure TheTheparameters
parametersused are
used
given in Table
are given 1. As
in Table 1. can be seen
As can fromfrom
be seen Figure 10, two
Figure nonlinear
10, two nonlinearloads werewere
loads utilized for evaluating
utilized the
for evaluating
MMC
the MMCresponses underunder
responses both steady and dynamic
both steady conditions.
and dynamic The second
conditions. Thenonlinear load was connected
second nonlinear load was
to the MMC
connected toat t =MMC
the 0.2 s.atAll
t =nonlinear
0.2 s. All loads wereloads
nonlinear three-phase full-wave bridge
were three-phase full-waverectifiers. Since the
bridge rectifiers.
MMC works
Since the MMC in stand-alone mode, a nonlinear
works in stand-alone load pollutes
mode, a nonlinear loadthe outputthe
pollutes voltages, output currents,
output voltages, output
and circulating
currents, currents. The
and circulating specifications
currents. of these loads
The specifications are presented
of these in Table 1.in Table 1.
loads are presented
Appl. Sci. 2020, 10, 3292 17 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 17 of 27

idc

vu ( a ,b ,c ) S

Upper
SMs S

iu(abc) Nonlinear Loads

i(abc) v(abc)

vl ( a ,b ,c ) iL(abc) Equation 2

Lower
SMs
S

Harmonic Discriminant of
Circulating Currents

Circulating Currents Harmonic Discriminant of

I mcir 2 Output Currents
+
PI
* -
Harmonic Discriminant of
 cir 2 I mcir 2 Output Voltages
+ . . .
PI
-
 cir
*
2 I mcirj
. . . +
PI
- *
 cirj I mcirj
+
PI
-  cirj
*

MMC Output Currents I m1

+
PI
-
1 I m* 1
Equations +
PI  2* . . .
(8), (11) and -
. . . I mj
(14) PI
+
- *
j I mj
+
PI
-  *j
MMC Output Voltages vm1
+
PI
-
. . . . vm* 1
. . . .
vmj
. . . . +
PI
- *
vmj

Figure 10.
Figure Overall structure
10. Overall structure of
of the
the proposed
proposed control
control strategies.

6.1. Voltage Evaluations

In this subsection, the upper and lower SM voltages and the output voltages due to the three
proposed control strategies in phase “a” are evaluated. Figure 11 exhibits the upper SM capacitor
voltages of phase “a” for the three proposed controllers.
Appl. Sci. 2020, 10, 3292 18 of 27

Appl.Voltage
6.1. Sci. 2020, 10, x FOR PEER REVIEW
Evaluations 18 of 27

In
Asthis
cansubsection, the this
be seen from upper and lower
figure, all theSM voltages have
controllers and the output
a good voltages due
steady-state to thewith
response threea
proposed control strategies in phase “a” are evaluated. Figure 11 exhibits the upper SM capacitor
similar steady error. However, after the load change at t = 0.2 s, the third controller shows a better
voltages
responseofwith
phase “a” for error,
a smaller the three proposedincontrollers.
as depicted Figure 11c.

(a)

(b)

(c)

Figure 11. The upper submodule (SM) capacitor voltages of phase “a” for the (a) first controller,
Figure 11. The upper submodule (SM) capacitor voltages of phase “a” for the (a) first controller, (b)
(b) second controller, and (c) third controller.
second controller, and (c) third controller.
As can be seen from this figure, all the controllers have a good steady-state response with a similar
This better response occurs due to the consideration of more harmonic components of circulating
steady error. However, after the load change at t = 0.2 s, the third controller shows a better response
currents in the structure of the third proposed control technique. The same scenario happens for the
with a smaller error, as depicted in Figure 11c.
lower SM capacitor voltages of phase “a” according to Figure 12.
This better response occurs due to the consideration of more harmonic components of circulating
However, in comparison with the upper SM capacitor voltage in Figure 11a which is achieved
currents in the structure of the third proposed control technique. The same scenario happens for the
by applying the first proposed controller, the lower SM capacitor voltage shown in Figure 12a
lower SM capacitor voltages of phase “a” according to Figure 12.
experiences higher error after the load alteration. To complete this discussion, analysis of both
However, in comparison with the upper SM capacitor voltage in Figure 11a which is achieved by
Figures 11 and 12 determined that the minimum and maximum SM voltage errors were 0.25% and
applying the first proposed controller, the lower SM capacitor voltage shown in Figure 12a experiences
1.25%, respectively. These errors verify the precision of the three proposed control strategies in
higher error after the load alteration. To complete this discussion, analysis of both Figures 11 and 12
keeping the SM voltages balanced. Another aim of the proposed control strategies was to reach the
determined that the minimum and maximum SM voltage errors were 0.25% and 1.25%, respectively.
desired waveforms for the MMC output voltages.
These errors verify the precision of the three proposed control strategies in keeping the SM voltages
balanced. Another aim of the proposed control strategies was to reach the desired waveforms for the
MMC output voltages.
 Appl.
Appl. Sci.
Sci. 2020,
2020, 10,
10,10, 3292 PEER REVIEW
x FOR 19
1919 of
2727
ofof
Appl. Sci. 2020, x FOR PEER REVIEW 27

