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A Space Vector Modulation Approach for a Multimodule HVDC Converter System

Maryam Saeedifard, Student Member, IEEE, Hassan Nikkhajoei, Member, IEEE, Reza Iravani, Fellow, IEEE, and Alireza Bakhshai, Member, IEEE

AbstractThis paper presents the application of a space vector modulation (SVM) strategy for a multimodule converter system that 1) enables low switching frequency, 2) eliminates/minimizes ac-side voltage harmonics, particularly low-order harmonics, and 3) provides maximum ac-side fundamental voltage component. The SVM strategy is based on a sequential sampling technique. The SVM provides harmonic cancellation/minimization by introducing appropriate phase shift for the corresponding voltage harmonics of the converter modules, while maintaining the fundamental voltage components of modules in-phase to obtain maximum ac-side voltage. The SVM eliminates the need for complicated transformer arrangement for harmonic reduction, and thus provides high degree of modularity by utilization of identical transformers for converter modules. The proposed SVM strategy is developed for a back-to-back HVDC converter station in which each converter system is composed of four identical modules. Based on a dynamic model of the system, converter controls are designed and performance of the SVM strategy in terms of converter harmonics and dynamic performance are presented. The studies are performed in time-domain, using the PSCAD/EMTDC software tool. Index TermsDynamic model, harmonics, HVDC, multimodule converter, space vector modulation (SVM).

I. INTRODUCTION IGNIFICANT developments in semiconductor technology and commercial availability of high-power switches [e.g., insulated-gate bipolar transistors (IGBTs)], have resulted in wide acceptance of the switch-mode voltage-source converter (VSC) as the building block for HVDC converters [1][6]. The requirement to meet high voltage levels, both at ac and dc sides, of an HVDC converter system is met by the use of multilevel [7] and/or multimodule [8] VSC congurations. To maintain HVDC converter loss within an acceptable limit, the switching frequency of the VSC modules of a converter system has to be at the lowest possible value. Low switching frequency generates low-order ac-side harmonics which also have to be limited within permissible values.

Manuscript received February 28, 2006; revised June 8, 2006. Paper no. TPWRD-00076-2006. M. Saeedifard and R. Iravani are with the Center for Applied Power Electronics (CAPE), Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON M5S 3G4, Canada (e-mail: mary.saeedifard@ utoronto.ca; iravani@ecf.utoronto.ca). H. Nikkhajoei is with the Wisconsin Power Electronics Research Center (WisPERC), Department of Electrical and Computer Engineering, University of Wisconsin-Madison, Madison, WI 53706 USA (e-mail: h.nikkhajoei@ utoronto.ca). A. Bakhshai is with the Department of Electrical and Computer Engineering, Queens University, Kingston, ON K7L 3N6, Canada (e-mail: alireza.bakhshai @queensu.ca). Digital Object Identier 10.1109/TPWRD.2006.886777

If low switching frequency is adopted for a multimodule HVDC converter system, harmonic cancellation/minimization is conventionally achieved by the following approaches. The rst approach is based on selective harmonic elimination pulse-width modulation (SHEPWM) techniques which allows certain harmonics, usually low-order non-triplen harmonics, to be eliminated/minimized by proper selection of switching instants [9][11]. Due to the low switching frequency and thus low switching power loss, and good harmonic performance, SHEPWM techniques have been used for series-connected half-bridge converters [11]. The main drawbacks of SHEPWM techniques are 1) implementation difculty, i.e., requirement to solve a set of nonlinear equations and calculate switching angles, and 2) the need for additional memory and hardware to store the preprogrammed switching angles. The second approach is based on a transformers windings arrangement that provides appropriate phase shift for (a set of) harmonics, based on the concept of 12-, 24-, or even 48-pulse operation [12], [13]. The advantage of this approach is that it can utilize very low switching frequency. Its drawbacks are 1) the need for complicated transformers windings and 2) lack of modularity since the transformers are not identical. The third approach is based on carrier phase-shifted sinusoidal PWM (SPWM) techniques [8], [14]. The main feature of this method is that it does not require complicated transformer congurations. Its main drawbacks are that 1) it practically can be used if the SPWM frequency modulation index is larger than (or at least equal to) 9, and 2) the SPWM inherent per-phase switching nature results in redundant switchings that partially offset the low loss as a result of low switching frequency. Space vector modulation (SVM) is the preferred PWM strategy for low- and medium-power three-phase VSC units, particularly in view of its inherent property for digital implementation [15], [16]. However, the conventional SVM methods require relatively high switching frequency, and thus are not the best option for high power applications. This paper proposes and investigates the use of a low switching frequency SVM technique for a multimodule converter system (e.g., an HVDC converter system [17]). Salient features of the proposed SVM strategy are the following. It can operate at switching frequencies lower than that of a phase-shifted carrier SPWM. It can provide appropriate phase shift among the corresponding harmonics of VSC modules of a converter

