energies

Article
Modified State-of-Charge Balancing Control
of Modular Multilevel Converter with Integrated
Battery Energy Storage System
Yajun Ma , Hua Lin *, Zhe Wang and Zuyao Ze
State Key Laboratory of Advanced Electromagnetic Engineering and Technology, School of Electrical
and Electronic Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;
mayajun@mail.hust.edu.cn (Y.M.); ranger_wong@foxmail.com (Z.W.); zezuyao@163.com (Z.Z.)
* Correspondence: lhua@mail.hust.edu.cn; Tel.: +86-159-7219-3510




Received: 22 November 2018; Accepted: 24 December 2018; Published: 28 December 2018


Abstract: Modular multilevel converter with integrated battery energy storage system (MMC-BESS)
has been proposed for energy storage requirements in high-voltage applications. The state-of-charge
(SOC) equilibrium of batteries is essential for BESS to guarantee the capacity utilization.
However, submodule voltage regulation can lead to over-modulation of individual submodules,
which will limit the efficiency of SOC balancing control. Focusing on this problem, a modified SOC
balancing control method with high efficiency is proposed in this paper. The tolerance for battery power
unbalance is defined to quantize the convergence of SOC balancing control. Both the DC component
and AC component are considered while regulating submodule voltage. The linear programming
method is introduced to realize the maximum tolerance for battery power unbalance in different
operation modes. Based on the analysis, by choosing appropriate submodule voltage regulation
method, the efficiency of SOC balancing control is improved greatly. In addition, the SOC controller
is also optimally designed to avoid over-modulation of submodules. Finally, the detailed simulation
and experiment results verify the effectiveness of the analysis and proposed control strategy.

Keywords: battery energy storage system (BESS); modular multilevel converter (MMC);
state-of-charge (SOC) balancing control; tolerance for battery power unbalance

1. Introduction
In recent years, renewable resources are becoming more and more important, but they have
great impact on grid due to their stochastic nature, reducing the voltage and frequency stability [1,2].
Battery energy storage system (BESS) is necessary and effective in these applications to improve
the stability [3]. As the interface between batteries and grid, many researches focus on medium
and high-voltage power conversion system (PCS).
Due to the advantages in medium and high-voltage applications, modular multilevel converters
(MMC) has been used in BESS (MMC-BESS). Batteries can be directly connected with the DC bus in
a centralized manner [4]. However, the series connection of massive batteries reduces the reliability
and increases the complexity of energy management. In [5–7], batteries are integrated into submodules
of MMC, constituting a modularized and distributed PCS. Compared with the centralized structure,
the reliability and flexibility of distributed structure are greatly improved. Hence, it is more applicable
to medium and high-voltage applications [8]. Most importantly, MMC-BESS is not only a pure
PCS, but also a three-port converter. As an example, Figure 1 is the structure diagram of wind
energy system. By integrating batteries into MMC, the original PCS is eliminated, which simplifies
the whole configuration and lowers the costs. In addition, BESS can coordinate the operation of AC

Energies 2019, 12, 96; doi:10.3390/en12010096 www.mdpi.com/journal/energies

Energies 2018,12,
Energies2019, 11,96
x FOR PEER REVIEW 2 2ofof2020

which simplifies the whole configuration and lowers the costs. In addition, BESS can coordinate the
and DC side while transferring power among them [9]. Figure 1b is the topology of MMC-BESS,
operation of AC and DC side while transferring power among them [9]. Figure 1b is the topology of
consisting of three phases, each with two arms. In submodule A, batteries are directly connected with
MMC‐BESS, consisting of three phases, each with two arms. In submodule A, batteries are directly
submodules [10,11]. However, low-frequency current ripple can flow into batteries, which leads to
connected with submodules [10,11]. However, low‐frequency current ripple can flow into batteries,
additional heat generation and temperature rise of batteries. That will accelerate the degradation
which leads to additional heat generation and temperature rise of batteries. That will accelerate the
ofdegradation
batteries, resulting in significant
of batteries, resulting inreduction
significant ofreduction
battery life
of span [12,13].
battery Then
life span a DC/DC
[12,13]. Then aconverter
DC/DC
(isolated
converteror(isolated
non-isolated) is used to filter
or non‐isolated) the low-frequency
is used current in submodule
to filter the low‐frequency current inBsubmodule
[14–16]. The main
B [14–
advantages of non-isolated DC/DC are the simple structure and low cost. The
16]. The main advantages of non‐isolated DC/DC are the simple structure and low cost. The isolated isolated DC/DC
can achieve
DC/DC can the electrical
achieve isolationisolation
the electrical betweenbetween
batteries and MMC,
batteries whichwhich
and MMC, is utilized to meet
is utilized some
to meet
special requirements of batteries, such as grounding. At the same time, the DC/DC
some special requirements of batteries, such as grounding. At the same time, the DC/DC converter converter offers
an additional
offers control
an additional degree
control of freedom
degree of freedom (DOF). Therefore,
(DOF). Therefore,the
thecapacitor
capacitorvoltage
voltage can bedirectly
can be directly
controlled
controlledbybythe
theDC/DC
DC/DCconverter
converter with traditional
with dual
traditional closed-loop
dual closed‐loop control structure.
control Compared
structure. Comparedwith
the methods based on traditional MMC [17,18], the capacitor voltage balancing
with the methods based on traditional MMC [17,18], the capacitor voltage balancing control is greatlycontrol is greatly
simplified,
simplified,and
andthis
thispaper
paperalso
alsoprefers
prefers this
this control
control structure.
structure.

idc

uku
Pkbu

iku
Ra La Rg , Lg
uk
ik
ikc

ikl

Pkbl ukl

Figure1.1.Wind
Figure Windenergy
energygeneration
generationsystem: (a)(a)
system: structure of offshore
structure wind
of offshore farm;
wind (b) topology
farm; of MMC-BESS.
(b) topology of MMC‐
BESS.
For the massive submodules of MMC-BESS, the state-of charge (SOC) of each submodule will
inevitably
For the be massive
different. The capacity
submodules utilization of
of MMC‐BESS, thethe wholecharge
state‐of BESS (SOC)
is limited by submodule
of each the submodules will
with highest
inevitably be or lowestThe
different. SOC due toutilization
capacity the over-charge
of the wholeor over-discharge
BESS is limitedof bythem. Thereforewith
the submodules it is
essential
highest or tolowest
maintain SOCthe due SOC equilibrium
to the over‐charge of or
allover‐discharge
submodules [19]. The Therefore
of them. SOC balancing controltois
it is essential
usually
maintain divided
the SOC into three levels,
equilibrium of including
all submodulesSOC balance
[19]. Theamong phases, SOC
SOC balancing balance
control between
is usually arms
divided
intoSOC
and threebalance
levels, including
within arms. SOC balance
In [20],among phases, SOC balance
the zero-sequence voltage between
is injected armsto and
balanceSOC the balance
SOC
within phases.
among arms. InHowever,
[20], the zero‐sequence
the calculation voltage is injected to voltage
of zero-sequence balance the SOC
is too among phases.
complex. In [21,22], However,
the DC
the fundamental
and calculation of zero‐sequence
circulating current voltage is tooto complex.
are regulated balance the InSOC[21,22],
among thephases
DC andand fundamental
between arms
circulating current
respectively. The SOC arewithin
regulatedarmstoisbalance
balanced thebySOC among phases
regulating and between
the submodule armswhich
voltage, respectively.
contains
The SOC within arms is balanced by regulating the submodule voltage,
both the DC component and AC component. So there are two dimensions to regulate the submodule which contains both the DC
component
voltage. and AC
In [23], onlycomponent.
AC component So there of are two dimensions
submodule voltagetoisregulate
regulated thetosubmodule
balance SOC. voltage. In
In [24],
[23], only AC component of submodule voltage is regulated
the DC component is regulated to balance SOC in AC-side fault mode and the AC component is to balance SOC. In [24], the DC
component
regulated is regulated
to balance SOCto in balance
DC-sideSOC faultinmode.
AC‐side faulta mode
In [25], powerand theisAC
factor component
introduced is regulated
to regulate both
to balance
the SOC in DC‐side
DC component and AC fault mode. InHowever,
components. [25], a power factor is introduced
the problem to regulateofboth
is that the regulation the DC
submodule
component
voltage can and leadAC components. However,
to over-modulation the problem
of submodules is that
when thebattery
the regulationpower of submodule
unbalance voltage exceeds
can lead to over‐modulation of submodules when the battery
certain limit. To avoid the over-modulation of submodules, the gain of SOC controllerpower unbalance exceeds certain
shouldlimit.
be
To avoid
limited the over‐modulation
[17,22]. However, that of submodules,
will the gain
seriously limit the of SOCconvergence
SOC controller shouldrate ofbethelimited
whole [17,22].
BESS.
However,
To guarantee that will seriously
appropriate SOC limit the SOC the
convergence, convergence rate of the
key is to improve the whole
tolerance BESS.
for To guarantee
battery power
appropriate SOC convergence, the key is to improve the tolerance for battery
unbalance, which is closely related to the submodule voltage regulation method. However the methods power unbalance, which
is closely
above only related
investigateto the
somesubmodule voltage
special cases, whichregulation method. However
are not necessarily optimal inthe anymethods
case. More above only
seriously,
investigate some special cases, which are not necessarily optimal in any case.
the SOC may not converge in some case. For example in [15], the SOC will not converge when the power More seriously, the SOC
maytransfers
only not convergebetweenin some case.and
DC side For batteries.
example in [15], the SOC
Therefore, will not
this paper aimsconverge when the
to investigate thepower
submoduleonly
transfers between DC side and batteries. Therefore, this paper aims to investigate the submodule
voltage regulation method to optimize the SOC balancing control.
voltage regulation method to optimize the SOC balancing control.
Energies 2019, 12, 96 3 of 20

In this paper, capacitor voltage is controlled by the DC/DC converter with traditional dual
closed-loop structure. Carrier phase shifted modulation (CPS-PWM) is used to generate switching
signals. By analyzing the power flow of MMC-BESS, the factors that limit the SOC convergence
rate are investigated in detail. Then the tolerance for battery power unbalance is defined to
quantize the convergence of SOC balancing control. Both the DC and AC components are taken
into account when regulating submodule voltage. Linear programming method is introduced to reach
the maximum tolerance in different operation modes. One the basis, a modified SOC balancing control
method with high efficiency is proposed by optimizing the submodule voltage regulation method.
Finally, a downscaled prototype is built to verify the analysis and proposed method.
The rest of this paper is organized as follows: the power flow and principles of SOC balancing
control are introduced in Section 2. The submodule voltage regulation method is investigated
in Section 3. On the basis, optimized SOC balancing control strategy is proposed in Section 4.
Then the detailed simulation and experiment results are given in Section 5. Finally, the conclusions are
presented in Section 6.