(a)
(a)

(b)
(b)

(c)(c)
Figure
Figure12.
12.The
Thelower
lower SM capacitor voltages ofofphase “a” for the
the(a)(a)
first
firstcontroller, (b) second
Figure 12. The lower SMSM capacitor
capacitor voltages
voltages of phasephase
“a” for“a”
thefor
(a) first controller,controller,
(b) second(b) second
controller,
controller, and
controller, (c)
and third
(c) thirdcontroller.
controller.
and (c) third controller.

Figure
Figure13
Figure 13 demonstrates
13demonstrates
demonstrates the
the MMC
MMC
the MMC output
output voltages
voltages
output driven
voltages driven
by thebythree
driven bythe
the three
threeproposed
proposed control
control strategies.
proposed control
strategies.
As
strategies.As
can be seen can
As can be
from seen
beFigure from Figures
13b,c,
seen from 13b,c,
the second
Figures the
13b,c,and second
thethird
second and
control third control
strategies
and third strategies
led strategies
control led
to responses to responses
ledwith a higher
to responses
with
witha ahigher
quality for the
higher quality
MMCfor
quality forthe
outputtheMMC
MMCoutput
voltage whenvoltage
output voltagewhen
compared compared
with
when the first with
compared withthe
thefirst
controller controller
in Figure
first 13a.inThe
controller inFigure
main
Figure
13a.
13a.The
reason main
Thefor reason
this
main resultfor
reason is this
for thisresult
the resultisisthe
incorporation theincorporation ofofthe
of the second-order
incorporation thesecond-order harmonic
harmoniccomponent
harmonic component
second-order ofof
of circulating
component
circulating
currents
circulating currents
in both
currents in both
the second the
in bothand second
the third
second and
proposedthird
and third proposed
control control
techniques.
proposed techniques.
controlThis means that
techniques. This
This means
the that the
second-order
means that the
second-order
harmonic
second-order harmonic
component
harmonicof component ofofthe
the circulating
component circulating
thecurrents cancurrents
circulating have a can
currents canhave
large a alarge
impact
have impact
impactonon
on reaching
large reaching
the desired
reaching
the desired
waveforms waveforms
for MMC for
outputMMC output
voltages voltages
under bothunder
steady both
and steady
dynamicand
the desired waveforms for MMC output voltages under both steady and dynamic state changes. dynamic
state state
changes. changes.

(a)
(a)
Figure 13. Cont.
 Appl. Sci. 2020, 10, 3292 20 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 20 of 27

(b)

(c)
Figure
Figure13.
13.The
Theoutput
outputvoltages
voltagesofofphase
phase“a”
“a”for
forthe
the(a)
(a)first
firstcontroller,
controller,(b)
(b)second
secondcontroller,
controller,and
and(c)
(c)
third
thirdcontroller.
controller.