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Fig. 1. Schematic representation of a back-to-back HVDC converter station.

system. This results in harmonic cancellation/minimization through the use of identical transformers for the VSC modules, and thus eliminates the need for complicated transformer windings and enhances modularity of the converter structure. The proposed SVM guarantees maximum possible ac-side voltage by keeping the fundamental voltage components of all VSC modules inphase. This paper also develops a comprehensive mathematical model for the overall multimodule-based HVDC system. The developed model provides a tool for system studies and systematic controller design of the HVDC system. The rest of the paper is organized as follows. Section II introduces the HVDC study system. Section III provides an overview of the SVM-based switching strategy. Then, principles of sequential sampling technique for SVM is explained. The technique is then employed in an SVM strategy to eliminate loworder harmonics of the ac-side voltage of a four-module converter system. Section IV develops a fundamental-frequency model of the multimodule-based HVDC system. In Section V, the model is used to design controllers for the HVDC system. Performance of the HVDC system, in terms of harmonics and transient responses, is evaluated based on digital time-domain simulation studies in the PSCAD/EMTDC environment and reported in Section VI. Conclusions are stated in Section VII. II. HVDC SYSTEM Fig. 1 shows a schematic representation of a four-module back-to-back HVDC converter station. Each converter system (i.e., either VSC-1 or VSC-2), is composed of four VSC modules which are connected in series at both ac- and dc-side. Each VSC module is shown in Fig. 2. The conguration of Fig. 1 provides a high degree of modularity since all VSC modules and the corresponding dc-side capacitors and the ac-side transformers are identical. In the system of Fig. 1, the corresponding VSC modules of VSC-1 and VSC-2 share the same dc-side capacitor, and nodes to are common between VSC-1 and VSC-2. It should be noted that the proposed SVM switching, modelling and conclusions of the paper are equally valid, if VSC-1 and VSC-2 have separate dc-side capacitor arrangements. The number of VSC modules in each converter system can be increased depending on power and voltage ratings as required by the application.

Fig. 2. Schematic diagram of each VSC module.

To maximize dc to ac voltage transfer ratio of each fourmodule converter, fundamental components of terminal voltages of the corresponding VSC modules are generated at the same phase-angle. However, each low-order, ac-side, voltage harmonic is appropriately phase shifted to be cancelled/eliminated when ac-side voltages of modules are added up. This paper proposes an SVM-based switching strategy, based on a sequential sampling technique, to provide the required phase shifts for minimization/cancellation of low-order, ac-side harmonics [18]. In comparison with a SPWM switching strategy, the proposed SVM switching strategy: 1) generates a larger fundamental component of ac-side voltage and 2) requires a lower switching frequency for each VSC module that, in turn, results in a lower switching loss. III. SVM SWITCHING STRATEGY This section briey reviews the conventional SVM strategy and introduces the proposed sequential sampling SVM technique adopted for each VSC module of Fig. 1. A. Conventional SVM Switching Strategy A conventional SVM is a digital modulation technique in which a sampled reference vector is synthesized by time-averaging of a number of appropriate switching state vectors. The reference and the switching state vectors are represented in a complex plane by a transformation from to coordinates [15], [16] (1)

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Fig. 3. Representation of the switching state vectors and the reference vector in the  plane.

Fig. 4. Schematic representation of the sequential sampling technique.