2. Fundamental Principles of MMC-BESS

Due to the symmetry of MMC-BESS, the following analysis only takes one phase as an example
and the results are also applicable to the other two phases. The subscript k ∈ {a, b, c} denotes different
phases, and the subscript j ∈ {u, l} denotes the upper arm and lower arm respectively. i ∈ {1, 2, . . . , N}
represents the number of submodule per arm.

2.1. Power Flow of MMC-BESS

In Figure 1b, ukj and ikj are the arm voltage and current; uk and ik are the AC-side voltage
and current; Vdc and idc are the DC-side voltage and current. ikc is the circulating current flowing from
upper arm to lower arm. Pkbj is the total battery power injected into arms.
For a generalized MMC-BESS, the circulating current mainly contains DC, fundamental frequency
and second harmonic component. When only considering the power flow of MMC-BESS, the second
harmonic component can be ignored.

ikc = Ikc0 + Ikc1 sin(ω t + γk1 ) (1)

where Ikc0 is the dc circulating current; Ikc1 and γk1 are the amplitude and phase of fundament
circulating current.
Just like the traditional MMC, the following basic relations still exist for arm voltages and currents
(
uku = 12 Vdc − vkc − vk , iku = ikc + 21 ik
ukl = 21 Vdc − vkc + vk , ikl = ikc − 12 ik
( (2)
vkc = R a ikc + L a didtkc
vk = ( R g + 12 R a )ik + ( L g + 12 L a ) didtk + uk

where vkc and vk are the voltages required to drive circulating current and AC-side current respectively.
In this way, the system is divided into two parts: one part is only related to circulating current
and the other part is only related to AC-side current.
Ignoring power losses, the absorbed average power of arms can be calculated according to the arm
voltages and currents in (1) and (2).

1 1 1 1

 Pku = 2 Vdc Ikc0 − 2 Vk Ikc1 cosγ1 − 2 × 2 Vk Ik cosϕ + Pkbu


| {z } | {z } | {z } (3)

 0.5Pkdc Pk∆ 0.5Pkac
Pkl = 12 Vdc Ikc0 + 21 Vk Ikc1 cosγ1 − 12 × 12 Vk Ik cosϕ + Pkbl

  1 1 1 1
 Pku = 2 Vdc I kc0  2 Vk I kc1cosγ1  2  2 Vk I k cosφ + Pkbu
      
 0.5 Pkdc PkΔ 0.5 Pkac (3)
 1 1 1 1
 Pkl = Vdc I kc0 + Vk I kc1cosγ1   Vk I k cosφ + Pkbl
Energies 2019, 12, 96  2 2 2 2 4 of 20

where φ is the power factor angle; Vk, Ik are the amplitude of vk and i k . The DC circulating current
transfers
where ϕ isthethe
same power
power from
factor DC bus
angle; Vk , Ito upper and lower arm, which is denoted by Pkdc. The
k are the amplitude of vk and ik . The DC circulating
fundamental
current circulating
transfers the samecurrent
powertransfers
from DC the same
bus powerand
to upper PkΔ from
lowerupper
arm, arm to lower
which arm. by
is denoted Ac‐side
Pkdc .
current absorbs the same power from both upper and lower arm, which is denoted
The fundamental circulating current transfers the same power Pk∆ from upper arm to lower arm. by Pkac .
To current
Ac-side maintain the power
absorbs balance
the same of arms,
power fromthe absorbed
both active
upper and power
lower should
arm, whichbeisequal to zero,
denoted by Phence
kac .
the total battery power
To maintain injected
the power into arms
balance can be
of arms, thecalculated
absorbedasactive power should be equal to zero,
hence the total battery power injected into  arms 1 can be calculated as
 Pkbu  ( Pkac  Pkdc )  PkΔ
(  2
 = 1 ( Pkac − Pkdc ) + Pk∆
Pkbu (4)
21
 P 1 ( P  P )  P (4)
Pkbl = 2 (2Pkackac− Pkdc
 kbl kdc ) − kΔ
Pk∆

Accordingto
According toEquations
Equations(3) (3)and
and(4),
(4),the
thepower
powerflowflow among
among phases
phases and
and between
between arms
arms is shown
is shown in
in Figure
Figure 2a, 2a,
in which PdcPisdc the
in which is the total
total power
power of of dc‐bus.
dc-bus. The The power
power flowing
flowing into
into AC‐side
AC-side forfor each
each phase
phase is
is usually
usually thethe same.
same. The
The power
power absorbedfrom
absorbed fromDC DCbus
busbybyeach
eachphase
phasecan
canbebecontrolled
controlledbybyregulating
regulating
the dc
the dc circulating
circulating current.
current. Therefore
Therefore the
the total
total battery
battery power
power injected
injected into each phase is controllable.
The power
The power flowing
flowing from
from upperupper arm
arm to
to lower
lower arm
arm can
canbebecontrolled
controlledby
byregulating
regulating the
thefundamental
fundamental
circulating current.
circulating current. Therefore,
Therefore, the the battery
battery power
power distribution
distribution between
between upper
upper and
and lower
lower arm
arm can
can be
be
controlledarbitrarily.
controlled arbitrarily.In
Inthis
thisway,
way,the
thepower
powerinjected
injectedinto
intoarms
armscan
canbe
becontrolled
controlledindependently.
independently.

ikj
1
S kj1 ikj
0.5 Pdc 0.5Padc 0.5Pbdc 0.5 Pcdc Pkbj



u1kcj u1kj
Pkj1



Pabu Pbbu Pcbu
i
Pkbj
S kji ikj ikj
0.5 Paac 0.5 Pbac 0.5Pcac



i
PaΔ PbΔ PcΔ ukcj ukji Pkji Pkj ukj
0.5Paac 0.5 Pbac 0.5Pcac



Pabl Pbbl Pcbl S kjN ikj
PkbjN ikj Pkji



N
u kcj ukjN
0.5 Pdc
0.5Padc 0.5Pbdc 0.5Pcdc


Figure 2. Power
Figure2. Power flow
flow of
of MMC-BESS:
MMC‐BESS: (a)
(a) power
power flow
flow among
among phases
phases and
and between
between arms;
arms; (b)
(b) power
power flow
flow
among
amongsubmodules
submoduleswithin
withinarms.
arms.

In
In this paper, capacitor
this paper, capacitorvoltage
voltageofofeach
eachsubmodule
submodule is controlled
is controlled by by
the the DC/DC
DC/DC converter
converter with
with traditional dual closed-loop control structure, which makes the DC/DC
traditional dual closed‐loop control structure, which makes the DC/DC side of submodule as a side of submodule
as a controlled
controlled voltage
voltage source,
source, offering
offering stable
stable voltage
voltage forthe
for theMMC
MMCside.
side.Then
Thenthe
thearm
arm can
can be
be equivalent
equivalent
i i i
to
to Figure
Figure 2b,
2b, in which SSkj , , u
in which i i and uukj are
ukcj,, and
kj
i
arethe
kcj theswitching
switchingfunction,
function,capacitor
kj capacitorvoltage
voltageand
andsubmodule
submodule
i and Pi are the power absorbed from batteries and MMC side, which are
voltage respectively. Pkbj
i
voltage respectively. Pkbj and Pkjkji are the power absorbed from batteries and MMC side, which are
balanced in steady state. Therefore, the battery power injected into each submodule is
balanced in steady state. Therefore, the battery power injected into each submodule is
T
T
1
Z
 uuikj idtkj dt
i
Pkbj P= − PiPkji== −
kbj = kj
i
 i i
kj kj
(5)
(5)
T T
00

where TT is
where is the
the fundamental
fundamental frequency
frequencyperiod.
period.For submodules
For submodules connected
connectedin series within
in series arms,
within the
arms,
currents
the flowing
currents through
flowing themthem
through are the
aresame. The total
the same. Thebattery powerpower
total battery injected into arms
injected intocan be flexibly
arms can be
flexibly allocated to submodules through regulating the DC and AC components of submodule voltage.
Combination with the DC power control, AC power control and balance power control, the battery
power injected into each submodule can be controlled independently.
Energies 2018, 11, x FOR PEER REVIEW 5 of 20

allocated to submodules through regulating the DC and AC components of submodule voltage.