6.2.Current
6.2. CurrentEvaluations
Evaluations
Two nonlinear
Two nonlinear loadsloads were
weresupplied
suppliedthrough
through thethe
MMC MMC in this study.
in this Figure
study. 14 illustrates
Figure the MMC
14 illustrates the
output currents which supply the loads. According to this figure,
MMC output currents which supply the loads. According to this figure, three similar nonlinear three similar nonlinear currents
belonging
currents to the three
belonging proposed
to the controllers
three proposed were produced
controllers by the MMC.
were produced by the MMC.
Figure1515demonstrates
Figure demonstratesthe theMMC MMC circulating
circulating currents
currents of phase
of phase “a” “a”
under under
load load
change. change.
As
As predicted, the circulating current due to the third proposed control
predicted, the circulating current due to the third proposed control strategy was significantly smaller strategy was significantly
smaller
than than the
the other other responses,
responses, as depicted as depicted
in Figurein15c. Figure 15c.
AsAsseen
seenininFigureFigure15a,
15a,the
thecirculating
circulatingcurrent
currentofofthe thefirst
firstcontroller
controllerwas wasmore
morethanthan44times
timesthe the
third controller’s circulating current. On the other hand, this value
third controller’s circulating current. On the other hand, this value deceased to more than double thedeceased to more than double
the third
third controller’s
controller’s circulating
circulating current current
for thefor the second
second controller,controller,
as shown asin
shown
Figurein15b.Figure
Since15b. Since
the third
the third proposed
proposed controller controller
consists of consists of the various
the various harmonic harmonic
components components of circulating
of circulating currents,
currents, this
this controller provides a better response for circulating currents
controller provides a better response for circulating currents compared with the other control compared with the other control
strategies.The
strategies. Theeffects
effectsofofdecreasing
decreasingcirculating
circulatingcurrents
currentscan canbe beobserved
observedin inFigures
Figures 16 16 and
and 17.
17.
Figure 16 shows the upper arm currents of phase “a” for the three
Figure 16 shows the upper arm currents of phase “a” for the three proposed control strategies. proposed control strategies.
As shown in Figure 16c, when the third proposed control strategy
As shown in Figure 16c, when the third proposed control strategy was applied to the MMC, the was applied to the MMC, theMMCMMC
upper arms
upper arms generated
generatedless lesscurrent
current in comparison
in comparison withwith
thosethose
underunder
other strategies. The same
other strategies. Thescenario
same
occurred for the MMC lower
scenario occurred for the MMC lower arms. arms.
Basedon
Based onFigure
Figure17c,
17c,the
theMMC
MMClower lowerarm armcurrent
currentshowed
showedsmaller
smallervalues
valuesininbothbothsteady
steadyand and
dynamicoperating
dynamic operatingconditions.
conditions.Both Boththe theMMC
MMCupper upperand andlower
lowerarm armcurrents
currentsgenerated
generatedunder
underthe the
first and second proposed control strategies had approximately the
first and second proposed control strategies had approximately the same results, with high values same results, with high values for
circulating
for circulating currents.
currents.
This point verifies
This point verifiesthat
thatthe
thecontrol
controlof all
of harmonic
all harmonic components
components of circulating currentscurrents
of circulating will improve
will
the circulating current responses under varying loads. On the
improve the circulating current responses under varying loads. On the other hand, when other hand, when the circulating currents
the
are increased,
circulating the upper
currents and lowerthe
are increased, currents
upperexperience
and lowerancurrents increment in their values.
experience This means
an increment that
in their
the arm losses will be noticeably increased, which is regarded as a drawback
values. This means that the arm losses will be noticeably increased, which is regarded as a drawback for the control strategy.
This
for thedrawback is acceptably
control strategy. Thiseliminated
drawback by is the third proposed
acceptably eliminated control strategy,
by the thirdasproposed
can be seen from
control
Figures 16c
strategy, as canandbe 17c.
seen from Figures 16c and 17c.
Appl. Sci. 2020, 10, x FOR PEER REVIEW 21 of 27

Appl. Sci. 2020, 10, 3292 21 of 27

Appl. Sci. 2020, 10, x FOR PEER REVIEW 21 of 27

(a)
(a)

(b)
(b)

(c)
(c)
Figure 14. The output currents of phase “a” for the (a) first controller, (b) second controller, and (c)
Figure
Figure 14.14.
TheTheoutput
outputcurrents
currentsof
of phase
phase “a”
“a” for
for the
the (a)
(a) first
firstcontroller,
controller,(b)
(b)second
secondcontroller, and
controller, (c) (c)
and
third controller.
third controller.
third controller.