When applied to the eight permitted switching states of the VSC module of Fig. 2, this transformation generates six nonzero ) that form a hexagon, voltage space vectors ( centered at the origin of the plane, and two zero switching , located at the origin of the plane, Fig. 3. The vectors ac-side voltage of the VSC module is synthesized by [15] (2) is the reference voltage where is the switching period, and are the respective on-duration time invector, and , tervals of switching vectors, , and , Fig. 3. The on-duration time intervals are calculated from [15] (3) (4) (5) where index is the angle between is and , Fig. 3, modulation

Fig. 5. Sequential sampling-based SVM for the four VSC modules in Sector I. As the reference voltage vector rotates in the  plane, each modulator samples at a specied instant.

(6) is the dc voltage of the VSC module. and Reference voltage vector of an SVM strategy can be synthesized based on different combinations of switching vectors. Thus, there exist multiple switching patterns, each with a different switching frequency and harmonic spectrum. Similar to a SPWM switching strategy, the switching pattern of an SVM strategy has a lower impact on the corresponding frequency spectrum when its switching frequency is higher. For a high-power converter (e.g., the four-module converter system of Fig. 1), low switching frequency is more desirable since it reduces switching loss. Therefore, to meet the loss and harmonic spectrum targets, both the SVM switching frequency and the switching pattern are to be simultaneously considered, as further discussed in the following sections.

B. Sequential Sampling SVM Technique Sequential sampling SVM technique is an approach to minimize/reduce low-order ac-side harmonics of a multimodule converter system, e.g., that of Fig. 1, by means of a low switching frequency SVM strategy [17]. Fig. 4 shows a schematic block diagram for implementation of the proposed sequential sampling technique for the four-module converter system of Fig. 1. , for all The SVM strategy adopts the same reference vector, of the SVM modulators of each converter system, e.g., VSC-1, of Fig. 4. All of the SVM modulators use the same sampling s corrate; but at sampling instants that are delayed by is the responding to 15 electrical degrees, Fig. 5. Since same for all VSC modules of VSC-1, the corresponding ac-side fundamental-frequency voltage components are in-phase. However, as a result of the sequential sampling technique, harmonic components are phase-shifted. The phase shifts, as shown in the next section, are used for harmonic cancellation at the ac-side of each four-module converter system. In contrast to a phase-shifted carrier SPWM technique [8], [14], the proposed sequential sampling SVM generates the switching patterns on a three-phase basis which permits a can be synthelower switching frequency. Also, since sized based on different combinations of switching vectors, as

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Fig. 6. Proposed space vector switching pattern in Sector I and I.

compared with a carrier SPWM technique, the proposed SVM strategy provides higher degree of exibility to 1) minimize the switching frequency and 2) minimize/cancel low-frequency harmonics. C. SVM Switching Pattern In a conventional SVM switching strategy, two factors determine the switching frequency: 1) sampling rate and 2) switching pattern. In a low switching frequency SVM which is desirable in high-power applications, the sampling rate must be an integer multiple of 6 to synchronize the PWM and prevent sub-harmonics. Therefore, to attain a low switching frequency based on the proposed sequential sampling technique, each SVM modulator samples the reference vector at the lowest possible rate of once per sector (every 60 ). Since the switching pattern also affects the switching frequency, it should 1) have the lowest possible switching frequency to minimize switching losses and 2) provide an appropriate phase shift for harmonics up to the order of the rst dominant harmonic to minimize them when superimposed by the interface transformer. Fig. 6 shows a space vector pattern that satises these features [17]. As Fig. 6 shows, each sampling period is divided into two intervals and the switching pattern of the rst-half period is repeated at the second-half period. This results in a switching frequency of Hz for each VSC module. Based on the space vector pattern of Fig. 6, the ac-side fundamental components of all modules remain in-phase, however, the harmonic components have almost opposite phase-angles. Magnitudes and phase-angles of the fundamental, the fth and the seventh components, as functions of sampling angle , are shown in Fig. 7. Based on the sequential sampling SVM, the sampling angles of the four corresponding VSC modules are , , 1, 2, 3. Fig. 7 shows that harmonic phases sharply change from negative to positive in the vicinity of . With four VSC modules, the corresponding harmonics appear at the ac-sides of modules are in almost opposite phases. Thus, superposition of low-order voltage harmonics, through the system sides of the transformers, Fig. 1, cancels/minimizes the harmonics. The proposed SVM switching pattern has the following salient features. (or The selected switching frequency is 6 p.u.), since there is one sample per each sector for each VSC module. Effective modulation frequency ratio of a . Thus, the rst four-module converter system is dominant harmonic component at the system-side of each four-module converter system is of order 23, as illustrated in Fig. 8.