Combination with the DC power control, AC power control and balance power control, the battery
power injected into each submodule can be controlled independently.
Energies 2019, 12, 96 5 of 20

2.2. SOC Balancing Control of MMC-BESS

2.2. SOC Balancing Control of MMC-BESS
The capacity utilization of the whole BESS is limited by the submodule with the highest or lowest
SOC.TheTo improve the capacity
capacity utilization of utilization of BESS,
the whole BESS the SOC
is limited by oftheeach submodule
submodule withshould be maintained
the highest or lowest
at theTo
SOC. same value.the
improve Thecapacity
SOC ofutilization
each submodule
of BESS,can beSOC
the established by
of each submodule should be maintained
at the same value. The SOC of each submodule can be established by
Storaged charges
= SOC × 100%
Nominal capacity
Storaged charges
SOC = Nominal capacity × 100% (6)
1 Rt (6)
SOCSOC
(t)(t=
) =SOC + E1 ∫ ttPP
SOC((tt00)) + bat dtdt
Ebat
bat t0 0
bat

where P
where Pbat
bat is
isthe
thebattery power;EE
batterypower; is is
batbat thethenominal
nominalenergy, which
energy, cancan
which be be
calculated by multiplying
calculated the
by multiplying
battery
the voltage
battery andand
voltage its capacity.
its capacity.
Figure 33 is
Figure is the
the general
generalcontrol
controlstructure
structureofofMMC-BESS.
MMC-BESS. Capacitor
Capacitor voltage is controlled
voltage by the
is controlled by
DC/DC converter. The notch filter is used to filter capacitor voltage ripples, which can introduce low-
the DC/DC converter. The notch filter is used to filter capacitor voltage ripples, which can introduce
frequency current
low-frequency ripples
current intointo
ripples batteries.
batteries. The AC-side
The AC-side power
power control
controladopts
adoptstypical
typicalcontrol
control structure
structure
in dq frame just like the two-level voltage source converter [24]. The SOC balancing control is divided
in dq frame just like the two-level voltage source converter [26]. The SOC balancing control is divided
into three
into three levels,
levels, including
including SOC SOC balance
balance among among phases,
phases, SOC
SOC balance
balance between
between arms
arms and
and SOC
SOC balance
balance
ii
within SOC the ith submodule. SOC kj , SOC k , and SOC
within arms. SOCkjkj is the SOC of the ith submodule. SOCkj, SOCk, and SOCBESS are the average SOC
arms. is the SOC of BESS are the average SOC
of
of arms,
arms, phases,
phases, andand thethe whole
whole BESS
BESS respectively.
respectively.

11 11 1 1N N i i
SOCSOC == ∑
BESSBESS ∑ SOC
3 k3=ka,b,c
=a,b,c
SOCkk,, SOC
SOCk k==
22
((SOC
SOCku
ku +
+ SOC
SOC ),
kl kl ) ,SOC
SOC =
kj kj =
NN
∑ ∑ SOC
i =1i =1
SOC
kj kj (7)
(7)

SOC balancing control Pac

SOCBESS ∆Pkb DC I kc* 0 AC-side vk*
K1 circuiting power
+ 3 3 control 3
SOCk - 3 current Qac
Eq.2
∆Pkbj Fundamental ikc1 ++
* *
SOC SOCk ikc* + Circuiting vkc
K2 circuiting
i
SOC kj
calculation + 6 3 current 3
SOCkj - 6 current ukj
6N (Eq.7) ikc control
1/N
SOCkj ∆Pkbj
i
Submodule Δukji +
K3 voltage +
6+ 6N 6N
SOCkji - 6N regulation Power control 6N ukji *

Capacitor voltage control

Vdc PI PI PWM CPS-
N +- +- 6N
6N PWM
SM
Notch filter SM
MMC-BESS

Figure 3.
Figure 3. General
General control
control structure
structure of
of MMC-BESS.
MMC-BESS.

According to
According to (6),
(6), the
the three-level
three-level SOC
SOC balancing
balancing control
control can
can be realized by
be realized by regulating
regulating the
the battery
battery
power injected into phases, arms, and submodules respectively. In Figure 3,
power injected into phases, arms, and submodules respectively. In Figure 3, K1, K2, K3 areK 1 , K 2 , K3 are
the
the
corresponding proportional controllers, and the battery power injected into each phase, arm, arm,
corresponding proportional controllers, and the battery power injected into each phase, and
and submodule
submodule is is
1 1 11 1
i = 1 Pkbj + ∆i P
i i
Pkb = Pb ∆
Pkb 3=Pb + Pkb , ,PkbjP= = P
+ ΔPkb kbj 2 P
kb ++∆ΔP
kb
Pkbj,, PP
kbj
kbj
kbj = N Pkbj + ΔPkbj kbj
(8)
(8)
3 2 N
The battery power injected into each phase and arm is controlled by regulating the dc
The battery power injected into each phase and arm is controlled by regulating the dc ∗and
and fundamental circulating current. In Figure 3, the output of circulating current control v is
fundamental circulating current. In Figure. 3, the output of circulating current control v*kc iskcthe
the reference of vkc , which is used to drive the circulating current. The reference of dc circulating
current is
∗ 1 1
Ikc0 = ( P − ∆ Pkb ) (9)
Vdc 3 dc
Energies 2019, 12, 96 6 of 20

To prevent the fundamental circulating current from flowing into DC side, fundamental circulating
current should contains no zero-sequence component, and the reference is given as [9,17]
    
i∗ac1 sin ω t − cos ω t cos ω t ∆ Pabu − ∆ Pabl
 ∗  1 
 ibc1  = √  cos(ω t − 2π/3) sin(ω t − 2π/3) − cos(ω t − 2π/3)  ∆ Pbbu − ∆ Pbbl  (10)
 
∗ 3Vk
icc1 − cos(ω t + 2π/3) cos(ω t + 2π/3) sin(ω t + 2π/3) ∆ Pcbu − ∆ Pcbl

In Figure 3, the battery power injected into submodules is controlled by regulating the submodule
voltage. As an example, with the method in [20,25], the submodule voltage is calculated as

ukj ukj ∆ Pkbj

i
uikj = i
+ ∆ ukj = (1 + ) (11)
N N Pkbj /N

where ∆ uikj is the voltage increment to regulate the battery power injected into submodules.
For half-bridge submodule used in this paper, the submodule voltage should be between 0
and Vdc /N. However, the voltage increment can easily result in uikj > Vdc /N or uikj < 0, which exceeds
the output range of submodules. Then over-modulation of submodules occurs, leading to massive
harmonics. To solve the problem, the gain of SOC controller should be limited, and the following
relation exists
K3 (SOCkj − SOCkji )
1−m
≤ (12)
Pkbj /N 1+m
where m = 2Vk /Vdc is the modulation ratio of MMC-BESS. When the modulation ratio m is relatively
large, the allowed K3 is very small, which limits the convergence rate of SOC balancing control.
More seriously, the SOC may not converge in some case, decreasing the capacity utilization of the whole
BESS. Therefore, it is essential to ensure appropriate SOC convergence rate.

3. Investigation of Submodule Voltage Regulation Method

The SOC convergence rate of the whole BESS is decided by the three-level SOC balancing control.
SOC balance among phases and between arms are guaranteed by regulating the DC and fundamental
circulating current. In Figure 3, v∗kc is injected into upper arm and lower arm to drive the circulating
current. However, considering that the arm impedance of MMC-BESS is relatively small, the injection
of v∗kc will not lead to the over-modulation of submodules. Therefore, the SOC convergence rate of
the whole BESS is mainly limited by the SOC balancing control within arms. This section mainly
focuses on investigating the submodule voltage regulation method to improve the SOC convergence
rate of the whole BESS.

3.1. Constraints of Submodule Voltage Regulation Method

Before the analysis, a parameter λ is defined to assess the battery power unbalance caused by
SOC balancing control.
i − P /N
Pkbj
i kbj
λkj = × 100%, λikbj ≥ −1 (13)
Pkbj /N
The battery power unbalance degree λ reflects how much the battery power injected into
submodule deviates from the average battery power of the arm. Specially, λ = −1 represents
that the battery power is equal to zero, or the battery is breakdown. λ < −1 denotes that some
batteries are charging while some batteries are discharging in one arm, which is usually not allowed in
practice. So this paper stipulates that the battery power unbalance degree should be greater than −1.
According to Figure 3, the battery power unbalance degree is calculated as

K3
λikj = i
(SOCkj − SOCkj ) (14)
Pkbj
Energies 2019, 12, 96 7 of 20

Submodule voltage contains dc component and ac component, so there are two dimensions to
regulate submodule voltage. Then the voltage increment ∆ uikj is given as

1 i 1
∆ uikj = α V + βi u (15)
2N kj dc N kj k

where αikj and βikj are defined as the DC factor and AC factor, which are used to regulate the DC
and AC component of voltage respectively.
Substituting (15) into (5), the submodule power regulated by the dc factor and ac factor is

i 1 i 1 i
∆ Pkj = α P − β ( P + 2Pk∆ ) (16)
2N kj kdc 2N kj kac
In steady state, the total active power absorbed by submodule should be equal to zero.
According to (14) and (16), the submodule voltage regulation should satisfy the relation

1 i 1 i
− λikj Pkbj = αkj Pkdc − β ( P + 2Pk∆ ) (17)
2N 2N kj kac
Increasing K3 can improve the convergence rate of SOC, but it requires more power regulation to
balance the submodule power. In different operation modes, the contribution of DC factor and AC
factor to power regulation is different. Choosing appropriate DC and AC factor can increase the power
regulation capability, meaning that the allowed SOC convergence rate can be improved.
To facilitate the analysis, the Equation (17) can be rewritten as

