energies

Article
A Modified One-Cycle-Control Method for Modular
Multilevel Converters
Xu Tian *, Yue Ma, Jintao Yu, Cong Wang and Hong Cheng
School of Mechanical Electronic and Information Engineering, China University of Mining & Technology (Beijing),
Beijing 100083, China; mayue@acgtrip.com (Y.M.); yujintaoisme@163.com (J.Y.); wangc@cumtb.edu.cn (C.W.);
chengh@cumtb.edu.cn (H.C.)
* Correspondence: tianxu516@163.com; Tel.: +86-010-6233-1021




Received: 29 November 2018; Accepted: 27 December 2018; Published: 3 January 2019


Abstract: In this paper, a new One-Cycle-Control (OCC) method is designed for a modular multilevel
converter (MMC) based on the principle of the equivalent resistance constant. The proposed controller
has a simple structure and a small amount of calculation by cancelling the current inner loop
proportional integral (PI) controller and the inverse transform in the traditional direct-quadrature
(DQ) control. Compared to the traditional OCC controller, the new one separates the control
method from the modulation strategy, making it possible to use not only carrier-based pulse-width
modulation (PWM), but also nearest level modulation PWM to generate drive signals. Besides,
the independent control of the active and the reactive power is implemented by injecting a reference
current with the same phase of the supply voltage or a reference current which lags the supply
voltage by π/2 into the controller, so the converter can operate in four quadrants and it can work in
either a grid-connect or off-grid environment. The feasibility and the performance of the proposed
OCC method have been validated by both the simulation under the MATLAB/SIMULINK (R2012a)
environment and experimental results.

Keywords: modular multilevel converter; One-Cycle-Control; four-quadrant operation; carrier-based

PWM; nearest level modulation PWM

1. Introduction
Modular multilevel converters (MMCs) have attracted wide attention from both industry and
academia due to their advantages of full modularity, better scalability, high redundancy, and low
switch voltage stress [1,2]. Consisting of a series connection of submodules (SMs), MMCs are suitable
for large-voltage, high-power applications like high-voltage direct current (HVDC) transmission [3],
medium-voltage high-power motor drives [4], and photovoltaic generation [5].
There are a great number of control methods which have been used in MMCs successfully
since the circuit topology was proposed. Based on linear system theory, the proportional integral
(PI) controller has been widely used in power electronic devices [6]. Since the PI controller cannot
track the sinusoidal signal without phase error, the abc-to-dq-frame transformation is used to let the
controlled variables change from alternating current (AC) to direct current (DC), and the controller
output also needs coordinate transformation under this controller structure. To avoid the complicated
calculations, the proportional resonant (PR) controller has also been used [7]. By replacing the integral
with resonance, the PR controller can provide an infinite gain at the resonant frequency, which makes
the PR controller able to track a sinusoidal signal without steady-state error. However, since the gain
of the controller is rapidly reduced when the frequency is no longer equal to the resonant frequency,
the resonant frequency of the PR controller must be accurately calculated. Except for the traditional
control strategy, there are some new types of controllers that have been used in MMCs. Sliding

Energies 2019, 12, 157; doi:10.3390/en12010157 www.mdpi.com/journal/energies

Energies 2019, 12, 157 2 of 17

mode control (SMC) divides the state space by referencing controlled variables, and in each subspace
the controlled variables are forced to slide along the boundaries by the different control structure.
This control method can get good dynamic response when applied to MMCs [8]. Finite control set
model predictive control (FCS-MPC) analyzes all possible operating states based on the circuit model
and chooses the best one based on the cost function. The advantage of the FCS-MPC is that it can
control multiple targets [9] and the disadvantage of it is the accuracy of the model plays an important
role in the control effect. Repetitive control takes the previous behavior of the periodic controlled
variables into consideration, obtaining a better steady-state response [10], but in order to optimize the
dynamic response, it often needs to be used together with other control strategies.
One-Cycle-Control (OCC) was proposed by Keyue M. Smedley in 1991 [11]. The basic principle is
to let the average controlled variable value over a switch cycle be equal to the reference. Traditional
OCC lets the controlled current run in the same phase with the input voltage, therefore, it has been
widely used in power factor correction (PFC) [12] and active power filters (APF) [13]. However,
the traditional OCC cannot control the reactive component so that the converter can only implement
the unit power factor with no ability to output leading or lagging reactive power. This problem was
discussed in References [14,15]; they let the APF compensate for only the harmonic components of
load currents by injecting the reactive currents. Based on the same principle, OCC working on the
grid-connected inversion mode was discussed in References [16,17]. The OCC-based MMC controller
has been discussed in Reference [18], but it can only work in the unity power factor rectification mode
and the control method must be used in conjunction with the carrier disposition PWM, which reduces
the flexibility of the system.
In this paper, a modified OCC for an MMC is proposed. As shown in Table 1, an OCC controller
has less complexity and calculation demand than PI and PR controllers. Compared to other nonlinear
control methods such as FCS-MPC, OCC does not rely on an accurate mathematical model and it
can realize the constant switch frequency naturally. Compared with the existing OCC-based MMC
controller, the modified OCC proposed in this paper can enable the bi-directional power flow, and the
power factor can also be controlled, which expands the application scope of the control method.
In addition, the modified OCC realizes the decoupling of the control strategy and the modulation
strategy. It can work with several modulation strategies and is compatible with existing SM voltage
balancing strategies.

Table 1. Comparison between several control strategies for a modular multilevel converter (MMC). PI:
proportional integral; PR: proportional resonant; FCS-MPC: finite control set model predictive control;
OCC: One-Cycle-Control.

Control Phase Locked Controller Modulation Steady-State

Calculation Robustness
Strategies Loop (PLL) Structure Strategy Error
PI Yes Common Middle Strong Unlimited No
PR Yes Common Small Less Unlimited No
FCS-MPC Yes Complex Large Less Unlimited No
OCC [18] No Simple Small Strong Limited Yes
Modified OCC Yes Simple Small Strong Unlimited No

The rest of this paper is organized as follows: the mathematical model of MMCs is briefly
introduced in Section 2. The proposed OCC has been described in Section 3. In Section 4, the method
that makes the OCC-controlled MMC operate in four-quadrants is described in detail. Section 5 covers
the simulation and experimental results to validate the correctness and effectiveness of the proposed
modified OCC, and finally, Section 6 summarizes the main points of the paper.

2. Mathematical Model of the MMC

The topology of the single-phase MMC is shown in Figure 1, in which iAC , uAC are the AC side
current and voltage, ip and iq are the upper arm current and the lower arm current, respectively.
Energies 2019, 12, 157 3 of 17

The phase leg consists of two arms,

Energies 2019, 12, x FOR PEER REVIEW    which can be called upper arm and lower arm, respectively. 3  of  18 
Both the two arms need an inductance L0 to suppress the circulating current. The arm is composed of
the 
SMstwo  arms  need an inductance 
in series, and the upper arm voltage  to  suppress 
up and the the  circulating 
lower arm un current.  The arm by
can be controlled is  composed 
bypassing of  or
SMs in series, and the upper arm voltage 
inserting the SMs. Assuming the DC side output   and the lower arm 
voltage of the MMC   can be controlled by bypassing 
is UDC , based on Kirchhoff’s
or  inserting 
current the  SMs. 
law (KCL), Assuming 
the current the  DC 
dynamics canside  output 
be given voltage  of  the  MMC  is 
as follows: ,  based  on 
Kirchhoff’s current law (KCL), the current dynamics can be given as follows: 
UDC dip di
− up − ip R0 − L0 d = uAC − iAC RC − LCd AC (1)
2 dt dt  (1) 
2 d d
UDC didn ddi
un − + in R0 + L0 = uAC − iAC RC − LC AC .  . (2)
(2) 
2 2 dtd ddt

 
Figure 1. Circuit topology of the single‐phase MMC. SM: submodule. 
Figure 1. Circuit topology of the single-phase MMC. SM: submodule.