Fig. 7. Magnitude and phase angle of harmonics versus a sampling angle for = 1 for VSC modules of the four-module converter system of Fig. 1: (a) magnitude and (b) phase angle.

Fig. 8. AC-side voltage spectra of the four-module converter system of Fig. 1 versus modulation index .

Based on Fig. 7 and the harmonic analysis presented in Appendix A, 1) the fundamental component of the ac-side voltage varies linearly with the modulation index and 2) for the whole linear range of modulation, the rst dominant harmonic is of order 23. However, as shown in Fig. 7(a), the fundamental compoat the sampling angle of nent of the corresponding module is reduced. At sampling (i.e., and for ), the on-duinstant ration time of zero voltage vector, based on (3) to (5), beand results in comes zero. This only applies when

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the amplitude of fundamental component to decrease and the amplitudes of the fth and seventh harmonics to in. crease at In general, for an -module converter system that employs the sequential sampling SVM technique, the effec. The mathematical tive switching frequency is proof is presented in Appendix A. For the whole range of voltage control, magnitudes of harmonics up to order 23 are signicantly minimized, although not completely cancelled out. The reason is that in the sequential sampling SVM for which the number of modules is not too large, the phase-angles of the low-order harmonics are not exactly opposite of each other and do not cancel out completely. Therefore, as shown in Fig. 8, residual low-order harmonics appear in the ac-side voltage spectra of the four-module converter system of Fig. 1. Increasing the number of VSC modules while keeping the switching frequency constant, practically eliminates the low-order harmonics and reduces higher-order harmonics . in the vicinity of frequency In comparison with a three-level converter that has been also investigated for HVDC systems, the proposed fourmodule converter provides better harmonic performance. Details are presented in Appendix B. IV. SYSTEM MODEL This section presents a fundamental-frequency model for the four-module converter system of Fig. 1 to design the converter system controllers and evaluate harmonics and dynamic performance of the HVDC system under the proposed SVM switching strategy. First, a fundamental-frequency model of the system, in the abc frame, is developed. Then, the model is transferred to the frame to deduce a fundamental-frequency-based model for the system. A. System Model in abc Frame Phase-a voltage equation corresponding to ac System-1 of Fig. 1 is (7) operator, and are the interface rewhere is the sistance and inductance between the VSC-1 and ac System-1, is the net terminal voltage of VSC-1, Fig. 1. Phase-a and terminal voltage of VSC module of VSC-1, Fig. 1, is [18] (8) is the switching function of the switch that connects where phase-a terminal of the VSC module to its corresponding positive dc-capacitor terminal, and is the dc-capacitor voltage in terms of its Fourier series of module . Substituting for components [17] in (8)

and are respectively the amplitude modulation where index and the angle modulation index which are the same for is the angular frequency of the switching all VSC modules. functions of module , and and (in degrees), which are independent of , are

(10)

(11)

The net terminal voltage of VSC-1, Fig. 1, is the sum of terminal voltages of the corresponding four VSC modules, through the interface transformers, i.e., (12)

from (9) in (12) and neglecting harSubstituting for monics of order 23 and higher, we deduce (13) It should be noted that harmonics up to order 23 are cancelled/ minimized based on the proposed sequential sampling SVM technique. To deduce (13), it is assumed that the dc-capacitor voltages of VSC modules are the same and equal to . Subfrom (13) in (7), and also considering phases stituting for b and c, we obtain

(14)

