INTERNATIONAL JOURNAL of RENEWABLE ENERGY RESEARCH

I. Ouerdani et al., Vol.6, No.3, 2016

Harmonic Analysis of Pulse Width Modulation-

Based Strategies for Modular Multilevel Converter

Imen Ouerdani *‡, Afef Bennani Ben Abdelghani **, Ilhem Slama Belkhodja *

* Université de Tunis El Manar, Ecole Nationale d'Ingénieurs de Tunis LR11ES15 Laboratoire des Systèmes Electriques,
1002, Tunis, Tunisie ;
** Université de Carthage, Institut national des sciences appliquées et de technologie, Tunis 1080, Tunisie
(imen.wardani@gmail.com, afef.bennani@gmail.com, ilhem.slamabelkhodja@gmail.com)

‡
Corresponding Author; Imen Ouerdani, BP 37, Le Belvédère, 1002 Tunis, Tunisia, Tel: +21671874700 Fax: +21671872729.
imen.wardani@gmail.com

Received: 03.06.2016 Accepted:05.07.2016

Abstract- MMC converters are an interesting solution for HVDC applications and renewable energy transport. This paper
presents a mathematical analysis of the impact of various Phase Disposition PWM strategies on the circulating current which is
one of the important MMC converter issues. The considered strategies are: Phase Disposition PWM (PDPWM), Phase
Opposition Disposition PWM (PODPWM) and Alternative Phase Opposition Disposition PWM (APODPWM). Depending on
the adapted modulation strategy, the proposed analysis proves that the circulating current varies from a DC component to a
high current with high frequency components and a dominance of the second order harmonics. It is also demonstrated that
PODPWM and APODPWM modulation strategies satisfy the balanced operation condition where only N sub-modules among
the 2N available sub-modules are inserted into the phase leg and consequently ensure (N+1) voltage levels in the output
voltage. Simulation results of a 2.7 MVA MMC converter are presented to verify the validity of the proposed methodology and
analysis.
Keywords Modular Multilevel Converter; circulating current; THD; Pulse Width Modulation.

1. Introduction one of the most promising topologies in high voltage high

power applications [9,10,11]. The MMC offers various
With the beginning of a new era of energy production advantages such as low harmonic distortion of the output
based on distributed energy resources and the need to build a voltage, low switching frequency, fault tolerant operation,
smarter grid [1,2], High Voltage Direct Current (HVDC) is etc. The modularity and scalability of this topology allowed
expected to be the method of choice of power transmission it to reach high voltage ranges with very high number of
[3,4]. HVDC is considered advantageous compared to ac voltage levels by a simple series connection of conventional
transmission due to its stability when connecting sub-modules. Due to this criterion, the MMC has become
asynchronous ac grids, the great ease of active power control especially attractive for HVDC transmission and power
in the DC link and the low power losses even over very long systems applications [12,13].
distances [5,6]. These advantages make the HVDC a perfect
Since its introduction by R. Marquardt in 2001[14],
candidate for grid integration of renewable energy where
extensive researches have been performed to improve the
resources are usually located far from their consumption
converter’s performance regarding its different aspects. In
centres.
fact, first investigations were dedicated to the topology
Along with the modifications made on conventional modelling [15] and dedicated modulation schemes [9],[16].
centralized electric grids, power conversion attracted major In [17] and [18], the authors adopted the nearest level control
investigations. New topologies were proposed to fit specific (NLC) also known as the round method. It is especially
applications according to the voltage and power rates [7,8]. interesting for MMC with large number of sub-modules [19].
The Modular Multilevel Converter (MMC) has emerged as Space Vector PWM (SVPWM) modulation was also applied
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I. Ouerdani et al., Vol.6, No.3, 2016