By summing Equations (1) and (2), the AC side current dynamics can be obtained as
By summing Equations (1) and (2), the AC side current dynamics can be obtained as 

un − up
   
R0 L0 diAC
+ iAC + RC + LC + 2 = u.  
AC .
(3) 
(3)
2 2 22 2 dt
Based on the above formula, the AC side equivalent model of the MMC is shown in Figure 2, in 
Based,  on the
which  abovethe 
  means  formula, the AC
equivalent  side equivalent
inductance  model ofcapacitance, 
and  equivalent  the MMC isrespectively, 
shown in Figure
and  2, 
in which L eq , R eq means the equivalent inductance and equivalent
means the AC side output voltage of the MMC. They can be defined as:  capacitance, respectively, and ej
means the AC side output voltage of the MMC. They can be defined as:
  (4) 
2L0
Leq = Lc + (4)
2
  (5) 
R20
Req = Rc + (5)
2
. (6) 
un 2− up
e j = .
From Figure 2 it can be seen that the AC side model of MMC is no different from other voltage  (6)
2
From Figure 2 it can be seen that the AC side model of MMC is no different from other voltage. 
source converters. Thus, the traditional control strategy can be used for the MMC to determine 
Normally, the DC side voltage of the MMC is required to be stable at a fixed value, so the voltages 
source converters. Thus, the traditional control strategy can be used for the MMC to determine ej .
of    and the DC
Normally, can also be determined by inserting or bypassing SMs. 
side voltage of the MMC is required to be stable at a fixed value, so the voltages of
up and un can also be determined  by inserting or bypassing SMs.
Energies 2019, 12, 157 4 of 17
Energies 2019, 12, x FOR PEER REVIEW    4  of  18 

 
Figure 2. Alternating current (AC) side equivalent model of the MMC. 
Figure 2. Alternating current (AC) side equivalent model of the MMC.

3. OCC for Multiple Modulation Strategies

3. OCC for Multiple Modulation Strategies 
The conventional OCC has been widely used in the field of unit power factor rectification [19].
The conventional OCC has been widely used in the field of unit power factor rectification [19]. 
The
The original
original OCC
OCC uses the
uses  input
the  current
input  directly
current  compared
directly  withwith 
compared  the carrier wavewave 
the  carrier  to generate the drive
to  generate  the 
signal, and since there is no reference voltage generation during this process, the controller
drive  signal,  and  since  there  is  no  reference  voltage  generation  during  this  process,  the  controller  can only
use the carrier phase-shift PWM modulation strategy and this limits the design of the SM voltage
can only use the carrier phase‐shift PWM modulation strategy and this limits the design of the SM 
balancing strategy.
voltage balancing strategy. 
In this paper, the OCC is analyzed based on the equivalent resistance constant so that the AC side
In this paper, the OCC is analyzed based on the equivalent resistance constant so that the AC 
output voltage of the converter
side  output  voltage  can be calculated
of  the  converter  can  be and most of the
calculated  and existing
most  of modulation strategies
the  existing  can be
modulation 
used directly.
strategies can be used directly. 
The
The basic
basic principle
principle ofof the OCC
the  OCC is is 
to to 
let let 
thethe 
average controlled
average  variable
controlled  valuevalue 
variable  over over 
a switch cycle
a  switch 
be equal
cycle  be  to the reference.
equal  For the For 
to  the  reference.  equivalent circuit shown
the  equivalent  circuit inshown 
Figurein  2, Figure 2, 
in order toin make
order  it to 
operate
make in it 
the unity power factor state, as Figure 3 shows, the MMC can be equivalent to a resistive
operate in the unity power factor state, as Figure 3 shows, the MMC can be equivalent to a resistive  load R e after
ignoring the equivalent parasitic resistance Req and the equivalent
load    after ignoring the equivalent parasitic resistance  inductance Leq .
  and the equivalent inductance  . 

 
Figure 3. Equivalent circuit in unit power factor rectification mode. 
Figure 3. Equivalent circuit in unit power factor rectification mode.

In
In  order
order  to
to  let
let  the
the  behavior
behavior  of
of  the
the  MMC in a
MMC  in  a  switch cycle T   be
switch  cycle  be  equivalent
equivalent  to
to  an
an  emulated
emulated 
resistance Re ,, the control equation of the conventional OCC can be expressed as follows: 
resistance the control equation of the conventional OCC can be expressed as follows:

11 T ej d
Z
dt = Re.  . (7) 
(7)
T 0 iAC
Due  to  the  high  switching  frequency  of  the  MMC,  the  change  of  the  current    in  a  switch 
Due to the high switching frequency of the MMC, the change of the current iAC in a switch cycle
cycle can be ignored, so the control law of the conventional OCC can be expressed as: 
can be ignored, so the control law of the conventional OCC can be expressed as:
.  (8) 
ej = Re iAC . (8)
Once  the    is  determined,  the  arm  voltages,    and    can  be  determined  based  on 
Equation (6). The inserted SM numbers of the upper and lower arms are also determined. However, 
Once the ej is determined, the arm voltages, up and un can be determined based on Equation (6).
which SM should be inserted has not been determined. In addition to making the AC side current 
The inserted SM numbers of the upper and lower arms are also determined. However, which SM
change be
should as inserted
expected,  another 
has major 
not been control  target 
determined. is  to  keep 
In addition the  SM the
to making capacitor 
AC sidevoltages 
currentin  balance. 
change as
That can be implemented by several modulation strategies [20–23], which balances the SM capacitor 
expected, another major control target is to keep the SM capacitor voltages in balance. That can be
voltage by controlling the insertion and bypass time of each SM. 
implemented by several modulation strategies [20–23], which balances the SM capacitor voltage by
One  of the
controlling the  most  commonly 
insertion and bypassused 
timemodulation 
of each SM. strategies  is  nearest  level  modulation  (NLM) 
[20,21]. As Figure 4 shows, the basic principle of NLM is to 
One of the most commonly used modulation strategies is determine the number of inserted SMs 
nearest level modulation (NLM) [20,21].
according to the required bridge arm voltage and the SM voltage to minimize the error between the 
As Figure 4 shows, the basic principle of NLM is to determine the number of inserted SMs according
actual 
to bridge  arm 
the required voltage 
bridge and  the 
arm voltage andreference  voltage. 
the SM voltage to The  algorithm 
minimize sorts 
the error the  SMs 
between thebased 
actual on  the 
bridge
voltage of the SM and insert the SMs from large to small, or from small to large, according to the 
arm voltage and the reference voltage. The algorithm sorts the SMs based on the voltage of the SM
direction of current to balance the SM capacitor voltages. 
Energies 2019, 12, 157 5 of 17

and insert the SMs from large to small, or from small to large, according to the direction of current to
Energies 2019, 12, x FOR PEER REVIEW    5  of  18 
balance the SM capacitor voltages.  
Energies 2019, 12, x FOR PEER REVIEW  5  of  18 

 
 
Figure 4. Principle of the nearest level modulation (NLM) strategy. 
Figure 4. Principle of the nearest level modulation (NLM) strategy.
Figure 4. Principle of the nearest level modulation (NLM) strategy. 

Another popular modulation strategy for the MMC is carrier phase‐shift PWM (CPS‐PWM) [22]. 
Another popular modulation strategy for the MMC is carrier phase-shift PWM (CPS-PWM) [22].
Another popular modulation strategy for the MMC is carrier phase‐shift PWM (CPS‐PWM) [22]. 
The  basic
The basic  principle
principle  of
of CPS-PWM
CPS‐PWM is is shown
shown inin Figure
Figure 5.5.  The 
The switching 
switching signals 
signals are  generated  by
are generated by 
The  basic  principle  of  CPS‐PWM  is  shown  in  Figure  5.  The  switching  signals  are  generated  by 
comparing the reference voltage with several carrier waves. For an N+1 level converter, N carrier 
comparing the reference voltage with several carrier waves. For an N+1 level converter, N carrier
comparing the reference voltage with several carrier waves. For an N+1 level converter, N carrier 
waves
waves  are
are needed
needed  and
and  each
each  one
one has
has aa phase
phase shift of 2π
shift of N  .. The
The outputs
outputs are
are the
the control
control signals
signals for
for the
the 
waves  are  needed  and  each  one  has  a  phase  shift  of    .  The  outputs  are  the  control  signals  for  the 
upper arm SMs, and the control signals for the lower arm SMs can be generated by
upper arm SMs, and the control signals for the lower arm SMs can be generated by inverting the upper  inverting the
upper arm SMs, and the control signals for the lower arm SMs can be generated by inverting the upper 
upper
ones.  ones.
ones. 

