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ISBN: 978-1-119-36630-0
To my parents Lakshmi and Pydiraju, and brother Venkatamuni
[Apparao Dekka]
and
To my parents Lingen and Peifang, and wife Janice
[Bin Wu]
Sixing Du received his B.S. degree in electrical engineering from Taiyuan University of Science and Technology, Taiyuan, China, in 2009, and the M.S. and Ph.D. degrees in electrical engineering from Xi'an Jiaotong University, Xi'an, China, in 2011 and 2014, respectively. He is currently working as a postdoctoral research fellow at the Laboratory for Electric Drive Applications and Research (LEDAR), Ryerson University, Canada.
Dr. Du has published more than 15 journal papers in peer-reviewed Institute of Electrical and Electronics Engineers (IEEE) as the first author, and he holds 7 issued Chinese patents in the fields of power electronics, power quality, and high-voltage direct current (HVDC) transmission. His main research interests include modular multilevel converters (MMC) in power quality, HVDC transmission, and medium-voltage motor drive applications.
Dr. Du has worked closely with Rockwell Automation, Canada, and participated in NSERC/Rockwell Industrial Research Chair program and Mitacs/Rockwell Accelerate program. He has produced more than 10 technical reports on novel MMC topologies and controls. His inventions overcome the major issues of conventional MMC-based drives in zero/low-speed operation, common-mode voltage minimization, and transformer-less utilization. Some of the inventions also facilitate single-stage DC-DC conversion in MVDC/HVDC applications.
Dr. Du received national scholarship for his graduate studies (Ph.D.) from Chinese Ministry of Education in 2013, Student Research Awards from Siemens and Shindengen in 2010 and 2011, and Excellent Ph.D. Graduate Student Award from Xi'an Jiaotong University in 2014. He serves as a reviewer for IEEE Transactions on Power Electronics, IEEE Transactions on Industrial Electronics, IEEE Transactions on Industrial Informatics, IEEE Transactions on Power Delivery, IEEE Transactions on Energy Conversion, IET Power Electronics, and other international journals and conferences.
Apparao Dekka was born in Thanam, Visakhapatnam, India. He received his B.Tec-h. degree in electrical and electronics engineering from Jawaharlal Nehru Technological University, Hyderabad, India, in 2007, an M.Tech. degree in electrical engineering with specialization in power electronics and power systems from Indian Institute of Technology Bombay, Mumbai, India, in 2010, and Ph.D. degree in electrical and computer engineering from Ryerson University, Toronto, Canada, in 2017. During 2010-2012, he worked as a research engineer at Power Electronics Laboratory, The Petroleum Institute, Abu Dhabi, UAE. He is currently working as a postdoctoral research fellow at the Laboratory for Electric Drive Applications and Research (LEDAR), Ryerson University, Canada. His research interests include high-power converters, pulse width modulation schemes, variable-speed drives, renewable energy systems, HVDC transmission systems, electric vehicles, power quality, energy storage, and model predictive control.
Dr. Dekka worked closely with Rockwell Automation, Centre for Urban Energy, Toronto Hydro, and Connect Canada, and completed several industrial projects in the field of high-power converters, power quality problems, and energy storage. He has published more than 25 peer-reviewed technical papers including 15 journal papers. He has produced more than 13 technical reports for the industry.
Dr. Dekka received national scholarship for his graduate studies (M.Tech.) from the Ministry of Human Resource Development, India, in 2008, Outstanding Reviewer Award for the year 2015 from IEEE Transactions on Power Electronics in 2016, Student Paper Travel Award for IEEE-ICIT16 from IEEE Industrial Electronics Society in 2016. During his Ph.D. studies at Ryerson University, he received Best Poster Award from the Department of Electrical and Computer Engineering in 2014, Student Research Awards from IESO, Toronto Hydro, and Connect Canada in 2013 and 2015, and the Research Excellence Award from the Department of Electrical and Computer Engineering, Ryerson University, in 2014, 2015, and 2016. He is a member of IEEE and serves as a reviewer for IEEE/IET journal and conferences.
Bin Wu graduated from Donghua University, Shanghai, China, in 1978, and received his M.A.Sc. and Ph.D. degrees in electrical and computer engineering from the University of Toronto, Canada, in 1989 and 1993, respectively. After being with Rockwell Automation, Canada, from 1992 to 1993, he joined Ryerson University, where he is currently a professor in the Department of Electrical and Computer Engineering and a Senior NSERC/Rockwell Industrial Research Chair (IRC) in Power Electronics and Electric Drives.