, . where Analogous to (14), the voltage equations of VSC-2 of Fig. 1 are

(15)

where , . and are the interface resistance and inductance between , and are, respectively, VSC-2 and ac System-2, and , angular frequency of the switching functions and amplitude and angle modulation indices of the VSC modules. For the dc-link circuit of VSC module of VSC-2, Fig. 1, we deduce (16)

(9)

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where (17) (18) and are the dc-link currents of module , and , and represent switching functions of the ac sides of VSC module . For the dc-link arrangement of Fig. 1, we have

(19) Equations (14), (15). and (19) represent a fundamental-frequency model of VSC-1 of Fig. 1 in the abc frame. B. Converter Model in dq Frame Since the dynamic model of an electrical power system is frame, it is desirable to obtain traditionally developed in the the model of the system of Fig. 1 in the dq frame. variables of ac System-1 to a frame, a To transfer the transformation matrix is selected such that the and current components of ac System-1 are proportional to its real and reactive power components, respectively. Thus, the control of each current component regulates the corresponding power compoframe nent. The ac System-1 variables are transferred to the by [20] (20) where transformation matrix is
Fig. 10. Schematic representation of the system of Fig. 1 including power and control subsystems. Fig. 9. Control systems of VSC-1 and VSC-2 of Fig. 1.

(21) (22) is the frequency of ac System-1, and is the phase angle , Fig. 1. Transforming the variables of ac System-1, as of given by (14), based on (20), we deduce

If switching functions , and are represented by the corresponding fundamental components as

(25)

by substituting for (23) where is equal to the amplitude of . Analogous to (23), for the ac System-2 of Fig. 1, we can deduce

from (25) in (17), we deduce (26)

and are the and current components of the In (26), ac System-1 current. Analogous to (26), for the VSC-2 dc-link current of module , we obtain (27)

(24) In (24), and are the amplitude and angle of .

and are the and current components of the where ac System-2 current. Equations (19), (23), and (24) represent a fundamental-frequency model of the HVDC system of Fig. 1.

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Fig. 11. Steady-state current and voltage waveforms of the four-module converter system of Fig. 1 : (a,b) line voltage of VSC-1 and its spectrum. (c,d) Line voltage of one VSC module of VSC-1 and its spectrum. (e,f) AC System-1 current and its spectrum. (g) Net dc-capacitor terminal voltage. (h) Per-module dc-capacitor voltage.

V. CONVERTER CONTROL The control parameters of each VSC module of Fig. 1 are the magnitude and angle modulation indices. The and components of terminal voltage of VSC-1 based on (23) are (28) (29) where (30) (31) Similarly, for VSC-2, from (24), we deduce (32) (33) where (34) (35)

Based on (28), (29), (32), and (33), block diagrams of VSC-1 and VSC-2 control systems are deduced as shown in Fig. 9. Inputs are the and current components of ac System-1 and ac System-2. Outputs of the control systems are the magnitude and angle modulation indices of VSC-1 and VSC-2. The control system of Fig. 9 consists of two subsystems, where each one is a two-input two-output controller and each can be substituted with two single-input single-output (SISO) , controllers [18] through intermediate variables [18], [20]. , and are selected as intermediate variables of the control systems of Fig. 9. Relationships between the intermediate variables and the system variables to be controlled (i.e., , , , and are given by (30), (31), (34), and (35). These relationships are used to deduce SISO controllers from the control systems of Fig. 9 [21], and design the controllers based on MATLAB SISO tools. VI. STUDY RESULTS This section evaluates performance of the HVDC system of Fig. 1 when operating under the control system of Fig. 9. Fig. 10 shows a schematic block representation of the power system and the controls of Figs. 1 and 9. The reported studies in this section are carried out based on time-domain simulation in the PSCAD/EMTDC environment. The system parameters are given in Appendix C.

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Fig. 12. Dynamic response of the system of Fig. 10 to a step change in the dc voltage reference: (a) DC-link voltage. (b,c) Real and reactive components of ac System-1 currents.