 
 
Figure 5. Principle of carrier phase-shift (CPS)-PWM. (a) Reference voltage and carrier waves;
Figure 5. Principle of carrier phase‐shift (CPS)‐PWM. (a) Reference voltage and carrier waves; (b) 
Figure 5. Principle of carrier phase‐shift (CPS)‐PWM. (a) Reference voltage and carrier waves; (b) 
(b) output voltage.
output voltage. 
output voltage. 
Both the modulation strategies have their own advantages and disadvantages [23]. Compared
Both the modulation strategies have their own advantages and disadvantages [23]. Compared 
to NLM,Both the modulation strategies have their own advantages and disadvantages [23]. Compared 
CPS-PWM can generate more accurate voltage, and because the switching devices under
to NLM, CPS‐PWM can generate more accurate voltage, and because the switching devices under 
theto NLM, CPS‐PWM can generate more accurate voltage, and because the switching devices under 
CPS-PWM strategy have nearly the same turn-on time, the loss of the electronic components are
the CPS‐PWM strategy have nearly the same turn‐on time, the loss of the electronic components are 
the CPS‐PWM strategy have nearly the same turn‐on time, the loss of the electronic components are 
basically identical. However, because the traditional CPS-PWM cannot balance the SM capacitor
basically  identical.  However,  because  the  traditional  CPS‐PWM  cannot  balance  the  SM  capacitor 
basically 
voltages, identical. 
additional However, 
controllers because 
are the  traditional 
often required for eachCPS‐PWM  cannot 
SM to balance thebalance  the  SM 
SM capacitor capacitor 
voltages
voltages, additional controllers are often required for each SM to balance the SM capacitor voltages 
voltages, additional controllers are often required for each SM to balance the SM capacitor voltages 
in actual applications. The additional controllers increase the calculations and this will put higher
in actual applications. The additional controllers increase the calculations and this will put higher 
in actual applications. The additional controllers increase the calculations and this will put higher 
requirements  for  the  performance  of  the  microprocessor.  Therefore,  CPS‐PWM  is  suitable  for 
requirements  for  the  performance  of  the  microprocessor.  Therefore,  CPS‐PWM  is  suitable  for 
medium‐  and  low‐voltage  applications  needing  fewer  SMs  such  as  a  variable‐frequency  drive, 
medium‐  and  low‐voltage  applications  needing  fewer  SMs  such  as  a  variable‐frequency  drive, 
while  for  the  high‐voltage  applications  such  as  HVDC,  NLM  is  more  suitable  because  in  these 
while  for  the  high‐voltage  applications  such  as  HVDC,  NLM  is  more  suitable  because  in  these 
occasions  the  system  often  requires  a  large  number  of  SMs.  For  the  OCC  described  in  this  paper, 
occasions  the  system  often  requires  a  large  number  of  SMs.  For  the  OCC  described  in  this  paper, 
Energies 2019, 12, 157 6 of 17

requirements for the performance 

Energies 2019, 12, x FOR PEER REVIEW  of the microprocessor. Therefore, CPS-PWM is suitable for medium- 6  of  18 
and low-voltage applications needing fewer SMs such as a variable-frequency drive, while for the
high-voltage
since  applications
the  controller  such as
calculates 
Energies 2019, 12, x FOR PEER REVIEW    HVDC,
the  AC  side NLM is more
output  suitable , because
voltage  in these
compared  occasions the
to  traditional  OCC,system
6  of the 
18 
often requires a large number of SMs. For the OCC described
modulation strategy is no longer limited, and both NLM and CPS‐PWM can be used.  in this paper, since the controller
since  the  controller 
calculates the AC side calculates  the  AC 
output voltage ej ,side  output tovoltage 
compared traditional,  compared  to  traditional 
OCC, the modulation
The basic form of the proposed OCC controller is shown in Figure 6. An outer DC‐side voltage  OCC,isthe 
strategy no
modulation strategy is no longer limited, and both NLM and CPS‐PWM can be used. 
longer limited,
control  and both NLM
loop  implemented  by and CPS-PWM
a  PI  controller  canis be used. to  maintain  the  DC  bus  voltage 
designed   
The basic form of the ∗
The basic form of the proposed OCC controller is shown in Figure 6. An outer DC‐side voltage 
proposed OCC controller is shown in Figure 6. An outer DC-side voltage
tracking the reference value  . In order to make the controlled variable positively related to the 
control  loop implemented
control loop implemented byby  a PIa  controller
PI  controller  is  designed 
is designed to  maintain 
to maintain the DCthe 
controller output, the PI controller output is set as the admittance of equivalent resistance  busDC  bus  uvoltage 
voltage   and it  
DC tracking
∗
∗ . In order
tracking the reference value 
the reference value u . In order to make the controlled variable positively related to the 
to make the controlled
determines the input active power. Then, dividing the AC side input current 
DC variable positively related to the controller
  by the admittance, 
controller output, the PI controller output is set as the admittance of equivalent resistance 
output, the PI controller output is set as  and 
which is equivalent to multiplying  the admittance
, the AC side output voltage of the MMC     can be 
of equivalent resistance Re and it determines and it 
determines the input active power. Then, dividing the AC side input current 
the input active power. Then, dividing the AC side input current iAC by the admittance,
derived. Finally, the switching signals are generated by the modulation strategy.    by the admittance, 
which is
which is equivalent to multiplying 
equivalent to multiplying Re and iAC , the   and 
AC side, the AC side output voltage of the MMC 
output voltage of the MMC ej can be derived.  can be  Finally,
derived. Finally, the switching signals are generated by the modulation strategy. 
the switching signals are generated by the modulation strategy.

 
Figure 6. OCC algorithm for the unit power factor rectifier. 
 
Figure
Compared  to  other  6. OCC
control  algorithmthe 
strategies,  for the unithas 
OCC  powera  factor rectifier.
simpler  control  structure  and  less 
Figure 6. OCC algorithm for the unit power factor rectifier. 
calculation.  This  method  can  be  implemented  without  a  PLL  or  even  an  AC  side  voltage  sensor. 
Compared to
Compared  to other
other  control strategies,
control  the OCC
strategies,  has a simpler
the  OCC  control structure
has  a  simpler  and less calculation.
control  structure  and  less 
However, this control strategy can only implement the unity power factor rectifier and the power 
This method
calculation.  can
This  be implemented without a PLL or even an AC side voltage sensor. However,
factor  cannot  be method 
set.  In  can  be  implemented 
addition,  because  the  without  a  PLL 
influence  of  or 
the even  an  AC  side 
inductance  voltage  sensor. 
is  neglected  in  the 
this control strategy can only implement the unity power factor rectifier and the power factor cannot
However, this control strategy can only implement the unity power factor rectifier and the power 
theoretical  analysis,  there  is  an  error  in  the  power  factor,  so  it  is  only  suitable  for  some  limited 
be set. cannot 
factor  In addition, because
be  set.  the influence
In  addition,  because of the 
the inductanceof  is the 
neglected in the is 
theoretical analysis,
applications,  such  as  the  active  front‐end  (AFE) influence 
rectifier,  which  inductance 
allows  neglected 
for  a  certain  power in  the 
factor 
there is
theoretical an error in the power factor, so it is only suitable for some limited applications, such
analysis,  there  is  an  error  in  the  power  factor,  so  it  is  only  suitable  for  some  limited as the
error. 
active front-end (AFE) rectifier, which allows for a certain power factor error.
applications,  such  as  the  active  front‐end  (AFE)  rectifier,  which  allows  for  a  certain  power  factor 
error. 
4. Four‐Quadrant Operation for OCC Controlled MMC 
4. Four-Quadrant Operation for OCC Controlled MMC

4. Four‐Quadrant Operation for OCC Controlled MMC 
4.1. Reactive Power Control 
4.1. Reactive Power Control
For 
For the 
the rectifier  with  the
rectifier with
4.1. Reactive Power Control  the  reactive
reactive  power
power  output,
output,  it 
it can 
can also  be  equivalent
also be equivalent  using 
using the  method 
the method
described in the previous section. Similar to Figure 3, the MMC rectifier with reactive power output 
described in the previous section. Similar to Figure 3, the MMC rectifier with reactive power output
For  the  rectifier 
equivalent to awith  the in
resistor reactive 
parallelpower 
with aoutput, 
capacitorit  or
can analso  be  equivalent 
inductor, which is using 
can be equivalent to a resistor in parallel with a capacitor or an inductor, which is determined by 
can be the  method 
determined by the
described in the previous section. Similar to Figure 3, the MMC rectifier with reactive power output 
the  power  factor  angle.  Figure 7  shows  the  equivalent  circuit  of  a  rectifier 
power factor angle. Figure 7 shows the equivalent circuit of a rectifier with a lagging power factor, with  a  lagging  power 
can be equivalent to a resistor in parallel with a capacitor or an inductor, which is determined by 
factor, 
where R where    is  the  equivalent  resistance 
and Le and    is  the  equivalent  inductance. 
iAC,d and i,AC,q  and  ,  
e is the equivalent resistance is the equivalent inductance. are the
the 
are  power 
currents factor through
the  currents 
flowing angle.  Figure 7 
flowing  through 
the shows  the  equivalent 
the  resistance 
resistance and the and  the 
inductor, circuit  of  a respectively, 
inductor, 
respectively, rectifier 
which can with  a be
lagging 
which 
also power 
can  also 
considered be 
as
factor,  where 
considered  or as    is  the 
the  equivalent 
active  resistance 
or  reactive  and  i of 
component    is  respectively.
the  equivalent  Theinductance.  ,   and  i The 
,  
the active reactive component of the input current AC , the  input  current  ,  respectively. 
relationship between AC,d ,
are  the  currents 
relationship between  flowing 
iAC,q , and iAC can be written through  the 
, ,  as , , and 
resistance  and  the 
  can be written as  inductor,  respectively,  which  can  also  be 
considered  as  the  active  or  reactive  component  iAC = iAC,d +of  the 
iAC,q . input  current  ,  respectively.  The  (9)
relationship between  , ,  , , and  ,
  can be written as  , .  (9) 

, , .  (9) 

 
Figure 7. Equivalent circuit for reactive power output.
Figure 7. Equivalent circuit for reactive power output. 
 