(a)
(a)

(b)
(b)

Figure 15. Cont.

Appl. Sci. 2020, 10, x FOR PEER REVIEW 22 of 27

Appl. Sci. 2020, 10, 3292 22 of 27

Appl. Sci. 2020, 10, x FOR PEER REVIEW 22 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 22 of 27

(c)
Figure 15. The circulating currents of phase “a” for the (a) first controller, (b) second controller, and
(c) third controller.
(c)
(c)

Figure
Figure Figure
15. 15. The
15. The
The circulating
circulating
circulating currents
currents
currents ofofof phase
phase
phase “a”for
“a”
“a” for the
forthe
the(a)
(a)
(a) first controller,
first
first (b)
controller,
controller, second
(b)(b) controller,
second
second and
controller,
controller, andand
(c)
(c)
(c) third third controller.
controller.
third controller.

(a)

(a)
(a)

(b)
(b)

(b)

(c)
(c)
Figure 16. The
Figure upper
16. The upperarm currents
arm currentsof
ofphase “a” for
phase “a” forthe
the(a)
(a)first
first controller,
controller, (b) (b) second
second controller,
controller, and and
Figure 16.
(c) third The upper
controller. arm currents of phase “a” for the (a) first controller, (b) second controller, and (c)
(c) third controller.
third controller.
(c)
Figure 16. The upper arm currents of phase “a” for the (a) first controller, (b) second controller, and
(c) third controller.

(a)
(a)

Figure 17. Cont.

(a)
Appl. Sci. 2020, 10, 3292 23 of 27
Appl. Sci. 2020, 10, x FOR PEER REVIEW 23 of 27

(b)

(c)
Figure 17. The
Figure 17. lower arm
The lower arm currents
currents of
ofphase
phase“a”
“a”for
forthe
the(a)
(a)first
firstcontroller,
controller,(b)(b) second
second controller,
controller, andand
(c)
(c) third controller.
third controller.

To provide a complete comparison of the steady-state and dynamic performance of the three
proposed control
control strategies,
strategies,Table
Table22isispresented.
presented.According
Accordingto to
thisthis
table, the the
table, smallest errors
smallest in the
errors in
upper and and
the upper lower capacitor
lower voltages
capacitor belong
voltages to the
belong to third proposed
the third control
proposed strategy.
control In addition,
strategy. the
In addition,
magnitude of the
the magnitude circulating
of the current
circulating can can
current be minimized
be minimizedby applying
by applyingthe third control
the third strategy
control to the
strategy to
MMC, as demonstrated
the MMC, as demonstratedin Table 2. 2.
in Table

Table 2.
Table between the steady-state
2. A comparison between steady-state (SS)
(SS) and dynamic (DS) performance
performance of
of the three
proposed control strategies.

Error of
Method1
Method1 Method2
Method2 Method3
Method3 Method1
Method1 Method2
Method2 Method3
Method3
Error of (SS) (SS) (SS) (DS) (DS) (DS)
(SS) (SS) (SS) (DS) (DS) (DS)
Uppercapacitor
Upper capacitor voltage
voltage 1.55%
1.55% 1.25%
1.25% 1.09%
1.09% 2%
2% 1.625%
1.625% 1.34%
1.34%
Lower capacitor voltage
Lower capacitor voltage 1.3%
1.3% 1.252%
1.252% 1.125%
1.125% 2.25%
2.25% 2.02%
2.02% 2.01%
2.01%
Circulating current magnitude [−3, 2.1] [−1.35, 1.15] [−0.7, 0.6] [−3.9, 2.4] [−1.5, 1.3] [−0.86, 0.7]
Circulating current magnitude [−3, 2.1] [−1.35, 1.15] [−0.7, 0.6] [−3.9, 2.4] [−1.5, 1.3] [−0.86, 0.7]