Dr. Wu has published more than 400 peer-reviewed technical papers and 4 Wiley-IEEE Press books, and he holds more than 30 issued and pending patents in power electronics, adjustable-speed drives, and renewable energy systems. Dr. Wu is the founder of the Laboratory for Electric Drive Applications and Research (LEDAR), which has been recognized as the most advanced research facility of its kind in a Canadian university.
Dr. Wu has worked closely with Canadian companies and assisted them in achieving technical and commercial success through research and innovation. He has authored/coauthored more than 200 technical reports. Some of his inventions and patents have been adopted by industry and implemented in the production line, resulting in significant economic benefits.
Dr. Wu received the Gold Medal of the Governor General of Canada in 1993, the Premier's Research Excellence Award in 2001, the NSERC Synergy Award for Innovation in 2002, the Ryerson Distinguished Scholar Award in 2003, the Ryerson FEAS Research Excellence Award in 2007, and the Ryerson YSGS Outstanding Contribution to Graduate Education Award and the Professional Engineers Ontario (PEO) Engineering Excellence Medal in 2014. He is a fellow of the Royal Society of Canada (RSC), Institute of Electrical and Electronics Engineers (IEEE), Engineering Institute of Canada (EIC), and Canadian Academy of Engineering (CAE). Dr. Wu is a registered professional engineer in the Province of Ontario, Canada.
Navid Zargari received his B.Eng. degree in electrical engineering from Tehran University, Tehran, Iran, in 1987, and the M.A.Sc. and Ph.D. degrees in electrical and computer engineering from Concordia University, Montreal, Canada, in 1991 and 1995, respectively.
Dr. Zargari has been with Rockwell Automation, Canada since November 1994, first as a senior designer, then as the manager of the Medium Voltage R&D Department, and currently as a product architect. For the past 20 years, he has been involved with simulation, analysis, and design of power converters for medium voltage (MV) AC drives. His field of expertise includes converter thermal analysis, converter topologies, and semiconductor devices including SCR, IGCT, SGCT, and IGBT and their associated circuitry. As a power architect, he is a consultant to a multidisciplinary team of more than 40 electrical, mechanical, application engineers and product managers to design, develop, and bring to market medium voltage drives (2300-11,000 V, up to 10,000 HP). He creates technology road maps for the medium voltage drive and starter products, and provides technical solutions and support to the existing and potential new customers and applications. Dr. Zargari is also an adjunct professor at Ryerson University and his research interests include power converter topologies, advanced control schemes, power semiconductors, and renewable energy systems. He collaborates closely with LEDAR research team at Ryerson University in developing the leading-edge technologies for high-power MV drives. He has coauthored more than 150 research papers as well as a Wiley-IEEE Press book, Power Conversion and Control of Wind Energy Systems. He holds more than 40 US granted/pending patents in the Power Converters and Medium Voltage Applications, and received a First Prize Paper Award from the IEEE Transactions on Industry Applications. Dr. Zargari was awarded a very prestigious Premier's Catalyst Award - Innovator of the Year in 2009 with a funding of 200,000 CAD for research in wind energy technology and commercialization. Dr. Zargari is a fellow of the Institute of Electrical and Electronics Engineers (IEEE) and a registered professional engineer in the Province of Ontario, Canada.
The high-power multilevel converters are well known in industry and academia as the preferred choices for efficient power conversion. Over the past decade, several power converters are developed and commercialized in the form of standard and customized products that power a wide range of industrial applications. The standard power converters require either a step-up transformer or devices in series to reach the high-voltage operation. The former solution is costly and increases the size and volume of the converter system. The latter solution causes unequal voltage stress on the semiconductor devices. Currently, the modular approach is employed in the designing of the power converters for the high-voltage, high-power applications. This approach is cost-effective and uses low-voltage, low-cost semiconductor technology to build the high-power converters. There are few developments namely; cascaded H-bridge, H-bridge neutral-point clamped, and modular multilevel converter (MMC).
Among them, the MMC is one of the fast-growing technologies and received wide acceptance from both industry and academia. Modular multilevel converters feature the highest degree of modularity and the redundancy due to the large number of submodules they have, as well as the lowest harmonic content due to the large number of output voltage levels they produce. The larger number of submodules substantially increases the converter controller complexity, but each submodule offers a simple structure, reducing the manufacturing costs. Currently, the modular multilevel converters are used in applications like variable speed motor drives, grid integration of off-shore wind farms, HVDC transmission systems, railway traction power supplies, and power quality improvement. Over the past decade, a numerous books on conventional high-power converters focusing on specific areas of control, modeling and analysis, and applications have been published. However, books with a comprehensive analysis, control, and modeling of MMC technologies for a wide range of applications seems not available. This book is intended to fill this gap.