In addition, the output voltage of the MMC can be written as 
Figure 7. Equivalent circuit for reactive power output. 

, , . 
In addition, the output voltage of the MMC can be written as  (10) 

, , .  (10) 
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In addition, the output voltage of the MMC can be written as
The reactive component of the input current  ,   can be expressed as Equation (11). It shows 
Energies 2019, 12, x FOR PEER REVIEW    7  of  18 
that the  ,   lags    by  . Thus, a sine wave in phase with 
ej = Re iAC,d = Re iAC − iAC,q . ,   can be obtained by a PLL or by 


(10)
delaying  the    by  a  quarter  of  a  cycle.  The  amplitude 
The reactive component of the input current  of  the  ,   determines  the  value  of 
,   can be expressed as Equation (11). It shows 
The reactive component of the input current iAC,q can be expressed as Equation (11). It shows that
reactive power. 
that the  ,   lags    by  . Thus, a sine wave in phase with  ,   can be obtained by a PLL or by 
the iAC,q lags uAC by π2 . Thus, a sine wave in phase with iAC,q can be obtained by a PLL or by delaying
delaying  the    by  a  quarter  of  a  cycle.  The  amplitude  of  the    determines  the  value  of 
the uAC by a quarter of a cycle. The amplitude of, the iAC,q  determines the, value of reactive power.
(11) 
reactive power. 
The  block  diagram  of  the  OCC  with ia  reactive  uACpower  controller  is  shown  in  Figure  8.  The 
, = jωL  
AC,q (11)
(11) 
active power controller is the same as the controller described in Section 3. The control of reactive 
e
power is implemented by injecting a reactive current 
The block
block diagram
diagram  ,   into  . The phase of the virtual current 
The ofof 
thethe 
OCCOCC  with 
with a  reactive 
a reactive powerpower  controller 
controller is  shown 
is shown in  Figure 
in Figure 8. The 8.  The 
active
is obtained by delaying the AC voltage    by a quarter of a cycle and the amplitude can obtained 
active power controller is the same as the controller described in Section 3. The control of reactive 
power controller is the same as the controller described in Section 3. The control of reactive power is
by  a  PI  controller,  which  is  used  to  maintain  the reactive   power 
power is implemented by injecting a reactive current  into    tracking  the  reference  voltage 
implemented
∗
by injecting a reactive current iAC,q into iAC . , The phase. The phase of the virtual current 
of the virtual current is obtained
. Positive amplitude means output current lags system voltage while negative amplitude means 
is obtained by delaying the AC voltage    by a quarter of a cycle and the amplitude can obtained 
by delaying the AC voltage uAC by a quarter of a cycle and the amplitude can obtained by a PI
output current leads system voltage. 
by  a  PI  controller, 
controller, which 
which is used tois  used  to the
maintain maintain 
reactivethe reactive  power  the  tracking 
power Q tracking referencethe  Q∗ . Positive
reference 
voltage voltage 
∗
. Positive amplitude means output current lags system voltage while negative amplitude means 
amplitude means output current lags system voltage while negative amplitude means output current
output current leads system voltage. 
leads system voltage.

 
Figure 8. OCC algorithm with reactive power controller. 
 
Compared  to  the  traditional Figure
control  strategies  based  on  coordinate 
8. OCC algorithm with reactive power controller.
transformation,  although 
Figure 8. OCC algorithm with reactive power controller. 
the proposed controller still needs a PLL and DQ transform, the inverse transformation is no longer 
needed. In addition, since the DQ transform or the PLL is only used in the outer power loop and the 
Compared
Compared to to the
the traditional
traditional  control strategies
control  strategies  based
based on on 
coordinate
coordinate  transformation,
transformation,  although the
although 
outer loop has a lower frequency than the inner current loop, the proposed one has less calculation 
proposed controller still needs a PLL and DQ transform, the inverse transformation
the proposed controller still needs a PLL and DQ transform, the inverse transformation is no longer  is no longer needed.
and 
In because 
addition, it  requires 
since less  hardware, 
the DQ transform it  also 
or the PLL has used
is only cost  in advantages. 
the outer power
needed. In addition, since the DQ transform or the PLL is only used in the outer power loop and the  However, 
loop and it  also  has  some 
the outer loop
limitations; 
has a lower because 
frequency the  controller 
than the inner can  only 
current output 
loop, the the  positive 
proposed oneactive 
outer loop has a lower frequency than the inner current loop, the proposed one has less calculation has power, 
less the 
calculation MMC  and can  only 
because
work in the rectifier mode, therefore it is still not suitable for applications requiring four‐quadrant 
it requires
and  because  lessit 
hardware,
requires  it alsohardware, 
less  has cost advantages.
it  also  has However, it also has
cost  advantages.  some limitations;
However,  because
it  also  has  some 
operations such as HVDC. 
the controller can only output the positive active power, the MMC can only work
limitations;  because  the  controller  can  only  output  the  positive  active  power,  the  MMC  can  only  in the rectifier mode,
therefore it is still not suitable for applications requiring four-quadrant operations such as HVDC.
work in the rectifier mode, therefore it is still not suitable for applications requiring four‐quadrant 
4.2. Inversion 
operations such as HVDC. 
4.2. Inversion
When    is  negative,  the  system  will  have  a  pole  at  the  right  half  of  the  s‐plane  and  it  will 
4.2. Inversion 
cause  When Re is negative,
a  stability  problem the system
[17].  Thus, will  have
must a be 
pole at the right
positive  and  half
it  is of the s-planeto and
impossible  make it will
the cause
circuit a
stability
work When  problem [17].
in  the  inverter  Thus,
mode  by  R must be positive
e setting  the  and it is
  as  a a negative impossible
value  to make
directly.  the circuit work in the
  is  negative,  the  system  will  have  pole  at  the  right  half  of Therefore, 
the  s‐plane  for  the it 
and  OCC 
will 
inverter
control  mode by setting
algorithm  in  the  the Re as amode, 
inverter  negative
the  value directly.
injection  method  Therefore,
described  for the
in  OCC
the  control algorithm
previous  section  is 
cause  a  stability  problem  [17].  Thus,    must  be  positive  and  it  is  impossible  to  make  the  circuit 
in the inverter mode, the injection method described in the previous section is still used.
still used. 
work  in  the  inverter  mode  by  setting  the    as  a  negative  value  directly.  Therefore,  for  the  OCC 
The equivalent
The algorithm 
equivalent  circuit forfor the inverter modemode underunder 
both the grid-connected and off-grid and condition
control  in  circuit 
the  inverter the  inverter 
mode,  the  injection  method  both  the  grid‐connected 
described  in  the  previous  off‐grid 
section  is 
is shown in Figure 9. The output current iAC is the sum of  is the sum of 
condition is shown in Figure 9. The output current  iS and the fictitious   current if . If if is negative. 
and the fictitious current 
still used. 
If   |iThe 
and | | | will
f | > |is |, the converter
is negative and  |, the converter will work under the inverter mode. 
work under the inverter mode.
equivalent  circuit  for  the  inverter  mode  under  both  the  grid‐connected  and  off‐grid 
condition is shown in Figure 9. The output current    is the sum of    and the fictitious current  . 
If    is negative and  | | | |, the converter will work under the inverter mode. 

 
Figure 9. Equivalent circuit for inverter mode. 
Figure 9. Equivalent circuit for inverter mode.
 
Similar to Equation (10), the output voltage of the MMC can be written as 
Figure 9. Equivalent circuit for inverter mode. 