7. Conclusions
7. Conclusions
In this
In this paper,
paper, we we designed
designed three
three nonlinear
nonlinear PWM-based
PWM-based controlcontrol strategies
strategies toto eliminate MMC
eliminate MMC
circulating currents,
circulating currents,keeping
keeping thethe
MMC MMC stable under
stable varying
under nonlinear
varying loads. loads.
nonlinear The MMC Theoutput
MMCcurrents
output
and voltage harmonics were utilized to drive the first control law. Then, the
currents and voltage harmonics were utilized to drive the first control law. Then, the control partscontrol parts pertaining
to the circulating
pertaining to the currents’
circulatingsecond-order harmonic were
currents’ second-order added to
harmonic the added
were first control
to thelaw,
firstleading
controltolaw,
the
proposed second control law. The third control law was designed by controlling
leading to the proposed second control law. The third control law was designed by controlling the the magnitudes and
phase anglesand
magnitudes of all circulating
phase anglescurrent harmonicscurrent
of all circulating to forceharmonics
them to become
to force practically zero. Bypractically
them to become assessing
the switching
zero. signals
By assessing theunder the proposed
switching signals control
under thelaws, it was proved
proposed controlthat the it
laws, second-order
was provedand thatother
the
harmonics caused an increment in MMC losses and decrement in the
second-order and other harmonics caused an increment in MMC losses and decrement in the MMC MMC lifetime, respectively.
In addition,
lifetime, using the proposed
respectively. In addition,control
using laws, the instantaneous
the proposed control equivalent SM capacitorsequivalent
laws, the instantaneous were obtained.
SM
It was intended
capacitors for each arm
were obtained. to have
It was its own
intended special
for each arm capacitor in which
to have its the average
own special andinfluctuation
capacitor which the
values ofand
average these capacitors
fluctuation wereofnoticeably
values decreased
these capacitors wereby the elimination
noticeably decreased of the harmonics
by the of the
elimination of
circulating
the currents
harmonics of thethrough the proposed
circulating currents control
throughlaws. The simulation
the proposed control results
laws.inThe
MATLAB/SIMULINK
simulation results
software
in clearly demonstrated
MATLAB/SIMULINK that clearly
software the third control-law-based
demonstrated method
that the third provided better steady
control-law-based methodand
provided better steady and dynamic responses for all MMC currents and voltages when compared
Appl. Sci. 2020, 10, 3292 24 of 27

dynamic responses for all MMC currents and voltages when compared to the other two control
techniques by its ability to control all harmonic components of the circulating currents.

Author Contributions: M.M.: Writing the manuscript and simulation; E.P.: conceptualization and methodology;
R.G.: editing and data analyzing; E.M.G.R.: editing and funding, J.P.S.C.: editing and supervision. All authors
have read and agreed to the published version of the manuscript.
Funding: This research received no external funding.
Acknowledgments: The authors gratefully acknowledge the contributions of Amir Ganjavi. Radu Godina
acknowledges Fundação para a Ciência e a Tecnologia (FCT—MCTES) for its financial support via the
project UIDB/00667/2020 (UNIDEMI). J.P.S. Catalão acknowledges the support by FEDER funds through
COMPETE 2020 and by Portuguese funds through FCT, under POCI-01-0145-FEDER-029803 (02/SAICT/2017) and
POCI-01-0145-FEDER-006961 (UID/EEA/50014/2019).
Conflicts of Interest: The authors declare no conflict of interest.

Nomenclature
Indices
n 0, −1, 1
j 1, 2, 5, 7
k a, b, c
Abbreviations
MMC Modular multilevel converter
SLPWM Shift level pulse width modulation
HVDC High-voltage direct current
SMs Submodules
KVL Kirchhoff’s Voltage Law
Variables
ik Output MMC currents
I(u,l)k Upper and lower arm currents of the MMC
icirk Circulating currents of the MMC
idc MMC dc-link current
vdc MMC dc-link voltage
v(u,l)k Submodule voltages of the MMC
vk Output voltages of the MMC
Imj Maximum magnitude of the jth harmonic of the output current
vmj Maximum magnitude of the jth harmonic of the output voltage
Idc_cir dc component of the circulating current
Imcirj Maximum magnitude of the jth harmonic of the circulating current
βj Angle difference between the output current and voltage
αcirj Phase difference of the circulating current
Parameters
L Output inductance of the MMC
R Output resistance of the MMC
Lt Arm inductance of the MMC
Rt Arm resistance of the MMC
ω1 Fundamental angular frequency of the MMC
ωj jth-order angular frequency of the MMC variables
C(u,l)k Equivalent SM capacitors of the MMC arms
Appl. Sci. 2020, 10, 3292 25 of 27