Real/reactive power control: The system is initially under a steady-state operating condition. Reactive and real power dep.u. at mands of ac System-2 change from 0.6 to , and from 0 to 0.6 p.u. at , respectively. Fig. 13 shows dynamic response of the system to the step changes in power demand. Fig. 13(a) and (b) shows step changes in refand corresponding to a power demand erence signals change in ac System-2, and the corresponding changes in and imposed by the controllers. Fig. 13(a) and (b) shows and faithfully follow the corresponding references. that Fig. 13(c) and (d) shows real and reactive power exchanged with ac System-2. Fig. 13(a) and (b) demonstrates that the - and -axis current components of the ac System-2 are well decoupled. However, due to the weakness of both ac Systems and the leakage inductances of the transformers, real and reactive power components are not fully decoupled and, thus, glitches are visible during transients. Fig. 13(e) shows the net dc-link voltage response. Fig. 13(e) demonstrates that the net dc-link voltage is well regulated subsequent to the disturbances. Fig. 13(f) and (g) shows changes in amplitude and angle modulation indices of VSC-2 to meet the power demand in response and . Fig. 13 shows that the control system to changes in properly tracks the specied signals. Fig. 13 also illustrates that the control system effectively regulates the system operating conditions in response to step changes in real and reactive power demands. C. Disturbance Rejection Capability The system is initially under a steady-state operating condition when subjected to a single-phase to ground fault, with the fault resistance of , at the middle of the line in ac and is self-cleared at System-2. The fault occurs at . Fig. 14 shows transient behavior of the system during and subsequent to the fault. Fig. 14(a) shows current waveform of the faulty line of ac System-2. Fig. 14(b) shows that the net dc voltage is maintained at the corresponding reference during and subsequent to the fault. Fig. 14(c) and (d) shows that real and reactive current components of ac System-2 contain double frequency oscillations due to the unbalanced fault condition. Fig. 14(e) and (f) shows real and reactive current components of ac System-1, and illustrate that VSC-1 reacts to maintain the system power balanced in response to the fault. The study results of Fig. 14 illustrate disturbance rejection capability of the control system. The control system effectively maintains the operating conditions of the system during and subsequent to the fault. VII. CONCLUSION This paper proposes and investigates the use of an SVMbased switching strategy, based on a sequential sampling technique for a back-to-back four-module HVDC converter system. The proposed technique minimizes each low-order, ac-side harmonic by introducing an appropriate phase shift for the corresponding harmonic components of each module. A mathematical model is also developed for the HVDC system to design and to evaluate performance of the system based on the proposed switching strategy. Time-domain simulation results of

A. Harmonics Initially, the system operates under a steady-state condition at the rated load. Since both VSC-1 and VSC-2 operate based on the same sequential sampling technique and similar voltage and current values, only the waveforms corresponding to VSC-1 are presented. Fig. 11(a) and (c) shows instantaneous high-voltage side voltages of VSC-1 and one of its converter modules. A comparison of the corresponding harmonic spectra [i.e., Fig. 11(b) and (d)] shows that all harmonic components of the VSC-1 and, in particular, the low-frequency components, are effectively minimized by the proposed SVM strategy. The rst dominant harmonic of four-module converter system is of order of 23, as shown in Fig. 11(b). However, as explained in Section III-C, due to imperfections, residual low-order harmonics do exist in the vicinity of the dominant harmonic of order 23. Fig. 11(e) shows line current of phase a of ac System-1, and Fig. 11(f) shows the corresponding current harmonics. Fig. 11(f) indicates that even without any lter, harmonic content of the current is well within the acceptable limits [22]. The low-order harmonic components are almost cancelled out and negligible. Fig. 11(g) and (h) shows the net and per module dc-voltage waveforms. Fig. 11(g) and (h) indicates that dc-voltage ripple is within the limits. B. Reference Tracking DC voltage control: Fig. 12 shows the system response to a step change in the net dc-voltage reference from 83% to 100% . Fig. 12(a) shows that the control rated value at system of Fig. 9 effectively regulates the dc voltage at the new reference value. Fig. 12(b) and (c) shows the dynamics of real and reactive current components of ac System-1 in response to the change in the dc-voltage reference signal.