This book covers a wide range of topics from electrical engineering that involves power electronics, electrical machines, control theory, and power systems. The contents of this book include an overview of high-power converters, reference frame theory, modeling and operation of conventional and advanced modular multilevel converters, pulse width modulation schemes, classical and advanced control methods, modeling of AC drives, advanced drive control schemes, transformer-less motor drives, low/zero-speed operation, modeling and control of two-terminal and multi-terminal HVDC systems, active and reactive power control, DC-side fault protection, power quality problems, reactive power, unbalance compensation, modeling and control of static synchronous compensator (STATCOM), and unified power quality conditioner (UPQC). The book reflects the latest developments in the field, and it is a valuable reference book for academic researchers, practicing engineers, and other professionals. Also, this book can be used as a textbook for graduate-level courses.
This book contains three parts with nine chapters. The overview and content of each chapter are described below:
Part I is composed of four chapters related to the analysis, modeling, and control of the conventional MMC. Chapter 1 provides an overview of high-power converters such as voltage source converters, current source converters, matrix converters, and modular multilevel converters, and their technical challenges and applications. Chapter 2 introduces the fundamentals of the MMC, including the submodule (SM) configurations and their operation. Also, the implementation and comprehensive analysis of pulse width modulation schemes (PWM) for an MMC are presented. Chapter 3 presents the classical control approach for the MMC, including submodule capacitor voltage, output current, and circulating current control schemes. Chapter 4 discusses the direct and indirect model predictive control (MPC) schemes for an MMC, where the important issues such as discrete-time modeling, extrapolation techniques, cost function formulation, selection of weight factors, and computational complexity are addressed.
Part II contains three chapters focused on the analysis, modeling, and control of advanced modular multilevel converters. Chapter 5 presents the circuit configuration, control and low/zero-frequency operation of the passive cross-connected modular multilevel converter (PC-MMC). Chapter 6 discusses the configuration, operation, and control of the active cross-connected modular multilevel converter (AC-MMC). Also, the comprehensive analysis of submodule capacitor voltage ripple and circulating currents are presented. Chapter 7 discusses the configuration, operation, and control of the star-channel modular multilevel converter. Also, the delta-channel modular multilevel converter is introduced in this chapter.
Part III contains two chapters focused on the applications of modular multilevel converter including the medium-voltage motor drives, HVDC transmission systems, and power quality improvement. Chapter 8 presents the system configurations, drive control schemes, low/zero-speed operation, common-mode voltage issues, and transformer-less MMC drive. Chapter 9 emphasizes the operation and control of two-terminal and multi-terminal MMC-HVDC systems, DC-side fault protection, static synchronous compensator, and unified power quality conditioner.
In summary, this book is a unique and comprehensive work dealing with the technical challenges, modeling, and control aspects of the conventional and advanced modular multilevel converters in a wide range of applications including the medium-voltage motor drives, HVDC transmission systems, and power quality technologies. We developed 179 figures, 26 tables, and 37 case studies in the main body of the book to transfer our knowledge to the readers effectively. Furthermore, this book has the following features:
Sixing Du
Apparao Dekka
Bin Wu
Navid Zargari
Toronto, Canada
This book has been written as a result of many years of our research on modular multilevel converters. The manuscript took almost 2 years to complete. We would like to thank our colleagues and friends who have supported and helped us in this endeavor. The references section of each chapter also acknowledges the research works of various scholars who have been passionate about this research area.
We are also very thankful to the reviewers for painstakingly reviewing our book proposal and final manuscript and providing us constructive comments to improve the quality and readability of the book. Our special thanks to the Wiley/IEEE Press editor Mary Hatcher, editorial assistant Victoria Bradshaw, and production team members Danielle Lacourciere, Vishnu Narayanan, and Anand Amarnath for their help in the preparation of this manuscript. We express our intense gratitude to our families and friends who supported and inspired us in every possible way to see the completion of this work.
Sixing Du
Apparao Dekka
Bin Wu
Navid Zargari
Part I of this book is developed as an outgrowth of my Ph.D. dissertation entitled “High-Power Modular Multilevel Converters: Modeling, Modulation, and Control.” I am thankful to Dr. Dewei Xu at Ryerson University, and Dr. Aleksandar Prodic at the University of Toronto for their encouragement in transforming my Ph.D. dissertation into a book. I express my sincere gratitude to my former Ph.D. dissertation supervisor, Dr. Bin Wu, for his guidance and encouragement in writing this manuscript. Also, I am thankful to Dr. Navid Zargari at Rockwell Automation, Canada for his timely feedback and suggestions on our research. This book would not have been envisaged without their help. I wish to thank Drs. Venkata Yaramasu, Marcelo Perez, and Ricardo Lizana for the collaborative works on MMCs and MPC.