1 ξ kj
− λikj = βi − αi (18)
1 − ξ kj kj 1 − ξ kj kj

where
Pkdc
(
Pkac +2Pk∆ , j=u
ξ kj = Pkdc (19)
Pkac −2Pk∆ , j=l

ξ kj is the power ratio of dc power and ac power in arms, which can denote the operation mode of
MMC-BESS. To improve the SOC convergence rate, the range of allowed battery power unbalance
degree should be as large as possible.
To avoid over-modulation of submodules, we find the following constraints

 (1 + α i ) + 1 + β i m ≤ 2
kj kj
(20)
 (1 + α i ) − 1 + β i m ≥ 0
kj kj

In addition to constrain in (18), the dc factor and ac factor also should locate at the shadow area in
Figure 4. S1 , S2 , S3 , and S4 are the boundaries of the shadow area according to constrains in (20).
Energies 2019, 12, 96 8 of 20
Energies 2018, 11, x FOR PEER REVIEW 8 of 20

0.5 L1 0.5
F L1
B ( λF , λF )
0 S1 E 0 B ( λF , λF )
L2 F S2
S2 S1
A(λE , λE )
-0.5 A(λE , λE ) -0.5
AC factor βkji

AC factor βkji
L
L
-1 -1
L2
-1.5 -1.5
S3
S3
E S4
-2.0 S4 -2.0

-2.5 -2.5
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
i
DC factor α kj DC factor αkji
(a) (b)
0.5 L1 B ( λF , λF ) 0.5 L1 B ( λF , λF )
L2 E
E
0 S1
0
F S1 A(λE , λE )
S2
S2
A(λE , λE )
-0.5 -0.5

AC factor βkji
AC factor βkji

L
L
-1 -1
L2
-1.5 -1.5
S3
S3
S4
-2.0 S4 -2.0 F

-2.5 -2.5
-1 -0.5 0 0.5 1 -1 -0.5 0 0.5 1
DC factor αkji DC factor αkji
(c) (d)

Figure . Choosing
Figure44. Choosingappropriate
appropriateDC DC and AC
and factor
AC forfor
factor maximum
maximum tolerance in different
tolerance conditions:
in different (a)
conditions:
when ; (b) when
0 <0 η<kj η≤kj1≤ 1; (b) when
(a) when ; (c) when
ηkjn >(c)1 when −1 <−η1kj<≤ηkj0; ≤(d) ; (d) when
0 when ηkj ≤ η−kj1.≤ −1 .

3.2. Tolearance for Battery Power Unbalance

3.2. Tolearance for Battery Power Unbalance
In different operation modes, the contribution of DC factor and AC factor to power regulation is
In different operation modes, the contribution of DC factor and AC factor to power regulation
different. To facilitate the following analysis, the ratio of DC and AC factor is defined as
is different. To facilitate the following analysis, the ratio of DC and AC factor is defined as
ββikjkji =
= ηηkjkjααkji ikj (21)
(21)

By regulating ηηkjkj,, the

Byregulating theallowed
allowedrange
rangeofof
battery power
battery unbalance
power degree
unbalance can be
degree canimproved, and
be improved,
the
andSOC convergence
the SOC rate can
convergence ratealso
can be
also improved.
be improved.
Linear programming method is the typical
Linear programming method is the typical method
method toto study
study the
the extremum
extremum of of linear
linear objective
objective
function
function under
underlinear
linearconstraints.
constraints.In In thisthis
paper, linear
paper, programming
linear programming method
methodis used
is usedto study the
to study
extremum of allowed
the extremum unbalance
of allowed degree.
unbalance degree.
According
According to
to the
the principles
principles of
of linear
linear programming
programming method,
method, the
the objective
objective function
function is is defined
defined as
as

11 ξkj ξ kj
L : L−:λ−λ== ββ− − α α (22)
(22)
− ξξkjkj 1 −1ξ−
11 − kj ξ kj

The line LL11in

Theline inFigure
Figure44isisdefined
definedas
as
LL1 :: ββ ==αα
(23)
(23)
1

The line L intersects with L at point (−λ, −λ), which can represent the unbalance degree.
The line L1 1intersects with L at point (−λ, −λ), which can represent the unbalance degree. For a
For a larger unbalance degree, the intersection should be far away from the origin.
larger unbalance degree, the intersection should be far away from the origin.
The Line L in Figure 4 is defined as
The Line L22in Figure 4 is defined as
LL22 :: ββ ==ηηkjkj
αα (24)
(24)
Energies 2019, 12, 96 9 of 20

The line L2 denotes the ratio of DC factor and AC factor. The line segment EF is the intersection of
L2 and the shadow area. Therefore, the DC and AC factor should locate at the line segment EF.

(1) When 0 < η kj ≤ 1, E and F locate at S1 and S2 as shown in Figure 4a. The coordinates of E and F
are calculated as
1−m 1−m 1−m 1−m
E( ,η ), F ( ,η ) (25)
mηkj − 1 kj mηkj − 1 ηkj m + 1 kj ηkj m + 1

(2) When η kj > 1, E and F locate at S2 and S3 as shown in Figure 4b. The coordinates of E and F are
calculated as
1+m 1+m 1−m 1−m
E(− , −ηkj ), F ( ,η ) (26)
mηkj + 1 mηkj + 1 ηkj m + 1 kj ηkj m + 1

(3) When −1 < η kj ≤ 0, point E and F still locate at S1 and S2 as shown in Figure 4c, and the coordinates
of E and F are the same as Equation (25).
(4) When η kj ≤ −1, E and F locate at S1 and S4 as shown in Figure 4d. The coordinates of E and F are

1−m 1−m 1+m 1+m

E( ,η ), F (− , −ηkj ) (27)
mηkj − 1 kj mηkj − 1 mηkj − 1 mηkj − 1

According to the principles of linear programming method, it is obvious that λ reaches maximum
or minimum values when L1 passes through the point E or F. The point A (λE , λE ) and B (λF , λF )
are the corresponding intersections of the line L1 and L. Then substituting (25)–(27) into (22),
the unbalance degree λE and λF can be calculated.
In Figure 4, one of the point A and B locates at the first quadrant, and the other point locates
at the third quadrant. It means that the maximum values of λ must be positive and the minimum
values of λ must be negative. Therefore, we find the relations
(
λ p = max (λ E , λ F )
(28)
λn = min(λ E , λ F )

where λp denotes the tolerance for positive battery power unbalance degree, and λn denotes
the tolerance for negative battery power unbalance degree.
Considering that the battery power unbalance degree can be negative or positive for submodules
within one arm, the tolerance for battery power unbalance is defined as


ψkj = min λ p , |λn | (29)

If the battery power unbalance degree does not exceed the tolerance, over-modulation will not
occur, which can ensure the normal operation of MMC-BESS.
According to (29), the tolerance for battery power unbalance is calculated as shown in Figure 5,
which can be divided into several cases according to the power ratio.
Energies 2019, 12, 96 10 of 20
Energies 2018, 11, x FOR PEER REVIEW 10 of 20

Tolerance for battery power unbalance(%)

Tolerance for battery power unbalance(%)
120 120
ξ = 0.9 ξ = 1.1
ξ = 0.8 ξ = 1.2

80 80
ξ = 1.4
ξ = 0.6
ξ = 1.6
40 ξ = 0.4 40 ξ = 1.8
ξ = 0.2
ξ = 2.0
ξ =0
11 11
0 0
-10 -5 0 1 5 10 -10 -5 0 1 5 10
Ratio of DC factor and AC factorηkj Ratio of DC factor and AC factor ηkj
(a) (b)

Tolerance for battery power unbalance(%)

Tolerance for battery power unbalance(%)

15 15

11 11
10 10

ξ = −2.25 ξ = −1.25
5 ξ = −2.00 5 ξ = −1.00
ξ = −1.75 ξ = −0.75
ξ = −1.50 ξ = −0.50
ξ = −1.25 ξ = −0.25
0 0
-10 -5 0 1 5 10 -10 -5 0 1 5 10
Ratio of DC factor and AC factor ηkj Ratio of DC factor and AC factor ηkj
(c)
(d)

Figure 5.
Figure 5. Power
Power regulation
regulation capability
capability of
ofsubmodules
submoduleswhen whenmm==0.8:
0.8:(a)
(a)when
whenpower
powerratio
ratio00<<ξ
ξ kjkj ≤
≤ 1;
(b) when
(b) when power
power ratio > 1;
ratioξξkjkj > (c) when
1; (c) when power ratio ξξkjkj ≤
power ratio ≤ −1/m;
−1/m;(d)
(d)when
whenpower
powerratio
ratio−1/m
−1/m<ξkj<≤ξ kj0. ≤ 0.