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Fig. 13. Dynamic response of the system of Fig. 10 to step changes in the ac System-2 real and reactive power demands: (a,b) Real and reactive components of ac System-2 currents. (c,d) Real and reactive power components of ac System-2. (e) Net dc-link voltage. (f,g) Amplitude and angle modulation indices of VSC-2.

the system, in the PSCAD/EMTDC environment conclude the following. While the switching frequency of each VSC module is kept as low as 6 p.u. (360 Hz), the effective switching frequency of the converter in terms of harmonics is equivalent to , and the rst dominant harmonic is of order 23. All harmonic components of the converter ac-side, and in particular low-order harmonics up to order of 23, are effectively cancelled/minimized by the proposed sequential sampling SVM technique. Furthermore, For the whole range of linear modulation, the magnitude of each loworder harmonic does not exceed 3%. Current harmonic content is well within acceptable limits, even without the use of lters. Harmonics up to order 23 are effectively cancelled out. The HVDC control based on the proposed strategy can ensure proper reference tracking, and disturbance rejection capability. APPENDIX A HARMONIC ANALYSIS OF AN -MODULE CONVERTER BASED ON A SEQUENTIAL SAMPLING SVM TECHNIQUE This section develops an analytical model to determine harmonic components of a -module converter that employs sequential sampling SVM technique.

The analysis utilizes the existing relationship between SPWM and SVM techniques [23]. This relationship establishes a common mathematical basis between the two techniques. Adding an offset signal to the three-phase references of an arbitrary SPWM modulator, it can be transformed into an equivalent SVM modulator [23]. For an SVM modulator, distribution of zero voltage vectors within a sampling interval plays the same role as an offset signal added to a SPWM modulator [10], [23]. The offset signal for the SPWM modulator depends on the distribution of zero voltage vectors within a sampling interval. Analysis of One VSC Module: For the SVM pattern used in this paper and with respect to the distribution of zero voltage vectors in Fig. 6, the equivalent reference waveform of phase-a SPWM modulator of one VSC module within one period is [23]

(36)

The mathematical model of SVM modulator can be derived based on its corresponding SPWM equivalent of (36).

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Fig. 15. Modulation function of SVM-based VSC module.

, waveform, i.e., modulation function, is dened by where is equal to in the shaded region of Fig. 15 and zero out of the region. The boundary is expressed by

(37)

The complex Fourier harmonic component form can be develas oped for the double variable controlled waveform

(38)

where (39)

For the line voltage, we deduce

Fig. 14. Transient response of the system of Fig. 10 to a single-phase to ground fault: (a) ac System-2 phase-a current. (b) DC-link voltage. (c,d) Real and reactive components of ac System-2 currents. (e,f) Real and reactive components of ac System-1 currents.

(40)

can be expressed in the real form as According to phase-a waveform function, the modulated waveform is constructed based on a double Fourier series [24]. The modulation function of phase-a is shown in Fig. 15, where , and . and are the carrier and fundamental frequencies, respectively. The modulated phase-a

(41)

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where

in terms of the Bessel function is expressed as

(42)
Fig. 16. AC-side voltage spectra of an NPC converter.

Analysis of -Module Converter: In a -module converter that utilizes the sequential sampling technique, the corresponding sampling instants of contiguous VSC modules should be delayed by (43) in a This delay corresponds to shifting the carrier phase by phase-shifted carrier SPWM technique. Based on (40), phase-a voltage of VSC module is

where

is an integer. Considering (41), (46) is simplied to

(47) as shown in (48), at the bottom of the page. Based on (47) and (48), we conclude the following. The net amplitude of the fundamental component of the multimodule converter is times that of one VSC module. , i.e., the The lowest side-band harmonic is around . equivalent switching frequency is APPENDIX B HARMONIC SPECTRA OF A THREE-LEVEL CONVERTER

(44) For an -module converter, the phase-a voltage is

(45)

and the line voltage is

Fig. 16 shows the ac-side voltage of a HVDC converter which is composed of a neutral point diode clamped (NPC) converter [25]. The NPC converter utilizes an SVM switching strategy The NPC conwith the switching frequency of verter ratings are the same as the four-module converter unit of Fig. 1. A comparison of the corresponding harmonics of Figs. 16 and 8 concludes the following. The four-module converter offers a superior performance since the amplitudes of low-order harmonics in the vicinity are much smaller that those of the of frequency NPC converter. In both cases, the rst dominant harmonic is of order 23. However, the number of on-off state of switches of the NPC converter is half of the switching frequency, i.e., 12 p.u., while for the four-module converter system is 6 p.u. APPENDIX C SYSTEM PARAMETERS

otherwise

(46)

Please see Tables I and II.