Apparao
Dekka
| 2L | Two-level (converter) | ||||
| 3L | Three-level (converter) | ||||
| 4L | Four-level (converter) | ||||
| 5L | Five-level (converter) | ||||
| 3ϕ | Three-phase (generator/grid) | ||||
| AC | Alternating current | ||||
| AC-MMC | Active cross-connected modular multilevel converter | ||||
| ANPC | Active neutral-point clamped | ||||
| ABB | ASEA brown boveri | ||||
| APOD | Alternate phase-opposition-disposition | ||||
| BM | Blocking mode | ||||
| BTB | Back-to-back | ||||
| CCV | Cycloconverter | ||||
| CD | Double clamp | ||||
| CEPRI | China electric power research institute | ||||
| CH | Cascaded half-bridge | ||||
| CHB | Cascaded H-bridge | ||||
| CMV | Common-mode voltage | ||||
| CNPC | Cascaded neutral-point clamped | ||||
| CSC | Current source converter | ||||
| CSI | Current source inverter | ||||
| CSR | Current source recti fier | ||||
| CT | Continuous time | ||||
| DC | Direct current | ||||
| DFOC | Direct field-oriented control | ||||
| DMC | Direct matrix converter | ||||
| DMPC | Direct model predictive control | ||||
| DSP | Digital signal processor | ||||
| DT | Discrete time | ||||
| DTC | Direct torque control | ||||
| FB | Full-bridge | ||||
| FC | Flying capacitor | ||||
| FPGA | Field-programmable gate array | ||||
| FOC | Field-oriented control | ||||
| GCT | Gate-commutated thyristor | ||||
| GTO | Gate turn-off thyristor | ||||
| HB | Half-bridge | ||||
| HNPC | H-bridge neutral-point clamped | ||||
| HV | High-voltage | ||||
| HVAC | High-voltage alternating current | ||||
| HVDC | High-voltage direct current | ||||
| IEGT | Injection-enhanced gate transistor | ||||
| IFOC | Indirect field-oriented control | ||||
| IGBT | Insulated-gate bipolar transistor | ||||
| IGCT | Integrated gate-commutated thyristor | ||||
| IMC | Indirect matrix converter | ||||
| IMPC | Indirect model predictive control | ||||
| LC | Load-commutated | ||||
| LCC | Line-commutated converter | ||||
| LCS | Load commutation switch | ||||
| LPF | Low-pass filter | ||||
| LSC | Level-shifting carrier | ||||
| LV | Low-voltage | ||||
| MB | Main breaker | ||||
| MC | Matrix converter | ||||
| MMC | Modular multilevel converter | ||||
| MMMC | Multi-modular matrix converter | ||||
| MPC | Model predictive control | ||||
| MV | Medium-voltage | ||||
| NASA | National aeronautics and space administration | ||||
| NLM | Nearest level modulation | ||||
| NNPC | Nested neutral-point clamped | ||||
| NPC | Neutral-point clamped | ||||
| PCC | Point of common coupling | ||||
| PC-MMC | Passive cross-connected modular multilevel converter | ||||
| PD | Phase-disposition | ||||
| PF | Power factor | ||||
| PI | Proportional and integral | ||||
| PLL | Phase locked loop | ||||
| POD | Phase-opposition-disposition | ||||
| PSC | Phase-shifting carrier | ||||
| PTG | Pole-to-ground | ||||
| PTP | Pole-to-pole | ||||
| PWM | Pulse width modulation | ||||
| RES | Resonant | ||||
| RMS | Root mean square | ||||
| SAM | Sampled average modulation | ||||
| SCIM | Squirrel cage induction motor | ||||
| SCR | Silicon-controlled recti fier | ||||
| SGCT | Symmetric gate-commutated thyristor | ||||
| SHE | Selective harmonic elimination | ||||
| SM | Submodule | ||||
| STATCOM | Static synchronous compensator | ||||
| SVM | Space vector modulation | ||||
| THD | Total harmonic distortion | ||||
| UFD | Ultra-fast disconnector | ||||
| UPQC | Uni fied power quality conditioner | ||||
| VOC | Voltage-oriented control | ||||
| VSC | Voltage source converter | ||||
| VSI | Voltage source inverter | ||||
| VSR | Voltage source recti fier | ||||