1.
1. In Figure
In Figure 5a,5a, the
the power
powerratioratio00<<ξkjξ kj≤≤ 1. 1.TheThe power
power regulation
regulation capability
capability increases
increases whenwhen
the
the absolute value of weighting ratio increases. Apparently as weighting
absolute value of weighting ratio ηkj increases. Apparently as weighting ratio approaches infinity,
η kj ratio approaches
infinity,
the the tolerance
tolerance reaches the reaches
maximum the maximum
value. value.
2. In
2. In Figure
Figure 5b,5b, the
the power
powerratioratioξξkjkj> >1.1.TheThe tolerance
tolerancefor for
battery power
battery powerunbalance
unbalancereaches the
reaches
maximum value when ηkj is equal
the maximum value when η kj is to zero.
equal to zero.
According to Figure 4, when the power ratio ξkj = −1/m, the slope of L is the same to the boundary
According to Figure 4, when the power ratio ξ kj = −1/m, the slope of L is the same to the boundary
S2. When L passes through point F, the intersection of L and L1 is a fixed point, meaning that the
S2 . When L passes through point F, the intersection of L and L1 is a fixed point, meaning that the power
power regulation capability is a fixed value. It can be calculated according to Equations (23) and (24).
regulation capability is a fixed value. It can be calculated according to Equations (23) and (24).
1 1− m
ψkj (ξkj = −1 ) = 1 − m (30)
ψkj (ξ kj = − ) = 1 + m
m (30)
m 1+m
3. For the case ξkj < −1/m, the tolerance for battery power unbalance reaches the maximum value
For theηkjcase
3. when is equal
ξ kj < to zero as
−1/m, theshown
tolerancein Figure 5c. For
for battery the case
power −1/m < ξ
unbalance kj ≤ 0, the
reaches thetolerance
maximum reaches
value
the
when maximum
η kj is equalvalue when
to zero as η kj approaches
shown in Figureinfinity
5c. Foras shown
the case −in1/m
Figure
< ξ kj5d.
≤ 0, the tolerance reaches
In
theaddition,
maximum note thatwhen
value all theη kjcurves in Figure
approaches 5 passes
infinity as shownthrough a fixed
in Figure 5d.point. The tolerance for
unbalanced power has no relation with the power ratio. According to Figure 4, when the weighting
ratioInis addition,
equal to 1, note
thethat
pointallBthe
andcurves in Figure
F coincide 5 passes
together, through
so that a fixedregulation
the power point. Thecapability
tolerancewill
for
unbalanced power has no
not change, and can be calculated asrelation with the power ratio. According to Figure 4, when the weighting
ratio is equal to 1, the point B and F coincide together, so that the power regulation capability will not
1− m
change, and can be calculated as ψkj (ηkj = 1) = (31)
11+−mm
ψkj (ηkj = 1) = (31)
1+m
 Energies 2018, 11, x FOR PEER REVIEW 11 of 20

4. Modified SOC Balancing Control

Energies 2019, 12, 96 11 of 20
The previous analysis indicates that the convergence of SOC is mainly limited by the SOC
balancing control within arms. Therefore, this section mainly modifies the SOC balancing control
4.within
Modified
armsSOC Balancing
for high Control
SOC convergence rate.
The convergence of SOC balance
The previous analysis indicates that within arms is mainly
the convergence decided
of SOC by thelimited
is mainly submodule
by thevoltage
SOC
balancing control within arms. Therefore, this section mainly modifies the SOC balancing the
regulation method, which is investigated in detail as shown in Figure 5. To maximize SOC
control
convergence
within arms forrate,
highthe
SOCratio of DC andrate.
convergence AC factor should change with the power ratio, which can be
concluded as:
The convergence of SOC balance within arms is mainly decided by the submodule voltage
1. Whenmethod,
regulation −1/m < ξwhich
kj 1, is
only ac component
investigated needsastoshown
in detail be regulated, so 5.
in Figure thatTothe DC factor
maximize and
the SOCAC
factor are
convergence rate, the ratio of DC and AC factor should change with the power ratio, which can be
concluded as: αkji = 0
 i . (32)
1. When −1/m < ξ kj ≤ 1, only ac component (1  ξkjto
 βkj =needs
i
)λbe
kj
regulated, so that the DC factor and AC
factor are (
αikj 3.2,
Then according to the analysis in section = 0 the tolerance for battery power unbalance can be
. (32)
calculated as β kj = (1 − ξ kj )λikj
i

1 m
ψkj3.2,
Then according to the analysis in Section = the tolerance for battery power unbalance can(33) be
m( 1  ξkj )
calculated as
1−m
ψkj = (33)
m(1 − ξ kj )
2. When ξkj > 1 or ξkj −1/m, only DC component needs to be regulated, so that the DC factor and
2. AC factor
When ξ >are
1 or ξ ≤ −1/m, only DC component needs to be regulated, so that the DC factor
kj kj
and AC factor are  i ξkj ξ 1−1 i

αkjαi= = kj λλ
 kj i
 kj ξkj ξ kj kj (34)
 iβikj = 0

 βkj = 0
With
Withthe
thesame
samemethod,
method,the
thetolerance
tolerancefor
forbattery
batterypower
powerunbalance
unbalanceisis

ξ kjξkj
ψkj ψ
=kj = (1(1− m
m)) (35)
kj 
ξ kjξ− 11

On the
On the basis,
basis, thethemodified
modified SOCSOCbalancing control
balancing within
control arms arms
within is shown in Figure
is shown in 6.Figure
First, the
6.
unbalance
First, degree isdegree
the unbalance calculated according
is calculated to (13). Then
according according
to (13). to the power
Then according to the ratio,
powerthe DC the
ratio, andDC AC
factor
and ACare calculated.
factor The reference
are calculated. of submodule
The reference voltage isvoltage
of submodule given by adding
is given bythe voltage
adding theincrement
voltage
ukji into∆the
increment uikjoriginal
into the submodule
original submodule
voltage. voltage. At last, CPS-PWM
At last, CPS‐PWM generates
generates switchingswitching
signalssignals to
to control
control theofstate
the state of submodules.
submodules.

1
Pkbj    1
m
N
Pkbji Pkbji kbj
i
 kbj
i
,  kbj
i
SOCkj K3 Δukji ukji
Pkbj   1 m
SOCkji
or   1
ukj

Figure 6. Modified SOC balancing control within arms.

Figure 6. Modified SOC balancing control within arms.
Figure 7a shows the comparisons of tolerance for battery power unbalance when η takes some
specialFigure
values.7aInshows thea comparisons
[19,25], power factor of tolerance for
is introduced to battery power
distribute unbalance
submodule whenwhich
voltage, η takes
cansome
be
special values. In [19,25], a power factor is introduced to distribute submodule voltage,
equivalent to the case η = 1. The tolerance for battery power unbalance is a fixed value, but it is which can be
equivalent to the case η = 1. The tolerance for battery power unbalance is a fixed value,
too small for near all power ratio, which seriously limits the convergence rate of SOC balancing but it is too
small for
control. near
For theall power
case η = ratio, which
0, only seriously limits
AC component the convergence
is redistributed. rate ofthe
However, SOC balancing
tolerance control.
becomes
too small when the power ratio is relatively large. For the case 1/η = 0, only DC component is
Energies 2019, 11,
Energies 2018, 12, x96FOR PEER REVIEW 1212of
of 20
20

For the case η = 0, only AC component is redistributed. However, the tolerance becomes too small
when the power
regulated, ratio
but the is relatively
tolerance large.
is too Forwhen
small the case
the1/η = 0, only
power ratioDC component
is around is regulated,
zero. but the
For the modified
tolerance is too small when the power ratio is around zero. For the modified method,
method, the weighting ratio changes with power ratio, and the tolerance reaches the weighting
maximum for all
ratio changes
operation with power ratio, and the tolerance reaches maximum for all operation modes.
modes.

100 100
Tolerance for power unbalance(%)

Tolerance for power unbalance(%)

Proposed method
m=0.7
η =0 m=0.8
80 80
η =1 m=0.9
1η =0
60 60

40 40

20 20 17.7%
11.1%
5.2%
0 0
-4 -2 0 2 4 -4 -2 0 2 4
Power ratio Power ratio
(a) (b)

Figure
Figure 7.
7. Tolerance
Tolerance for
for battery
battery power
power unbalance:
unbalance: (a)
(a) comparison
comparison of
of different
different submodule
submodule voltage
voltage
regulation
regulation methods;
methods; (b)
(b) influence
influence of
of modulation
modulation ratio.
ratio.

Figure 7bshows
Figure 7b showsthethe relation
relation between
between modulation
modulation ratio
ratio and and tolerance
tolerance forpower
for battery battery power
unbalance.
unbalance. With the
With the increase increase of modulation
of modulation ratio, thesharply
ratio, the tolerance tolerance sharplyTo
decreases. decreases.
avoid theToover-modulation
avoid the over-
modulation of submodules,
of submodules, the gain of
the gain of controller controller
should shouldasbe limited as
be limited

K3K∆3 ΔSOC
SOCkj_max ≤ψψkjkjPP
kj_max ≤ kbj
kbj
(36)
(36)
where
where
i i
ΔSOC
∆ SOC = max
kj_max=
kj_max max(( SOC
SOCkjkj-−
SOC kj )kj )
SOC (37)
(37)

Hence
Hence the
the SOC
SOC controller
controller should satisfy

11
K3K≤
3 ≤ ψψkjkjPP
kbjkbj (38)
(38)
∆ΔSOC
SOCkj_max
kj_max

Note
Note that
that the
the power
power ratio
ratio and
and maximum
maximum SOCSOC unbalance
unbalance ofof six
six arms
arms are
are different,
different, meaning
meaning that
that
the controller K
the controller K33 may
may be
be different
different for
for different
different arms.
arms. To
To simplify
simplify thethe whole
whole SOC
SOC balancing
balancing control
control
structure, K
structure, K33 should
should take
take the
the same
same value,
value, which
which should
should satisfy
satisfy the
the relations
relations

11
K3K≤3 ≤min
min(
( ΔSOC ψψkj Pkbj )
kj Pkbj ) (39)
(39)
∆ SOCkj_max
kj_max

In
In this
this way, over-modulation of
way, over-modulation of submodules
submodules can
can be
be avoided,
avoided, and
and the
the convergence
convergence rate
rate of
of SOC
SOC
balancing control can be improved greatly.
balancing control can be improved greatly.