References
1. Mehrasa, M.; Lesan, S.; Emeni, S.N.H.; Sheikholeslami, A. Passivity-based Control with Dual Lagrangian
Model of Four-Wire Three-Level Three-Phase NPC Voltage-Source Rectifier. In Proceedings of the IEEE
Conference Compatibility and Power Electronics, Badajoz, Spain, 20–22 May 2009; pp. 411–418.
2. Babaie, M.; Sharifzadeh, M.; Mehrasa, M.; Chouinard, G.; Al-Haddad, K. Supervised Learning Model
Predictive Control Trained by ABC Algorithm for Common Mode Voltage Suppression in NPC Inverter.
IEEE J. Emerg. Sel. Top. Power Electron. 2020. [CrossRef]
3. Babaie, M.; Sharifzadeh, M.; Mehrasa, M.; Baillargeon, L.; Al-Haddad, K. A Robust Fuzzy-Based Control
Technique for Grid-Connected Operation of Sensor-Less PUC5 Inverter. In Proceedings of the 44th
Annual Conference of the IEEE Industrial Electronics Society, Washington, DC, USA, 21–23 October 2018;
pp. 5272–5276.
4. Cupertino, A.F.; Farias, J.V.M.; Pereira, H.A.; Seleme, S.I.; Teodorescu, R. Comparison of DSCC and SDBC
Modular Multilevel Converters for STATCOM Application During Negative Sequence Compensation.
IEEE Trans. Ind. Electron. 2019, 66, 2302–2312. [CrossRef]
5. Li, N.; Gao, F.; Hao, T.; Ma, Z.; Zhang, C. SOH Balancing Control Method for the MMC Battery Energy
Storage System. IEEE Trans. Ind. Electron. 2018, 65, 6581–6591. [CrossRef]
6. Fan, B.; Li, Y.; Wang, K.; Zheng, Z.; Xu, L. Hierarchical System Design and Control of an MMC-Based
Power-Electronic Transformer. IEEE Trans. Ind. Inform. 2017, 13, 238–247. [CrossRef]
7. Ferreira, V.D.N.; Cupertino, A.F.; Pereira, H.A.; Rocha, A.V.; Seleme, S.I.; Filho, B.D.J.C.; Cardoso, B. Design
and Selection of High Reliability Converters for Mission Critical Industrial Applications: A Rolling Mill
Case Study. IEEE Trans. Ind. Appl. 2018, 54, 4938–4947. [CrossRef]
8. Mehrasa, M.; Pouresmaeil, E.; Zabihi, S.; Catalão, J.P.S. Dynamic Model, Control and Stability Analysis of
MMC in HVDC Transmission Systems. IEEE Trans. Power Deliv. 2017, 32, 1471–1482. [CrossRef]
9. Sharifzadeh, M.; Mehrasa, M.; Babaie, M.; Al-Haddad, K. Stable Frequency Response for Multi-Terminal
MMC-HVDC System with DC Voltage Fluctuations. In Proceedings of the 45th Annual Conference of the
IEEE Industrial Electronics Society (IECON), Lisbon, Portugal, 14–17 October 2019; pp. 3577–3582.
10. Mehrasa, M. Control of Modular Multilevel Converters in High Voltage Direct Current Power Systems.
Ph.D. Thesis, University of Beira Interior, Covilha, Portugal, June 2019.
11. Alexander, A.; Thathan, M. Modelling and analysis of modular multilevel converter for solar photovoltaic
applications to improve power quality. IET Renew. Power Gener. 2015, 9, 78–88. [CrossRef]
12. Shahnazian, F.; Adabi, J.; Pouresmaeil, E.; Mehrasa, M.; Catalão, J.P.S. Circulating Current Elimination of
Grid-Connected Modular Multilevel Converters. In Proceedings of the IEEE International Conference on
Environment and Electrical Engineering and 2018 IEEE Industrial and Commercial Power Systems Europe
(EEEIC / I&CPS Europe), Palermo, Italy, 12–15 June 2018; pp. 1–6.
13. Marzoughi, A.; Burgos, R.; Boroyevich, D.; Xue, Y. Design and Comparison of Cascaded H-Bridge, Modular
Multilevel Converter, and 5-L Active Neutral Point Clamped Topologies for Motor Drive Applications.
IEEE Trans. Ind. Appl. 2018, 54, 1404–1413. [CrossRef]
14. Ahmadijokani, M.; Mehrasa, M.; Sleiman, M.; Sharifzadeh, M.; Sheikholeslami, A.; Al-Haddad, K.
A Back-Stepping Control Method for Modular Multilevel Converters. IEEE Trans. Ind. Electron. 2020.
[CrossRef]
15. Mehrasa, M.; Pouresmaeil, E.; Zabihi, S.; Vechiu, I.; Catalao, J.P.S. A Multi-Loop Control Technique for the
Stable Operation of Modular Multilevel Converters in HVDC Transmission Systems. Int. J. Electr. Power
Energy Syst. 2018, 96, 194–207. [CrossRef]
16. Mehrasa, M.; Pouresmaeil, E.; Taheri, S.; Vechiu, I.; Catalao, J.P.S. Novel Control Strategy for Modular
Multilevel Converters based on Differential Flatness Theory. IEEE J. Emerg. Sel. Top. Power Electron. 2017, 6,
888–897. [CrossRef]
17. Picas, R.; Ceballos, S.; Pou, J.; Zaragoza, J.; Konstantinou, G.; Agelidis, V.G. Closed-Loop Discontinuous
Modulation Technique for Capacitor Voltage Ripples and Switching Losses Reduction in Modular Multilevel
Converters. IEEE Trans. Power Electron. 2015, 30, 4714–4725. [CrossRef]
Appl. Sci. 2020, 10, 3292 26 of 27