Similar to Equation (10), the output voltage of the MMC can be written as 
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Similar to Equation (10), the output voltage of the MMC can be written as
.   (12) 
ej = Re is = Re (iAC − if ). (12)
As for the grid‐connected condition, the    is a sine wave with the same frequency and phase 
as the input voltage 
As for the grid-connectedu , so it can be easily derived by sampling the 
condition, the if is a sine wave with the same . Denote the amplitude of 
frequency and phase as
the    and    as  ,  ,  respectively.  If  ,  the  converter 
the input voltage uAC , so it can be easily derived by sampling the uAC . Denote the amplitudewill  work  under  the  rectifier 
of mode 
the if
and when the 
and is as If , Is , respectively., the converter will work under the inverter mode. For the off‐grid condition, 
If If > − IS , the converter will work under the rectifier mode and when the
Ithe frequency of the 
f < − IS , the converter will   determines the frequency of the output voltage. 
work under the inverter mode. For the off-grid condition, the frequency of
the if The block diagram of the overall control strategy for the four‐quadrant OCC‐controlled MMC 
determines the frequency of the output voltage.
is  shown  in  Figure 10. 
The block diagram Both of thethe  active 
overall power 
control and  the 
strategy forreactive  power  have 
the four-quadrant been  controlled 
OCC-controlled MMCby  the 
is
injecting  strategy.  The  emulated  resistance    can  be given as  any positive 
shown in Figure 10. Both the active power and the reactive power have been controlled by the injecting value,  but in  order  to 
control  the 
strategy.   conveniently, 
The emulated the  Re  can
resistance can bebe given
given  asas 
anythe  maximum 
positive value,input  voltage 
but in divided 
order to controlby thethe 
if
converter’s maximum allowable current 
conveniently, the Re can be given as the maximum , the amplitude of 
input voltage divided   can be limited as  0, 2maximum
by the converter’s   and 
the  phase current
allowable is  always Imaxopposite  to  the of
, the amplitude phase 
if canof 
bethe 
limited. asThus, 
[0, 2Iwhen  the the
max ] and amplitude 
phase is of 
always  belongs 
opposite to 
to0,the phase
, the system works under the rectifier mode and when it belongs to [
of the uAC . Thus, when the amplitude of if belongs to [0, Imax ], the system ,2 ], the system 
works under
works under the inverter mode. 
the rectifier mode and when it belongs to [Imax , 2Imax ], the system works under the inverter mode.

 
Figure 10. The block diagram of the overall control strategy. 
Figure 10. The block diagram of the overall control strategy.

This
This control
control module can
module  implement
can  four-quadrant
implement  operation
four‐quadrant  for the
operation  for OCC-controlled MMCMMC 
the  OCC‐controlled  with
less computation, but compared to other control modules introduced in this paper, its structure
with  less  computation,  but  compared  to  other  control  modules  introduced  in  this  paper,  its is
slightly complicated. This chapter introduces three different OCC control modules and they meet the
structure is slightly complicated. This chapter introduces three different OCC control modules and 
requirements for the MMC in most applications, so the most suitable control modules can be selected
they meet the requirements for the MMC in most applications, so the most suitable control modules 
to balance the features and costs.
can be selected to balance the features and costs. 

5. Simulation and Experimental Results

5. Simulation and Experimental Results 
In
In  order
order  to
to verify
verify the
the correctness
correctness of
of the
the proposed
proposed control
control scheme,
scheme, some
some simulations
simulations  and
and 
experiments
experiments  based
based  on
on single-phase
single‐phase MMC
MMC havehave been
been carried
carried out. To ensure
out.  To  ensure  the
the  accuracy
accuracy  of
of the
the 
simulations and the experiments, both of them use the same parameters which have been
simulations and the experiments, both of them use the same parameters which have been listed in  listed in
Table 2.
Table 2. 
Table 2. Parameters used in the simulations and experiments.
Table 2. Parameters used in the simulations and experiments. 
Symbol Description Value
Symbol  Description  Value 
uAC  AC system voltage
AC system voltage  110 V(rms)
110 V(rms) 
f Power frequency 50 Hz
u
  Power frequency 
DC-side voltage
50 Hz 
330 V
DC
N DC‐side voltage 
Number of SMs in each arm 330 V 
4
N 
CSM Number of SMs in each arm 
SM capacitance   780 4  µF
L0  Arm inductance
SM capacitance  780 μF 
14.7 mH
fc Control frequency 10 kHz
  Arm inductance  14.7 mH 
fe Equivalent control frequency 40 kHz
  Control frequency  10 kHz 
Equivalent control frequency  40 kHz 
 
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5.1. Simulation Results
5.1. Simulation Results 
5.1. Simulation Results 
In order to verity both the steady-state performance and dynamic characteristics of the proposed
In  order  to  verity  both  the  steady‐state  performance  and  dynamic  characteristics  of  the 
controlIn  order  to several
strategies, verity  both  the  steady‐state 
simulations have beenperformance 
carried out and baseddynamic  characteristics 
on the MATLAB/ of  the 
SIMULINK
proposed  control  strategies,  several  simulations  have  been  carried  out  based  on  the  MATLAB/ 
proposed 
platform control  strategies,  several  simulations  have  been  carried 
and all the three control modules mentioned in this paper have been tested. out  based  on  the  MATLAB/ 
SIMULINK platform and all the three control modules mentioned in this paper have been tested. 
SIMULINK platform and all the three control modules mentioned in this paper have been tested. 
5.1.1. Basic OCC Controller
5.1.1. Basic OCC Controller 
5.1.1. Basic OCC Controller 
Figure 11 shows the steady-state performance of the basic unit power factor OCC controller which
Figure  11  shows  the  steady‐state  performance  of  the  basic  unit  power  factor  OCC  controller 
is shown Figure  11  shows  the  steady‐state 
showsperformance  of when
the  basic 
IAC = unit  power 
and Ifactor  OCC 
= 12 controller 
which  inis  Figure
shown 6. in Figure
Figure 11a,b
6.  Figure  the situation
11a,b  shows  the  situation  6A
when  AC6 A  A, respectively.
and  12 A, 
which 
Both is  shown  in  Figure  6.  Figure  11a,b  shows  the  situation  when 
of them have sinusoidal current waveforms with few ripples, but as described in Section 6 A  and  12 A, 
4.1,
respectively. Both of them have sinusoidal current waveforms with few ripples, but as described in 
therespectively. Both of them have sinusoidal current waveforms with few ripples, but as described in 
phases of the voltage and current are not exactly the same. The current always
Section 4.1, the phases of the voltage and current are not exactly the same. The current always lags  lags behind the
Section 4.1, the phases of the voltage and current are not exactly the same. The current always lags 
voltage and the situation becomes more severe as the current increases.
behind the voltage and the situation becomes more severe as the current increases. 
behind the voltage and the situation becomes more severe as the current increases. 

   
(a)    (b)   
(a)  (b) 
Figure 11. The steady‐state performance of the unit power 
Figure 11. The steady-state performance of the unit power 6 A; (b) 
factor OCC controller: (a) IAC
factor OCC controller: (a)  = 6 A;
Figure 11. The steady‐state performance of the unit power  factor OCC controller: (a)  6 A; (b) 
(b) IAC =12 A. 
12 A.
12 A. 

The dynamic characteristics of this control strategy is shown in Figure 12. When t =
The dynamic characteristics of this control strategy is shown in Figure 12. When  t 0.4
0.4 s, the 
s, the DC
The dynamic characteristics of this control strategy is shown in Figure 12. When 
∗
∗ increased t 0.4 s, the 
DC  voltage 
voltage referencereference 
uDC   increased 
from from 
330 to 330 
390 to 
V. 390 
Then,V.  Then, 
because because 
of the of  the 
effect of effect 
the of 
PI the  PI 
controller,
DC  voltage  reference  ∗   increased  from  330  to  390  V.  Then,  because  of  the  effect  of  the  PI 
controller, the current increases rapidly and the DC voltage gradually rises. By the same time, the 
the current increases rapidly and the DC voltage gradually rises. By the same time, the current begins
controller, the current increases rapidly and the DC voltage gradually rises. By the same time, the 
current begins to decrease gradually and after a short adjustment, when 
gradually and after a short adjustment, when t = 0.5 s, the entire
to current begins to decrease gradually and after a short adjustment, when 
decrease t 0.5 s, the entire system 
system regains a new
t 0.5 s, the entire system 
regains 
steady a 
state, new  steady 
andsteady  state, 
compared and  compared  to  the  original  state,  the  new  one  has  a ripple
larger  due
DC  side 
regains  a  new  state, toand 
thecompared 
original state, the
to  the  new one
original  hasthe 
state,  a larger DChas 
new  one  sidea  larger  DC  to the
side 
ripple due to the increased DC side power. 
increased DC side power.
ripple due to the increased DC side power. 