5.
5. Simulation
Simulation and
and Experiment
Experiment Results
Results

5.1.
5.1. Simulation
Simulation Results
Results

To verifythe
To verify theanalysis
analysis and
and proposed
proposed model
model in paper,
in this this paper, a simulation
a simulation modelonbased
model based on the
the topology
topology shown in Figure 1 is built in MATLAB/Simulink (Mathworks, Inc., Natick, MA,the
shown in Figure 1 is built in MATLAB/Simulink (Mathworks, Inc., Natick, MA, USA), and USA), and
detailed
the detailed are
parameters parameters
shown inare shown
Table 1. in Table 1.
Energies 2019, 12, 96 13 of 20

Table 1. Parameters of simulation model.

Quantity Value Comment

Vdc 400 V DC-Link voltage
m 0.8 Modulation ratio
Pac 10 KW Nominal AC-side power
Vsm 100 V Submodule capacitor voltage
N 4 Number of submodules per arm
C 5 mF Submodule capacitance
La 5 mH Arm inductor
Lbat 10 mH DC/DC side inductor
Vbat 60 V Nominal battery voltage
Cbat 1 Ah Nominal battery capacity
fM 2 kHz MMC side switching frequency
fB 10 kHz DC/DC converter frequency

Figure 8 is the simulation results of traditional SOC balancing control method used in [25].
The power of AC side and DC side are: Pdc = 4.8 KW, Pac = 9.6 KW. Figure 8a is the SOC
of 24 submodules in MMC-BESS. At time T = 20 s, the SOC balancing control is added to the system,
and then the SOC starts to converge. However the convergence rate is too small for the whole BESS.
Figure 8b shows the average SOC of six arms, which can denote the SOC balancing control among
phases and between arms. Figure 8c,d are the SOC of upper and lower arm in phase A. It is obvious
that the convergence rate of whole BESS is mainly limited by SOC balancing control within arms.
The analysis in Section 3.2 indicates that the tolerance for battery power unbalance is limited in 11%
when m = 0.8. In Figure 8e, the maximum power unbalance is 10% and over-modulation almost
occurs as shown in Figure 8f. It means that the SOC convergence rate has already reached the limit,
however the SOC convergence of the whole BESS is still so poor.
Energies 2019, 12, 96 14 of 20
Energies 2018, 11, x FOR PEER REVIEW 14 of 20

90 90
SOC of 24 submodules Average SOC of six arms
85 85
SOC(%)

SOC(%)
80 80

75 75

70 Add SOC balancing 70

control to the system
65 65
0 50 100 150 200 250 0 50 100 150 200 250
Time/s Time/s
(a) (b)
90 85 SOC of lower arm in phase A
SOC of upper arm in phase A
85
80
SOC(%)

80

SOC(%)
75
75

70 70

65 65
0 50 100 150 200 250 0 50 100 150 200 250
Time/s Time/s
(c) (d)
6 1.2
Modulation waves of upper arm in phase a
1.0
λ = 10%
Battery current/A

4 λ = 5.5%
0.8

0.6

2 0.4

0.2
0 0
20.00 20.02 20.04 240.00 240.02 240.04 20.00 20.02 20.04 240.00 240.02 240.04
Time/s Time/s
(e) (f)

Figure 8.
Figure 8. Simulation
Simulation results
resultsofoftraditional
traditionalSOCSOCbalancing
balancingcontrol:
control:(a)(a)
SOC
SOCof all submodules;
of all (b)
submodules;
average SOC of six arms; (c) SOC of upper arm in phase a; (d) SOC of lower arm in phase a; (e) battery
(b) average SOC of six arms; (c) SOC of upper arm in phase a; (d) SOC of lower arm in phase a;
current
(e) of current
battery phase arm in phase
of phase arma;in(f)phase
modulation waves of upper
a; (f) modulation wavesarm in phase
of upper armA.in phase A.

Figure 99 isis the

Figure the simulation
simulation results
results ofof the
the proposed
proposed SOC SOC balancing
balancing control,
control, and
and thethe power
power
configuration is the same as the simulation in Figure. 8. The SOC of all submodules is shown in Figure
configuration is the same as the simulation in Figure 8. The SOC of all submodules is shown in
9a. At time T = 20 s, the SOC balancing control is added to the control system, and then the SOC of
Figure 9a. At time T = 20 s, the SOC balancing control is added to the control system, and then the SOC
thethe
of whole
whole BESS
BESSconverges
convergestotothethesame
samevalue
valueat ataround
around TT == 200
200 s.s. Figure
Figure 9b
9b shows
shows thethe average
average SOC SOC
of six arms. Figure 9c,d are the SOC of upper and lower arm in phase A. In Figure 8, the tolerance for
of six arms. Figure 9c,d are the SOC of upper and lower arm in phase A. In Figure 8, the tolerance
battery
for power
battery power unbalance
unbalance is about 50%,
is about andand
50%, the the
control design
control is according
design is accordingto (39). At TAt= T20=s,20the
to (39). s,
difference
the of SOC
difference among
of SOC amongsubmodules
submodulesis theisgreatest, but the
the greatest, battery
but powerpower
the battery unbalance is still limited
unbalance is still
into the allowed values and over-modulation does not occur.
limited into the allowed values and over-modulation does not occur.
Compared with the traditional method, the proposed SOC balancing control method improves
the tolerance for battery power unbalance. Therefore, the efficiency of SOC balancing control can be
greatly improved and over-modulation also can be effectively avoided.
Energies 2019, 12, 96 15 of 20
Energies 2018, 11, x FOR PEER REVIEW 15 of 20

90 90
SOC of 24 submodules Average SOC of six arms
85 85

80

SOC(%)
80
SOC(%)

75 75

70 Add SOC balancing 70

control to the system
65 65
0 20 50 100 150 200 250 0 50 100 150 200 250
Time/s Time/s
(a) (b)
90 85
SOC of upper arm in phase A SOC of lower arm in phase A
85
80

80
SOC(%)

SOC(%)
75
75

70
70

65 65 0
0 50 100 150 200 250 50 100 150 200 250
Time/s Time/s
(c) (d)
8 1.2
Modulation waves of upper arm in phase a
λ = 44% Battery current of upper 1.0
6 phase arm in phase A
0.8
Current/A

0.6
λ = 0%
4
0.4

0.2
2
0
0 -0.2
20.00 20.02 20.04 240.00 240.02 240.04 20.00 20.02 20.04 240.00 240.02 240.04
Time/s Time/s
(e) (f)

Figure 9.
Figure 9. Simulation
Simulation results
resultsofofthe
themodified
modifiedSOC
SOCbalancing
balancingcontrol:
control: (a)(a)
SOC of all
SOC submodules;
of all submodules;(b)
average
(b) SOC
average SOCof of
allall
phase arms;
phase arms;(c)(c)
SOC ofof
SOC upper
upperarm
armininphase
phasea;a;(d)
(d)SOC
SOCofoflower
lowerarm
arminin phase
phase a;
a;
(e)battery
(e) batterycurrent
currentofofphase
phasearm
armin inphase
phaseA;
A;(f)
(f)modulation
modulationwaves
wavesofofupper
upperarm armininphase
phaseA.A.

5.2. Experiment
Compared Results
with the traditional method, the proposed SOC balancing control method improves
the tolerance for battery power unbalance. Therefore, the efficiency of SOC balancing control can be
The detailed simulation results above have verified the effectiveness of the analysis and
greatly improved and over-modulation also can be effectively avoided.
proposed control strategy. For further verification, a downscaled prototype is built in this paper as
shown
5.2. in Figure
Experiment 10. Owing to the limitation of experiment conditions. The utilized battery is the lead-
Results
acid battery, and the detailed parameters are shown in Table 2.
The detailed simulation results above have verified the effectiveness of the analysis and proposed
control strategy. For further verification, a downscaled prototype is built in this paper as shown in
Figure 10. Owing to the limitation of experiment conditions. The utilized battery is the lead-acid
battery, and the detailed parameters are shown in Table 2.
Energies 2019, 12, 96 16 of 20
Energies 2018, 11, x FOR PEER REVIEW 16 of 20

Figure 10.
Figure Prototype of
10. Prototype of three
three phase
phase MMC‐BESS.
MMC-BESS.

Table 2. Parameters of experiment prototype.