18. Tu, Q.; Xu, Z.; Xu, L. Reduced Switching-Frequency Modulation and Circulating Current Suppression for
Modular Multilevel Converters. IEEE Trans. Power Deliv. 2011, 26, 2009–2017.
19. Mo, R.; Li, H.; Shi, Y. A Phase-shifted Square Wave Modulation (PS-SWM) for Modular Multilevel Converter
(MMC) and DC Transformer for Medium Voltage Applications. IEEE Trans. Power Electron. 2018, 34,
6004–6008. [CrossRef]
20. Kim, S.; Jeong, M.; Kim, J.; Lee, K. Hybrid Modulation Scheme for Switching Losses Reduction in a Modular
Multilevel High-voltage Direct Current Converter. IEEE Trans. Power Electron. 2018, 34, 3178–3191. [CrossRef]
21. Deng, Y.; Wang, Y.; Teo, K.H.; Harley, R.G. A Simplified Space Vector Modulation Scheme for Multilevel
Converters. IEEE Trans. Power Electron. 2016, 31, 1873–1886. [CrossRef]
22. Dekka, A.; Wu, B.; Zargari, N.R.; Fuentes, R.L. A Space-Vector PWM-Based Voltage-Balancing Approach with
Reduced Current Sensors for Modular Multilevel Converter. IEEE Trans. Ind. Electron. 2016, 63, 2734–2745.
[CrossRef]
23. Aleenejad, M.; Mahmoudi, H.; Jafarishiadeh, S.; Ahmadi, R. Fault-Tolerant Space Vector Modulation for
Modular Multilevel Converters with Bypassed Faulty Submodules. IEEE Trans. Ind. Electron. 2019, 66,
2463–2473. [CrossRef]
24. Ronanki, D.; Williamson, S.S. A Simplified Space Vector Pulse Width Modulation Implementation in Modular
Multilevel Converters for Electric Ship Propulsion Systems. IEEE Trans. Transp. Electrif. 2018, 5, 335–342.
[CrossRef]
25. Deng, Y.; Wang, Y.; Teo, K.H.; Saeedifard, M.; Harley, R.G. Optimized Control of the Modular Multilevel
Converter Based on Space Vector Modulation. IEEE Trans. Power Electron. 2018, 33, 5697–5711. [CrossRef]
26. Zhou, D.; Yang, S.; Tang, Y. Model Predictive Current Control of Modular Multilevel Converters with
Phase-Shifted Pulse-Width Modulation. IEEE Trans. Ind. Electron. 2018, 66, 4368–4378. [CrossRef]
27. Edpuganti, A.; Rathore, A.K. Optimal Pulsewidth Modulation of Medium-Voltage Modular Multilevel
Converter. IEEE Trans. Ind. Appl. 2016, 52, 3435–3442. [CrossRef]
28. McGrath, B.P.; Teixeira, C.A.; Holmes, D.G. Optimized Phase Disposition (PD) Modulation of a Modular
Multilevel Converter. IEEE Trans. Ind. Appl. 2017, 53, 4624–4633. [CrossRef]
29. Mehrasa, M.; Sharifzadeh, M.; Sheikholeslami, A.; Pouresmaeil, E.; Catalao, J.P.S.; Al-Haddad, K. A Control
Strategy based on the Upper and Lower’s Arms Modulation Functions of MMC in HVDC Applications.
In Proceedings of the IEEE International Conference on Industrial Technology (ICIT), Lyon, France, 20–22
February 2018; pp. 1873–1878.