 
 
Figure 12. The situation when the direct current (DC) voltage reference changed. 
Figure 12. The situation when the direct current (DC) voltage reference changed.
Figure 12. The situation when the direct current (DC) voltage reference changed. 
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5.1.2. Reactive‐Power‐Controlled OCC Controller 
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For the reactive‐power‐controlled OCC controller, which is shown in Figure 8, the steady‐state 
5.1.2. Reactive‐Power‐Controlled OCC Controller 
5.1.2. Reactive-Power-Controlled OCC Controller
performances are shown in Figure 13. Figure 13a,b shows the input current and voltage waveforms 
when  For the reactive‐power‐controlled OCC controller, which is shown in Figure 8, the steady‐state 
the  factor  angles  φ   are OCC , controller,
For thepower 
reactive-power-controlled ,  respectively, 
whichand  all  of  in
is shown them  have 
Figure 8, the  same  active 
the steady-state
performances are shown in Figure 13. Figure 13a,b shows the input current and voltage waveforms 
current.  From are
performances Figure 
shown 13a,b  it  can 13.
in Figure be Figure
seen  that 
13a,b the  controller 
shows has current
the input good  performance 
and voltage in  both  the 
waveforms
when  the  power  factor  angles  φ  πare  π, ,  respectively,  and  all  of  them  have  the  same  active 
capacitive 
when and  the 
the power inductive 
factor angles ϕreactive  − 4 , respectively,
S are , power  output  situations. 
and all ofFigure 
them have13c  shows 
the same the  current 
active and 
current.
current.  From  Figure  13a,b  it  can  4be  seen  that  the  controller  has  good  performance  in  both  the 
voltage 
From under 
Figure the itunit 
13a,b can bepower  factor 
seen that thesituation, 
controllerand  comparing 
has good Figure in13c 
performance with 
both the Figure  11b and
capacitive shows 
the
capacitive  and  the  inductive  reactive  power  output  situations.  Figure  13c  shows  the  current  and 
that  both reactive
inductive of  them  have output
power almost situations.
the  same Figure
current  13camplitude  but  Figure 
shows the current 13c  is  more 
and voltage underlikely  to 
the unit
voltage  under  the  unit  power  factor  situation,  and  comparing  Figure  13c  with  Figure  11b  shows 
implement 
power factorthe  unit  power 
situation, factor.  Figure 
and comparing Figure13d 
13cshows  the  equivalent 
with Figure 11b showsAC  thatside 
bothoutput 
of themvoltage  of  the 
have almost
that  both  of  them  have  almost  the  same  current  amplitude  but  Figure  13c  is  more  likely  to 
MMC 
the same  current
calculated  by  Equation 
amplitude (6); 13c
but Figure the  five‐level 
is more likelyvoltage  output 
to implement thecan 
unitbe  clearly 
power seen Figure
factor. from 13dthe 
implement  the  unit  power  factor.  Figure  13d  shows  the  equivalent  AC  side  output  voltage  of  the 
shows the equivalent AC side output voltage of the MMC e calculated by Equation
figure and at the same time the voltage fluctuation caused by the charge and the discharge of the 
MMC    calculated  by  Equation  (6);  the  five‐level  voltage  (6); the five-level
j output  can  be  clearly  seen  from  the 
voltage output can be clearly seen from
SM capacitors can also be seen from the figure.  the figure and at the same time the voltage fluctuation caused
figure and at the same time the voltage fluctuation caused by the charge and the discharge of the 
by SM capacitors can also be seen from the figure. 
the charge and the discharge of the SM capacitors can also be seen from the figure.

   
(a)    (b)   
(a)  (b) 

      
(c) 
(c)  (d) 
(d) 

13. The steady-state performance of the reactive-power-controlled OCC controller: (a)φϕφS = ; π4 ; ;
Figure 13. The steady‐state performance of the reactive‐power‐controlled OCC controller: (a) 
Figure 13. The steady‐state performance of the reactive‐power‐controlled OCC controller: (a) 
Figure
ϕφS φ
(b) (b) 
(b) = − π4 ; (c)  φSφ= 0;
; (c) 
; (c) ϕ 0; (d) the equivalent AC side output voltage of the MMC. 
0; (d) the equivalent AC side output voltage of the MMC. 
(d) the equivalent AC side output voltage of the MMC.

The
The  dynamic
The 
dynamic  characteristic
dynamic  is shown
characteristic 
characteristic  in Figure
is shown 
is  shown  14. When
in  Figure 
in  14.  t = 0.4tts, let
14.  When 
When  the let 
0.4 s, 
0.4 s,  reactive
let the  power
the reactive reference
power 
reactive  power 
become the opposite of the original value. The current changes quickly after the reference
reference become the opposite of the original value. The current changes quickly after the reference 
reference become the opposite of the original value. The current changes quickly after the reference  changes and
is basically stable after half a grid voltage cycle.
changes and is basically stable after half a grid voltage cycle. 
changes and is basically stable after half a grid voltage cycle. 

 
 
Figure 14. The dynamic state performance of the reactive‐power‐controlled OCC controller. 
Figure 14. The dynamic state performance of the reactive-power-controlled OCC controller.
Figure 14. The dynamic state performance of the reactive‐power‐controlled OCC controller. 
 The steady‐state performance of the four‐quadrant OCC controller which has been described 
in section 4.2 is shown in Figure 15. In these cases, the DC side is connected to a 400 V DC power 
supply. Figure 10a,b shows the situation in the inversion mode under the grid‐connect or off‐grid 
situation, respectively. For the off‐grid MMC, the AC power is replaced by a  10 Ω  resistor and the 
reactive power controller is no longer need. Since the AC power supply no longer needs to output 
Energies 2019, 12, 157 11 of 17
active power to maintain the DC side voltage, it is possible to only output the reactive power to the 
AC  side.  Figure  10c,d  shows  the  case  when  the  current  lags  or  leads  the  AC  source  voltage  , 
5.1.3. Four-Quadrant OCC Controller
respectively. 
The steady-state performance of the four-quadrant OCC controller which has been described in
The dynamic characteristic of the four‐quadrant OCC controller is shown in Figure 16. When 
∗ cases, the DC side is connected to a 400 V DC power supply.
t 0.4 s, the active power reference 
Section 4.2 is shown in Figure 15. In these   changes from positive to negative, which means the system 
Figure
switches 15a,b
from shows the situation
rectification  into 
mode  the inversion
inversion  modeThe 
mode.  under the grid-connect
current  or off-grid
changes  quickly  situation,
after  the  mode 
respectively. For the off-grid MMC, the AC power is replaced by a 10 Ω resistor and the reactive
changes and is basically stable after half a grid voltage cycle. 
power controller is no longer need. Since the AC power supply no longer needs to output active
To further verify the performance of the proposed controller, the AC currents under different 
power to maintain the DC side voltage, it is possible to only output the reactive power to the AC side.
operating conditions have been analyzed in the frequency domain. The total harmonic distortions 
Figure 15c,d shows the case when the current lags or leads the AC source voltage π2 , respectively.
(THDs) in the inversion and rectification conditions are 0.54% and 0.45%, respectively, and during 
The dynamic
the  capacitive  and characteristic of the four-quadrant
inductive  reactive  power  output OCC controller
conditions,  the isTHDs 
shownare 
in Figure 16. When
0.4%  and  0.43% 
= 0.4 s, theThe 
tseparately.  active power reference ∗
P changes from
spectrum  analysis  results  under  the positive to negative,
four  conditions  are which
shown means the system
in  Figure  17.  As 
switches from rectification mode to inversion mode. The current changes quickly after the mode
shown in the figure, although there are slight differences in the THDs, the AC currents have almost 
changes and is basically stable after half a grid voltage cycle.
no harmonic contents under all the operating conditions. 

   
(a)  (b) 

   
(c)  (d) 
Figure 15. The steady‐state performance of the four‐quadrant OCC controller: (a) Grid‐connect inversion; 
Figure 15. The steady-state performance of the four-quadrant OCC controller: (a) Grid-connect
(b) off‐grid inversion; (c) capacitive reactive power output; (d) inductive reactive power output. 
inversion; (b) off-grid inversion; (c) capacitive reactive power output; (d) inductive reactive
Energies 2019, 12, x FOR PEER REVIEW 
power output.   12  of  18 

 
Figure 16. The dynamic state performance of the four-quadrant OCC controller.
Figure 16. The dynamic state performance of the four‐quadrant OCC controller. 
 Energies 2019, 12, x FOR PEER REVIEW 12 of 18

Energies 2019, 12, 157 12 of 17

To further verify the performance of the proposed controller, the AC currents under different
operating conditions have been analyzed in the frequency domain. The total harmonic distortions
(THDs) in the inversion and rectification conditions are 0.54% and 0.45%, respectively, and during the
capacitive and inductive reactive power output conditions, the THDs are 0.4% and 0.43% separately.
The spectrum analysis results under the four conditions are shown in Figure 17. As shown in the
Figure
figure, although 16.are
there Theslight
dynamic state performance
differences of thethe
in the THDs, four-quadrant OCC
AC currents controller.
have almost no harmonic
contents under all the 16.
Figure operating conditions.
The dynamic state performance of the four-quadrant OCC controller.