Table 2. Parameters of experiment prototype
Quantity Value Comment
Quantity Value Comment
Vdc 120 V DC-Link voltage
Vdc 120mV 0.8 DC‐Link
Modulation ratio voltage
m 0.8
Pac 2 KW Modulation
Nominal AC-side power ratio
Pac 2VKW sm 60 V SubmoduleNominalcapacitor
AC‐sidevoltagepower
Vsm 60NV 2 Number of submodules
Submodule per arm
capacitor voltage
C 3 mF Submodule capacitance
N 2
La 5 mH
Number of submodules per arm
Arm inductor
C 3 LmFbat 10 mH Submodule
DC/DC side inductor capacitance
La 5VmH bat 36 V Nominal Arm
battery inductor
voltage
Lbat 10CmH bat 12 Ah Nominal batteryside
DC/DC capacity
inductor
fM 5 kHz MMC side switching frequency
Vbat 36 V Nominal battery voltage
fB 10 kHz DC/DC converter frequency
Cbat 12 Ah Nominal battery capacity
fM 5 kHz MMC side switching frequency
Figure f11 B
is the steady-state
10 kHz waveforms of MMC-BESS, and the BESS
DC/DC converter works in charging mode.
frequency
Figure 11a is the ac-side current, and Figure 11b shows the circulating current of three phases.
Circulating
Figure current
11 is thecontains DC component
steady‐state waveforms andoffundamental
MMC‐BESS, frequencyand the BESS component.
works inThe dc circulating
charging mode.
currents11a
Figure of is
phase A, B, and
the ac‐side C are and
current, different,
Figurewhich are controlled
11b shows to balance
the circulating the SOC
current among
of three legs.
phases.
Fundamental frequency circulating currents are injected to
Circulating current contains DC component and fundamental frequency component. The dcbalance the SOC between phase arms.
Figure 11c,d
circulating show the
currents submodule
of phase A, B, and capacitor voltageswhich
C are different, and battery currentstoof
are controlled upperthe
balance arm andamong
SOC lower
arm in
legs. phase A. The
Fundamental ripples of
frequency capacitorcurrents
circulating voltage are
are injected
filtered tobybalance
the notch thefilter, so there is
SOC between nearly
phase no
arms.
low-frequency component in the battery current. The maximum battery
Figure 11c,d show the submodule capacitor voltages and battery currents of upper arm and lower power unbalance degree is
about 40%, which is much greater than the allowed unbalance degree in traditional
arm in phase A. The ripples of capacitor voltage are filtered by the notch filter, so there is nearly no method.
Figure 12 is
low‐frequency the experiment
component in the result
batteryofcurrent.
optimizedTheSOC balancing
maximum battery control
powerproposed
unbalancein this paper.
degree is
The SOC of 12 submodules is between 76–82% at T = 0, and the
about 40%, which is much greater than the allowed unbalance degree in traditional method. SOC of all submodules converges
to 70% at T =1240ismin.
Figure Figure 13 is result
the experiment the experiment
of optimizedresult of traditional
SOC balancing SOC controlbalancing
proposedcontrol. The
in this SOC
paper.
of 12 submodules is between 55–60% at T = 0. Figures 12a and 13a shows
The SOC of 12 submodules is between 76–82% at T = 0, and the SOC of all submodules converges to the SOC of all submodules.
it is at
70% obvious that the
T = 40mins. convergence
Figure of proposed
13 is the experiment method
result is muchSOC
of traditional better than that
balancing of traditional
control. The SOC
method.
of Figures 12b
12 submodules and 13b denote
is between 55–60%the at SOC
T = 0.balancing
Figure 12a control
and among
Figure 13a phases andthe
shows between
SOC of arms.
all
The convergence of the two methods are basically the same. In Figure
submodules. it is obvious that the convergence of proposed method is much better than that of 12c,d and Figure 13c,d, the SOC
balancing control
traditional method. within
Figurearms
12bof andtheFigure
proposed 13b method
denote the is much
SOC faster
balancing thancontrol
that of among
traditional method.
phases and
That is why the efficiency of the proposed method is much higher than
between arms. The convergence of the two methods are basically the same. In Figure 12 c,d and that of traditional method.
Figure 13c,d, the SOC balancing control within arms of the proposed method is much faster than that
Energies 2018, 11, x FOR PEER REVIEW 17 of 20
Energies 2018, 11, x FOR PEER REVIEW 17 of 20

of traditional
Energies method.
2019, 12, 96 That is why the efficiency of the proposed method is much higher than 17
that of
of 20
of traditional method. That is why the efficiency of the proposed method is much higher than that of
traditional method.
traditional method.

Ac‐side current Circulating current

Ac-side current Circulating current

Phase A Phase B Phase C

[5ms/div] Phase A Phase B Phase C
[1A/div]
Phase A Phase B Phase C [10ms/div]
[5ms/div] Phase A Phase B Phase C
[4A/div] [1A/div] [10ms/div]
[4A/div]
(a) (b)
(a) (b)
Upper arm of phase A Lower arm of phase A
Upper arm of phase A
Capacitor voltage SM1 [8V/div] Lower arm of phaseCapacitor
A voltage SM1 [8V/div]
Capacitor voltage SM1 [8V/div] Capacitor voltage SM1 [8V/div]
SM2 [8V/div] SM2 [8V/div]
SM2 [8V/div] au
1
 40% SM2 [8V/div]
λau
1
= 40%
au
1
 32% Battery current SM1[0.5A/div] Battery current
SM1[0.5A/div] au2  40% Battery current SM1[0.5A/div]
λau
1
= 32% Battery current SM1[0.5A/div]
λau2 = −40%
au2  32% SM2[0.5A/div]
λau2 = −32% [50ms/div] SM2[0.5A/div]
SM2[0.5A/div]
SM2[0.5A/div] [50ms/div]
[50ms/div] [50ms/div]

(c) (d)
(c) (d)
Figure11.
Figure 11. Steady-state
Steady‐state waveforms
waveformsof ofMMC‐BESS
MMC-BESSwith withoptimized
optimizedSOCSOCbalancing control
balancing method:
control (a)
method:
Figure 11. Steady-state waveforms of MMC-BESS with optimized SOC balancing control method: (a)
AC‐side current; (b) circulating current; (c) capacitor voltage and battery
(a) AC-side current; (b) circulating current; (c) capacitor voltage and battery current of upper arm in
upper arm in
AC-side current; (b) circulating current; (c) capacitor voltage and battery current of upper arm in
phaseA;
phase A;(d)
(d)capacitor
capacitorvoltage
voltageand
andbattery
batterycurrent
currentofoflower
lowerarm
armininphase
phaseA.
A.
phase A; (d) capacitor voltage and battery current of lower arm in phase A.
82 82
82 SOC of 12 submodules 82 Average SOC of six arms
80 80 Average SOC of six arms
SOC of 12 submodules
80 80
78 78
SOC(%)
SOC(%)

78 78
SOC(%)
SOC(%)

76 76
76 76
74 74
74 74
72 72
72 72
70 70
70 0 5 10 15 20 25 30 35 40 45 70 0 5 10 15 20 25 30 35 40 45
0 5 10 15 Time/min
20 25 30 35 40 45 0 5 10 15 Time/min
20 25 30 35 40 45
(a)
Time/min (b)
Time/min
80 (a) 82 (b)
80 SOC of upper arm in phase A 82 SOC of lower arm in phase A
SOC of upper arm in phase A 80 SOC of lower arm in phase A
78
80 SM1
78 SM1
78
SM1 SM1
SOC(%)

SOC(%)

76 78
SOC(%)

SOC(%)

76 SM2 76 SM2
74 SM2 76 SM2
74 74
74
72 72
72 72
70 70
70 0 5 10 15 20 25 30 35 40 45 70 0 5 10 15 20 25 30 35 40 45
0 5 10 15 Time/min
20 25 30 35 40 45 0 5 10 15 Time/min
20 25 30 35 40 45
(c)
Time/min (d)
Time/min
(c) (d)
Figure 12. Experiment results of modified SOC balancing control method: (a) SOC of all submodules;
Figure 12.
Figure 12. Experiment
Experiment results
results of
of modified
modified SOC
SOC balancing
balancing control
control method: (a) SOC
method: (a) SOC of
of all
all submodules;
submodules;
(b) average SOC of phase arms; (c) SOC of upper arm in phase A; (d) SOC of lower arm in phase A.
(b) average SOC of phase arms; (c) SOC of upper arm in phase A; (d) SOC of lower arm inphase
(b) average SOC of phase arms; (c) SOC of upper arm in phase A; (d) SOC of lower arm in phaseA.
A.
Energies 2019, 12, 96 18 of 20
Energies 2018, 11, x FOR PEER REVIEW 18 of 20

60 60
SOC of 12 submodules Average SOC of six arms

55 55
SOC(%)

SOC(%)
50 50

45 45
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35 40 45
Time/min Time/min
(a) (b)
60 60

SOC of upper arm in phase A SOC of lower arm in phase A

SM1
55 SM1 55

SOC(%)
SOC(%)

SM2
SM2
50 50

45 45
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35 40 45
Time/min Time/min
(c) (d)

Figure 13.
Figure 13. Experiment
Experiment results
results of
of traditional
traditional SOC
SOC balancing
balancing control
control method:
method: (a)
(a) SOC
SOC of
of all
all submodules;
submodules;
(b) average SOC of phase arms; (c) SOC of upper arm in phase A; (d) SOC of lower arm inphase
(b) average SOC of phase arms; (c) SOC of upper arm in phase A; (d) SOC of lower arm in phaseA.
A.