30. Edpuganti, A.; Rathore, A.K. Optimal Pulsewidth Modulation for Common-Mode Voltage Elimination
Scheme of Medium-Voltage Modular Multilevel Converter-Fed Open-End Stator Winding Induction Motor
Drives. IEEE Trans. Ind. Electron. 2017, 64, 848–856. [CrossRef]
31. Mehrasa, M.; Pouresmaeil, E.; Akorede, M.F.; Zabihi, S.; Catalão, J.P.S. Function-based Modulation Control
for Modular Multilevel Converters Under Varying Loading and Parameters Conditions. IET Gener.
Transm. Distrib. 2017, 11, 3222–3230. [CrossRef]
32. Dekka, A.; Wu, B.; Zargari, N.R. A Novel Modulation Scheme and Voltage Balancing Algorithm for Modular
Multilevel Converter. IEEE Trans. Ind. Appl. 2016, 52, 432–443. [CrossRef]
33. Mehrasa, M.; Pouresmaeil, E.; Zabihi, S.; Trujillo Caballero, J.C.; Catalão, J.P.S. A Novel Modulation
Function-Based Control of Modular Multilevel Converters for High Voltage Direct Current Transmission
Systems. Energies 2016, 9, 867. [CrossRef]
34. Tiezhu, W.; Lei, W.; Junxian, H.; Yifeng, D.; Yi, W.; Shanshan, W. Modified modulation strategy of MMC for
wind farm integration. J. Eng. 2017, 2017, 1186–1190. [CrossRef]
35. Du, S.; Liu, J.; Liu, T. Modulation and Closed-Loop-Based DC Capacitor Voltage Control for MMC with
Fundamental Switching Frequency. IEEE Trans. Power Electron. 2015, 30, 327–338. [CrossRef]
36. Mehrasa, M.; Hosseini, S.k.; Taheri, S.; Pouresmaeil, E.; Catalão, J.P.S. Dynamic performance control of
modular multilevel converters in HVDC transmission systems. In Proceedings of the IEEE Electrical Power
and Energy Conference (EPEC), Ottawa, ON, Canada, 12–14 October 2016; pp. 1–6.
Appl. Sci. 2020, 10, 3292 27 of 27

37. Pouresmaeil, E.; Mehrasa, M.; Shokridehaki, M.A.; Rodrigues, E.M.G.; Catalão, J.P.S. Control of modular
multilevel converters for integration of distributed generation sources into the power grid. In Proceedings
of the IEEE International Conference on Smart Energy Grid Engineering (SEGE), Oshawa, ON, Canada,
17–19 August 2015; pp. 1–6.
38. Pouresmaeil, E.; Mehrasa, M.; Rodrigues, E.; Godina, R.; Catalão, J.P.S. Control of Modular Multilevel
Converters Under Loading Variations in Distributed Generation Applications. In Proceedings of the 2018
IEEE International Conference on Environment and Electrical Engineering and 2018 IEEE Industrial and
Commercial Power Systems Europe (EEEIC/I&CPS Europe), Palermo, Italy, 12–15 June 2018; pp. 1–6.

© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access
article distributed under the terms and conditions of the Creative Commons Attribution
(CC BY) license (http://creativecommons.org/licenses/by/4.0/).