Figure 17. Harmonic comparison in different modes.

Figure 17.Harmonic
Figure17. Harmoniccomparison
comparisoninindifferent
differentmodes.
modes.
5.2. Experiment Results
5.2. Experiment Results
5.2.To
Experiment
test the Results
working condition of the controller in the real environment, a 200 W MMC
To
prototype test the working
was the condition
builtworking
in the of the controller inThe
laboratory the real environment, a 200 W MMC byprototype
To test condition environment.
of the controller half bridge
in the realSM was made
environment, upa 200 the
W IGBT
MMC
was built
IKCM15F60GA in the laboratory
(600 V/15 environment.
A, Infineon). The
Thehalf bridge
digital SM
controlwas
wasmade up by
implementedthe IGBT
on a IKCM15F60GA
floating-point
prototype was built in the laboratory environment. The half bridge SM was made up by the IGBT
(600 V/15
digital A, Infineon).
signal process The digital
(DSP) control was implemented
TMS320F28335 and control on a floating-point digital
a field-programmable gate signal (FPGA)
process
IKCM15F60GA (600 V/15 A, Infineon). The digital was implemented on array
a floating-point
(DSP) TMS320F28335
Xilink-XC6SLX25. and
As Figure a field-programmable
18 shows, gate
the DSP was array (FPGA) Xilink-XC6SLX25. As Figure 18
digital signal process (DSP) TMS320F28335 andused to calculate the output
a field-programmable voltage
gate arrayand the
(FPGA)
shows,
FPGA the DSP was
generated theAs used to calculate
switching the
signals. output
The voltage
signal and the FPGA generated the switching signals.
Xilink-XC6SLX25. Figure 18 shows, the DSPsample
was usedwastoimplemented
calculate theby the analog-to-digital
output voltage and the
The signal (ADC)
converter sample chip
was implemented
AD7606. by the
Other analog-to-digital
parameters are converter
shown in (ADC)
Table 1 chip the
and AD7606. Other
experiment
FPGA generated the switching signals. The signal sample was implemented by the analog-to-digital
parameters
prototype are shown in Table 1 and the experiment prototype is shown in Figure 19.
converteris (ADC)
shown in Figure
chip 19.
AD7606. Other parameters are shown in Table 1 and the experiment
prototype is shown in Figure 19.

Figure 18.
Figure 18. The
The hardware architecture
architecture and
and functional introduction of the control system. DSP: digital
signal 18. The hardware architecture andsignal
process.
Figure process.
functional introduction of the control system. DSP: digital
signal process.
The current and voltage waveforms under the unit power factor situation controlled by the
conventional power factor OCC controller and the reactive-power-controlled OCC controller are
shown in Figure 20a,b, respectively, and both of them have sinusoidal current waveforms with fewer
ripples. Compared with the simulation results, the current in the experiment is smaller due to
the limitation of the hardware conditions, but the conclusion that the current waveform shown in
Figure 20b is closer to the unit power factor relative to Figure 20a can be obtained by observing the
zero-crossing point of the current waveform. Figure 21 shows the equivalent AC side output voltage
of the MMC and the five-level voltage output can be clearly seen from that figure.
Energies 2019, 12, 157 13 of 17
Energies 2019, 12, x FOR PEER REVIEW 13 of 18

Figure19.
Figure 19.Experiment
Experimentprototype.
prototype.

The current
The current and and voltage
voltage waveforms
waveforms under
under thethe unit
unit power
power factor
factor situation
situation controlled
controlled byby the
the
conventional power factor OCC controller and the reactive-power-controlled
conventional power factor OCC controller and the reactive-power-controlled OCC controller are OCC controller are
shown in
shown in Figure
Figure 20a,b,
20a,b, respectively,
respectively, and
and both
both ofof them
them have
have sinusoidal
sinusoidal current
current waveforms
waveforms withwith
fewer ripples. Compared with the simulation results, the current in the experiment
fewer ripples. Compared with the simulation results, the current in the experiment is smaller due to is smaller due to
the limitation of the hardware conditions, but the conclusion that the current
the limitation of the hardware conditions, but the conclusion that the current waveform shown in waveform shown in
Figure 20b
Figure 20b isis closer
closer to
to the
the unit
unit power
power factor
factor relative
relative to
to Figure
Figure 20a
20a can
can be
be obtained
obtained byby observing
observing the
the
zero-crossing point of the current waveform. Figure 21 shows the
zero-crossing point of the current waveform. Figure 21 shows the equivalent AC side outputequivalent AC side output
voltageof
voltage ofthe
theMMC MMCand andthethefive-level
five-level voltage
voltage
Figure
Figure outputcan
output
19. Experiment
19. Experiment can beclearly
be clearlyseen
prototype.
prototype. seenfrom
fromthat
thatfigure.
figure.

The current and voltage waveforms under the unit power factor situation controlled by the
conventional power factor OCC controller and the reactive-power-controlled OCC controller are
shown in Figure 20a,b, respectively, and both of them have sinusoidal current waveforms with
fewer ripples. Compared with the simulation results, the current in the experiment is smaller due to
the limitation of the hardware conditions, but the conclusion that the current waveform shown in
Figure 20b is closer to the unit power factor relative to Figure 20a can be obtained by observing the
zero-crossing point of the current waveform. Figure 21 shows the equivalent AC side output
voltage of the MMC and the five-level voltage output can be clearly seen from that figure.

(a)
(a) (b)
(b)
20. The
Figure 20.
Figure 20. The current
current and
and voltage
voltage waveforms under the
waveformsunder the unit
unit power
power factor
factor situation
situation controlled
controlled by:
controlledby:
(a) traditional
(a) traditional unit powerfactor
unit power
power factorOCC
factor OCCcontroller;
OCC controller;(b)
controller; (b)reactive-power-controlled
reactive-power-controlledOCC OCCcontroller.
controller.
controller.

(a) (b)
Figure 20. The current and voltage waveforms under the unit power factor situation controlled by:
(a) traditional unit power factor OCC controller; (b) reactive-power-controlled OCC controller.

Figure21.
Figure Theequivalent
21.The equivalentAC
ACside
sideoutput
outputvoltage
voltageof
of the
the MMC.
MMC.

The dynamic characteristics of the conventional unit power factor OCC controller are shown
in Figure 22. After DC voltage reference uDC ∗ . changed, because of the effect of the PI controller,

the current increases rapidly and the DC voltage gradually rises. The variation of three SM capacitor
voltages are also shown, where VSM1 and VSM2 are the upper arm SM voltages and VSM3 is a lower arm
SM voltage. It can be seen that the voltages of the three SMs are basically the same throughout the
entire process and the voltage oscillation increases as the current increases.

Figure 21. The equivalent AC side output voltage of the MMC.

 The dynamic characteristics of the conventional unit power factor OCC controller are shown in
The dynamic characteristics of the conventional unit power factor OCC controller are shown in 
∗∗
Figure
Figure  22. After
22. After DC DC voltage reference  𝑢DC
voltage reference   changed,
changed, because
because of of the
the effect
effect of
of the
the PI
PI controller,
controller, the
the 
current
current increases
increases rapidly
rapidly and
and the
the DC
DC voltage
voltage gradually
gradually rises.
rises. The
The variation
variation ofof three
three SM
SM capacitor
capacitor 
voltages are also shown, where 𝑉SM1   and
voltages are also shown, where  and  𝑉SM2   are the upper arm SM voltages and 𝑉SM3   is
are the upper arm SM voltages and  a lower
is a lower 
arm SM2019,
Energies voltage.
12, 157 It can be seen that the voltages of the three SMs are basically the same throughout
arm SM voltage. It can be seen that the voltages of the three SMs are basically the same throughout  14 of 17
the entire process and the voltage oscillation increases as the current increases.
the entire process and the voltage oscillation increases as the current increases. 