6.
6. Conclusions
Conclusions
This
This paper mainly focuses
paper mainly focusesononthe
theSOC
SOCbalancing
balancingcontrol
control
of of MMC-BESS,
MMC-BESS, aiming
aiming to improve
to improve the
the efficiency of SOC balancing control. The investigation indicates that the battery
efficiency of SOC balancing control. The investigation indicates that the battery power unbalance power unbalance
can
can
leadlead to over-modulation
to the the over-modulation of submodules,
of submodules, limiting
limiting the efficiency
the efficiency of SOCof balancing
SOC balancing control.
control. Then
Then the tolerance for battery power unbalance is defined to quantize the
the tolerance for battery power unbalance is defined to quantize the convergence of SOC balancing convergence of SOC
balancing control. The submodule voltage regulation method is studied in detail
control. The submodule voltage regulation method is studied in detail by introducing the DC factor by introducing
the
andDC ACfactor and
factor. AC
The factor.
linear The linear programming
programming method istointroduced
method is introduced reach the to reach thetolerance
maximum maximum in
tolerance in different operation modes. Based on the analysis, by choosing
different operation modes. Based on the analysis, by choosing appropriate submodule voltage appropriate submodule
voltage
regulationregulation
method,method, the efficiency
the efficiency of SOCofbalancing
SOC balancingcontrolcontrol is improved
is improved greatly.
greatly. To avoidTo avoid
over-
over-modulation of submodules, the controller of SOC balancing control is also optimally
modulation of submodules, the controller of SOC balancing control is also optimally designed. In this designed.
In thisthe
way, way, the convergence
convergence rate of rate
SOCof is SOC is greatly
greatly improved improved
compared compared with traditional
with traditional method.method.
Finally,
Finally, the analysis and proposed SOC balancing method are verified
the analysis and proposed SOC balancing method are verified through detailed simulation through detailed simulation
and
and experiment
experiment results. results.

Author Contributions: Y.M. proposed the main idea, performed the theoretical analysis, and wrote the paper.
Author
H.L. Contributions:
contributed Y.M. proposed
the experiment theand
materials main idea,
gave someperformed the theoretical
suggestions. analysis,
Z.W. and Z.Z. and wrote
performed the paper.
the experiments.
H.L. contributed the experiment materials and gave some suggestions. Z.W. and Z.Z. performed the
Funding: This research was funded by National Natural Science Foundation of China, grant number 51741703.
experiments.
Conflicts of Interest: The authors declare no conflict of interest.
Funding: This research was funded by National Natural Science Foundation of China, grant number 51741703.

Conflicts of Interest: The authors declare no conflict of interest.

References
1. Qian, H.; Zhang, J.; Lai, J.S.; Yu, W. A high-efficiency grid-tie battery energy storage system. IEEE Trans.
References
Power Electron. 2011, 26, 886–896. [CrossRef]
1.
2. Qian, H.;Y.;
Alipoor, Zhang,
Miura,J.; Lai, J.S.;T.Yu,
Y.; Ise, W. A System
Power high-efficiency grid-tie
Stabilization battery
Using energy
Virtual storage system.
Synchronous IEEE Trans.
Generator with
Power Electron. 2011, 26, 886–896, doi:10.1109/TPEL.2010.2096562.
Alternating Moment of Inertia. IEEE J. Emerg. Sel. Top. Power Electron. 2015, 3, 451–458. [CrossRef]
2.
3. Alipoor,
Jiang, Q.Y.;Y.;Gong,
Miura,
Y.Z.;Y.;Wang,
Ise, T.
H.J.Power System
A battery Stabilization
energy Using
storage system Virtual control
dual-layer Synchronous Generator
strategy with
for mitigating
Alternating
wind Moment IEEE
farm fluctuations. of Inertia. IEEESyst.
Trans. Power J. 2013,
Emerg. Sel. Top. [CrossRef]
28, 3263–3273. Power Electron. 2015, 3, 451–458,
4. doi:10.1109/JESTPE.2014.2362530.
Baruschka, L.; Mertens, A. Comparison of cascaded H-bridge and modular multilevel converters for
3. Jiang, Q.Y.; Gong,InY.Z.;
BESS application. Wang, H.J.
Proceedings of theAEnergy
batteryConversion
energy storage system
Congress and dual-layer
Exposition,control
Phoenix,strategy for
AZ, USA,
mitigating
17–22 September wind2011; farm [CrossRef] IEEE Trans. Power Syst. 2013, 28, 3263–3273,
fluctuations.
pp. 909–916.
doi:10.1109/TPWRS.2013.2244925.
Energies 2019, 12, 96 19 of 20

5. Soong, T.; Lehn, P.W. Evaluation of emerging modular multilevel converters for BESS applications.
IEEE Trans. Power Deliv. 2014, 29, 2086–2094. [CrossRef]
6. Trintis, I.; Munk-Nielsen, S.; Teodorescu, R. A new modular multilevel converter with integrated energy
storage. In Proceedings of the IECON 2011-37th Annual Conference on IEEE Industrial Electronics Society,
Melbourne, Australia, 7–10 November 2011; pp. 1075–1080. [CrossRef]
7. Coppola, M.; Del Pizzo, A.; Iannuzzi, D. A power traction converter based on modular multilevel
architecture integrated with energy storage devices. In Proceedings of the Electrical Systems for Aircraft,
Railway and Ship Propulsion (ESARS), Pittsburgh, PA, USA, 14–18 September 2014; pp. 1–7. [CrossRef]
8. Hillers, A.; Stojadinovic, M.; Biela, J. Systematic comparison of modular multilevel converter topologies for
battery energy storage systems based on split batteries. In Proceedings of the 17th Europe Conference Power
Electronics, Geneva, Switzerland, 8–10 September 2015; pp. 1–9. [CrossRef]
9. Soong, T.; Lehn, P.W. Internal Power Flow of a Modular Multilevel Converter with Distributed Energy
Resources. IEEE J. Emerg. Sel. Top. Power Electron. 2014, 2, 1127–1138. [CrossRef]
10. Gao, F.; Zhang, L.; Zhou, Q. State-of-charge balancing control strategy of battery energy storage system based
on modular multilevel converter. In Proceedings of the IEEE Energy Conversion Congress and Exposition,
Pittsburgh, PA, USA, 14–18 September 2014; pp. 2567–2574. [CrossRef]
11. Zhang, L.; Gao, F.; Li, N. Interlinking modular multilevel converter of hybrid AC-DC distribution system with
integrated battery energy storage. In Proceedings of the IEEE Energy Conversion Congress and Exposition,
Montreal, QC, Canada, 20–24 September 2015; pp. 70–77. [CrossRef]
12. Bala, S. The effect of low frequency current ripple on the performance of a Lithium Iron Phosphate (LFP)
battery energy storage system. In Proceedings of the IEEE Energy Conversion Congress and Exposition,
Raleigh, NC, USA, 15–20 September 2012; pp. 3485–3492. [CrossRef]
13. Puranik, I.; Zhang, L.; Qin, J. Impact of Low-Frequency Ripple on Lifetime of Battery in MMC-based Battery
Storage Systems. In Proceedings of the IEEE Energy Conversion Congress and Exposition, Portland, OR, USA,
23–27 September 2018; pp. 2748–2752. [CrossRef]
14. Novakovic, B.; Nasiri, A. Modular multilevel converter for wind energy storage applications. IEEE Trans.
Ind. Electron. 2017, 64, 8867–8876. [CrossRef]
15. Ma, Y.J.; Lin, H.; Wang, Z.; Wang, T. Capacitor voltage balancing control of modular multilevel converters
with energy storage system by using carrier phase-shifted modulation. In Proceedings of the IEEE Applied
Power Electronics Conference and Exposition, Tampa, FL, USA, 26–30 March 2017; pp. 1821–1828. [CrossRef]
16. Soong, T.; Lehn, P.W. Assessment of Fault Tolerance in Modular Multilevel Converters with Integrated
Energy Storage. IEEE Trans. Power Electron. 2016, 31, 4085–4095. [CrossRef]
17. Hagiwara, M.; Akagi, H. Control and experiment of pulse width-modulated modular multilevel converters.
IEEE Trans. Power Electron. 2009, 24, 1737–1746. [CrossRef]
18. Adam, G.P.; Anaya-Lara, O.; Burt, G.M. Modular multilevel inverter: Pulse width modulation and capacitor
balancing technique. IET Power Electron. 2010, 3, 702–715. [CrossRef]
19. Han, W.; Zou, C.; Zhou, C. Estimation of cell SOC evolution and system performance in module-based
battery charge equalization systems. IEEE Trans. Smart Grid 2018. [CrossRef]
20. Vasiladiotis, M.; Rufer, A. Analysis and Control of Modular Multilevel Converters with Integrated Battery
Energy Storage. IEEE Trans. Power Electron. 2015, 30, 163–175. [CrossRef]
21. Quraan, M.; Tricoli, P.D.; Arco, S. Efficiency assessment of modular multilevel converters for battery electric
vehicles. IEEE Trans. Power Electron. 2017, 32, 2041–2051. [CrossRef]
22. Quraan, M.; Yeo, T.; Tricoli, P. Design and control of modular multilevel converters for battery electric
vehicles. IEEE Trans. Power Electron. 2016, 31, 507–517. [CrossRef]
23. Zhang, L.; Tang, Y.; Yang, S. Decoupled Power Control for A Modular Multilevel Converter-Based Hybrid
AC-DC Grid Integrated with Hybrid Energy Storage. IEEE Trans. Ind. Electron. 2018. [CrossRef]
24. Chen, Q.; Li, R. Analysis and Fault Control of Hybrid Modular Multilevel Converter with Integrated Battery
Energy Storage System. IEEE J. Emerg. Sel. Top. Power Electron. 2017, 5, 64–79. [CrossRef]
Energies 2019, 12, 96 20 of 20

25. Liang, H.; Guo, L.; Song, J. State-of-Charge Balancing Control of a Modular Multilevel Converter with
an Integrated Battery Energy Storage. Energies 2018, 11, 873. [CrossRef]
26. Debnath, S.; Qin, J.; Saeedifard, M. Control and stability analysis of modular multilevel converter under
low-frequency operation. IEEE Trans. Ind. Electron. 2015, 62, 5329–5339. [CrossRef]

© 2018 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/).