(48)

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TABLE I PARAMETERS OF THE SYSTEM OF FIG. 1

TABLE II PARAMETERS OF PI CONTROLLERS OF FIG. 9

[18] H. Nikkhajoei and R. Iravani, Electromagnetic transients of a microturbine based distributed generation system, in Proc. Int. Conf. Power Systems Transients, Montreal, QC, Canada, Jun. 2005, IPST05-070-8b. [19] P. C. Krause, Analysis of Electric Machinery. New York: McGrawHill, 1986. [20] J. M. Maciejowski, Multivariable Feedback Design. Reading, MA: Addison-Wesley, 1989. [21] H. Nikkhajoei, A. Tabesh, and R. Iravani, Dynamic model of a matrix converter for controller design and system studies, IEEE Trans. Power Del., vol. 21, no. 2, pp. 744754, Apr. 2006. [22] IEEE Recommended Practices and Requirements for Harmonic Control in Electrical Power Systems, , Apr. 1993, IEEE Std. 519. [23] K. Zhou and D. Wang, Relationship between space-vector modulation and three-phase carrier-based PWM: A comprehensive analysis [three-phase inverters], IEEE Trans. Ind. Electron., vol. 49, no. 1, pp. 186196, Feb. 2002. [24] S. R. Bowes and B. M. Bird, Novel approach to the analysis and synthesis of modulation processes in power converters, Proc. Inst. Elect. Eng. , vol. 122, no. 5, pp. 507513, May 1975. [25] A. Yazdani and R. Iravani, Dynamic model and control of the NPCbased back-to-back HVDC system, IEEE Trans. Power Del., vol. 21, no. 1, pp. 414424, Jan. 2006. Maryam Saeedifard (S06) received the B.Sc. and M.Sc. degrees in electrical engineering from Isfahan University of Technology, Isfahan, Iran, in 1998 and 2002, respectively. She is currently pursuing the Ph.D. degree in the Department of Electrical and Computer Engineering at the University of Toronto, Toronto, ON, Canada. Her research interests include power electronics, application of power electronics in power systems, and control systems.

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Hassan Nikkhajoei (M05) received the B.Sc. and M.Sc. degrees from Isfahan University of Technology, Isfahan, Iran, in 1992 and 1995, respectively, and the Ph.D. degree from the University of Toronto, Toronto, ON, Canada in 2004, all in electrical engineering. He was a Postdoctoral Fellow in the University of Toronto from 2004 to 2005, and a Faculty Member with Isfahan University of Technology from 1995 to 1997. Currently, he is a Research Associate in the Department of Electrical and Computer Engineering, University of Wisconsin-Madison. His research interests include power electronics, distributed generation systems, and electric machinery. Reza Iravani (F03) received the B.Sc. degree from Tehran Polytechnic University, Tehran, Iran, in 1976, and the M.Sc. and Ph.D. degrees from the University of Manitoba, Winnipeg, MB, Canada, in 1981 and 1985, respectively, all in electrical engineering. Currently, he is a Professor at the University of Toronto, Toronto, ON, Canada. His research interests include power electronics and power system dynamics and control.

Alireza Bakhshai (M04) received the B.Sc. and M.Sc. degrees from the Isfahan University of Technology, Isfahan, Iran, in 1984 and 1986, respectively, and the Ph.D. degree from Concordia University, Montreal, QC, Canada, in 1997. From 1986 to 1993 and from 1998 to 2004, he was on the faculty of the Department of Electrical and Computer Engineering, Isfahan University of Technology. He was a Postdoctoral Fellow from 1997 to 1998 at Concordia University. Currently, he is with the Department of Electrical and Computer Engineering, Queens University, Kingston, ON. His research interests include high-power electronics and applications, control systems, and exible ac transmission services (FACTS).