 
Figure
Figure 22.
22.Experiment
Experimentresults
resultsforfor
thethe
dynamic response
dynamic when
response thethe
when DCDC
voltage reference
voltage changed:
reference (a)
changed:
Figure 22. Experiment results for the dynamic response when the DC voltage reference changed: (a) 
DC
(a) bus
DC voltage;
bus (b)
voltage; SM
(b) voltages.
SM voltages.
DC bus voltage; (b) SM voltages. 

For the
For
For  the reactive-power-controlled
reactive-power-controlled
reactive‐power‐controlled  OCC
OCC controller,
OCC  controller,thethe
controller,  situations
the  are shown
situations
situations  are in Figure
are shown
shown  in 23, the23,
in Figure
Figure  power
23, the
the 
π π π π
factor angles
power ϕS are 4φ
factor angles
power factor angles  φ,S − 4 , respectively,
  are
are  4 4
and all of
respectively, andthem have
all of themthehave
sametheactive
same current.
active The
,,− ,, respectively, and all of them have the same active current. The  dynamic
current. The
responseresponse
dynamic when thewhenreactive power reference
the reactive becomesbecomes
power reference the opposite of the original
the opposite value isvalue
of the original shown is
dynamic response when the reactive power reference becomes the opposite of the original value is 
in Figure
shown in 24. As
Figure can
24. be
As seen
can from
be the
seen figure,
from the
the adjustment
figure, the of the reactive
adjustment of power
the is completed
reactive power in
is
shown  in  Figure  24.  As  can  be  seen  from  the  figure,  the  adjustment  of  the  reactive  power  is 
two cycles and
completed although and the DC side voltage has some slighthas
fluctuation duefluctuation
to the influence of the
completed in in two
two cycles
cycles and although the DC
although the  DC side voltage
side voltage  has some
some slight
slight fluctuation  due
due to
to the
the 
disturbance,
influence the steady-state value of the DC voltage has not changed significantly,
of the disturbance, the steady-state value of the DC voltage has not changed significantly,
influence of the disturbance, the steady‐state value of the DC voltage has not changed significantly,  which means the
active means
which power thehas active
not been poweraffected by the
has not change
been affectedof reactive power.of reactive power.
by the change
which means the active power has not been affected by the change of reactive power. 

   
(a)
(a)  (b)
(b) 
Figure23.
Figure Experimentresults
23.Experiment resultsfor
forthe
thesteady-state
steady-stateperformance
performanceof
ofthe
thereactive-power-controlled
reactive-power-controlled OCC
Figure 23. Experiment results for the steady‐state performance of the reactive‐power‐controlled OCC  OCC
𝜋 𝜋
controller: (a) φ
controller: (a)
controller: (a)  ϕ = π4;; (b) 
φSS = 4
; (b)φ
(b) ϕSS==−− .π4.  .
φ 4
Energies 2019, 12, 157 15 of 17
Energies 2019, 2019,
Energies 12, x FOR
12, x PEER REVIEW
FOR PEER REVIEW 15 of15
18of 18

Figure
Figure 24.
24.Experiment
Figure Experiment results
results
24. Experiment for
forthe
results fordynamic
the dynamic response
response
the dynamic when
when
response the
the reactive
when reactive power
power
the reactive reference
reference
power changed.
reference changed.

The steady-state
The steady-state performance
performance ofofthethe
four-quadrant
four-quadrant OCC controller
OCC is shown
controller in Figure
is shown 25. During
in Figure 25. 25.
The steady-state performance of the four-quadrant OCC controller is shown in Figure
these tests,
During thesethetests,
DC side
the is connected
DC side is to a 400 VtoDC
connected a power
400 V DCsupply.
power Figure
supply.25a,b shows25a,b
Figure the situation
shows in
the
During these tests, the DC side is connected to a 400 V DC power supply. Figure 25a,b shows the
the inversion
situation mode
in the under the grid-connect or off-grid situation, respectively. For the off-grid MMC,
situation in inversion
the inversionmode under
mode the grid-connect
under the grid-connect or off-grid situation,
or off-grid respectively.
situation, respectively.For For
the the
the AC MMC,
off-grid power theis replaced
AC power 100 Ω resistor.
byisa replaced by a 100Figure
Ω 25c,d shows
resistor. Figure the
25c,dcase when
shows thethe current
case when lags
the
off-grid MMC, the AC powerπis replacedπby a 100 Ω resistor. Figure 25c,d shows the case when the
or leadslags
current the or
ACleads
source
thevoltage
AC , respectively. πThe dynamic Thecharacteristic is shown in is Figure 26;
current lags or leads the source
AC 2sourcevoltage
voltage
2
, respectively.
, respectively. dynamic
The dynamic characteristic
characteristic shown in in
is shown
the working state of the system finishes the change 2 from rectification mode to inversion mode in two
Figure 26; the
Figure 26; working
the workingstatestate
of the
of system
the systemfinishes the change
finishes fromfrom
the change rectification mode
rectification to inversion
mode to inversion
cycles,inwhich
mode two showswhich
cycles, the superior
shows dynamic
the characteristic
superior dynamic of the controller.
characteristic of the controller.
mode in two cycles, which shows the superior dynamic characteristic of the controller.

(a) (a) (b) (b)

(c) (c) (d) (d)

Figure
Figure 25.
25.Experiment
Figure Experiment results
results
25. Experiment for
forthe
results thesteady-state
for steady-state
the performance
performance
steady-state of the
performance four-quadrant
of of
the OCC
four-quadrant
the OCC
four-quadrant controller:
OCC (a) (a)
controller:
controller:
grid-connect inversion;
(a) grid-connect (b)
inversion; off-grid
(b) off-gridinversion; (c)
inversion; capacitive
(c) capacitivereactive
reactive power
poweroutput;
output; (d)
(d)
grid-connect inversion; (b) off-grid inversion; (c) capacitive reactive power output; (d) inductive inductive
inductive
reactive
reactive power
power
reactive output.
output.
power output.
Energies 2019, 12, 157 16 of 17
Energies 2019, 12, x FOR PEER REVIEW 16 of 18

Figure 26. The performance

Figure 26. performance when
when changed
changed from
from rectification
rectificationmode
modeto
toinversion
inversionmode.
mode.

6. Conclusions
6. Conclusions
This paper proposes a modified OCC for MMCs. It uses the equivalent resistance constant
This paper proposes a modified OCC for MMCs. It uses the equivalent resistance constant
principle so that the modulation strategy can be separated from the control strategy. By adding the
principle so that the modulation strategy can be separated from the control strategy. By adding the
equivalent impedance into the controller, the proposed OCC-based MMC controller can control reactive
equivalent impedance into the controller, the proposed OCC-based MMC controller can control
power output and makes MMC operate in the inverter mode. Compared with the traditional OCC
reactive power output and makes MMC operate in the inverter mode. Compared with the
used in MMCs, the proposed one has the following advantages: (1) unlike the traditional controller
traditional OCC used in MMCs, the proposed one has the following advantages: (1) unlike the
which can only use CPS-PWM to generate the switch signals, the modified one can be combined with
traditional controller which can only use CPS-PWM to generate the switch signals, the modified
both NLM and CPS-PWM; (2) compared to the traditional one which can only operate at the unity
one can be combined with both NLM and CPS-PWM; (2) compared to the traditional one which can
power factor, the proposed one expands the range of applications for the OCC-based MMC controller.
only operate at the unity power factor, the proposed one expands the range of applications for the
Finally, the proposed controllers have been evaluated and validated by both simulation under the
OCC-based MMC controller. Finally, the proposed controllers have been evaluated and validated
MATLAB/SIMULINK platform and an experiment on a five-level single-phase MMC prototype.
by both simulation under the MATLAB/SIMULINK platform and an experiment on a five-level
single-phase
Author MMC prototype.
Contributions: X.T. and Y.M. conceived and designed the study; Y.M. and J.Y. performed the simulations
and experiments; C.W. and H.C. reviewed the manuscript and provided valuable suggestions; Y.M. wrote
the paper.Contributions: X.T. and Y.M. conceived and designed the study; Y.M. and J.Y. performed the
Author
Funding: Thisand
simulations experiments;
research C.W.
was funded byand H.C. Key
National reviewed the manuscript
R&D Program and provided
of China under valuable
grant number suggestions;
2017YFB1200800
Y.M.National
and wrote the paper.Science Foundation of China grant number 51707194.
Natural
Conflicts
Funding:ofThis
Interest: The authors
research declare by
was funded no conflict
Nationalof interest.
Key R&D Program of China under grant number
2017YFB1200800 and National Natural Science Foundation of China grant number 51707194.
References
Conflicts of Interest: The authors declare no conflict of interest.
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