for MMC converters [20, 21]. This strategy has the modules (SM) and an inductor L. Different structures can be
advantage of a higher DC bus utilization ratio and more used to build the sub-modules. In this paper, a sub-module is
degrees of freedom; however, its implementation becomes a Half Bridge converter, as shown in fig.1. The dc side of the
complicated for high number of levels. The modularity and converter is modelled by two dc voltage sources Vdc/2. In the
simple implementation of PWM-based modulation strategies following, such a converter is labelled N-SM MMC
make them the most suitable for MMC converters [22]. In converter.
[19,21] the high performances of the Carrier Disposition
Sub-modules are bypassed or inserted in a sinusoidal
PMW (CDPWM) modulations versus the Phase Shifted
manner depending on the upper switch control signal Si: If
Carrier PWM (PSCPWM) methods are detailed.
Si=1, (i.e. the upper switch is ON), the SM is inserted and
Nevertheless, the MMC topology requires further control contributes in the output voltage with its capacitor voltage.
objectives in addition to those of a conventional voltage The capacitor is charged or discharged according to the arm
source converter. Indeed, one of the main issues of the MMC current sign. If Si=0, (i.e. the upper switch is OFF) the SM is
topology is the circulating current. Since upper and lower bypassed and its output voltage is null. The corresponding
arms are connected in series, the voltage difference creates a capacitor voltage is constant. Bypassing or inserting a given
current that flows within the phase units [23] [24]. The so SM depends on two main criteria: realizing the required
called circulating current flows through the power devices as output voltage while maintaining the capacitors voltages
well as the sub-modules capacitors without having any balanced. In this paper, the capacitor value is considered
impact on the ac-side voltages and currents [25]. However, it balanced, equal to Vdc/N.
increases the peak values of upper and lower arm currents
Kirchhoff voltage law applied to leg a gives:
and consequently increases the rated current of power
devices which further increases the system cost and power V dc di a,u
losses [26]. Also, the circulating current perturbs the V a,u  L . V a  0 (1)
2 dt
capacitor voltage balancing of the sub-module capacitors and
requires, consequently, a more sophisticated balance control V dc
algorithm [25]. V a ,l V L ,l V a  0 (2)
2
Circulating current control has been the subject of
various researches. In [26],[27],28], various dedicated where V a ,u and V a ,l are the upper and the lower arm
control algorithms are investigated to suppress the second inductor voltages. They are expressed as:
order harmonic considered as the dominant component of the
circulating current spectrum. Although they lead to a idc Upper arm
sensitive circulating current reduction, the proposed iu,a iu,b iu,a
algorithms lead to a non-negligible control complication and SM SM SM
limit the extra degrees of freedom of the MMC topology, Ua1 Ub1 Uc1
which may be used to enhance further performances.
SM SM SM
The aim of this paper is to analyse the impact of PWM +
- 𝑽𝒂,𝒖 Ua2 Ub2 Uc2
based modulation strategies on the circulating current and
evaluate how the PWM technique could enhance the
circulating current issue without considering it as an
additional constraint. Unlike other multilevel topologies, the SM SM SM
UaN UbN UcN
MMC converter offer a number of output voltage levels that
depend not only on the semi-conductor devices number used 𝑽𝒂
L L L
to build the converter, but also on the adapted modulation
scheme. The proposed analysis is based on the double
Fourier integral method to demonstrate which PWM-based L L L
modulation strategies are the best adapted to control the
𝑉𝑑𝑐 SM SM SM
MMC converter while eliminating the circulating current. +
2 - La1 Lb1 Lc1
The paper is organized as follows: in section 2, the
model of a three phase MMC converter and the circulating SM SM SM
𝑽𝒂,𝒍 La2 Lb2 Lc2
current are introduced. The impact of the Phase Disposition
PWM modulation strategies on the converter’s performance
is analyzed in section 3. Section 4 presents the simulation C
results and is followed by conclusions in section 5. SM SM SM
LaN LbN LcN
2. MMC Converter: Operation Principles and il,a il,b il,c
Modelling
Lower arm
A three phase MMC converter topology is depicted in
fig.1. Each of its legs is composed by two identical arms. Fig. 1. Topology of an N-SM MMC converter
Each arm consists of a series connection of N identical sub-

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V n V dc
V a,u   Si u V
. c  Si u . dc  u V
. dc (3) V a ,u  V a (13)
i i N N 2

V a,l   Si l V
V n
. c  Si l . dc  l V
V dc
N N
. dc (4) V a ,l  V a (14)
i i 2
where nu and nl are the number of inserted sub-modules in As in grid connected generation systems and motor drive
the upper and lower arm respectively. field, where the MMC is used in DC/AC operation mode, leg
a voltage reference is defined as:
The subtraction of (2) from (1) gives:
V
di a,l di a,u V a,ref  m . dc cos(2 ft )
2.V a V a ,u V a ,l  L .  L. 0 (5) 2 (15)
dt dt
where m is the modulation index.
Considering the symmetry of the converter, the leg
output current is equally split among the upper and lower Consequently, upper and lower arm voltage references
arms. Consequently, upper and lower inductor voltages are are 180° phase shifted.
equal as expressed in (6).
3. Harmonic Analysis of Level Shifted PWM Strategies
di a,u di a ,l
L.  L. V L (6)
and Their Effect on Circulating Current for MMC
dt dt Converter
Inserting (6) in (5) yields to (7).
The harmonic analysis of voltage and current outputs can
V a ,l V a ,u be performed using double Fourier integral method [29,30].
Va  (7) In [30], Holmes deeply analyzed PWM based modulation
2
strategies for multilevel converters. The provided
Kirchhoff current law applied to leg a gives: quantifications can be simply applied for MMC converters.
In fact, the upper and lower arms can be considered as two
i a  i a,u  i a,l (8) separated multilevel converters. Each of the considered
converters is controlled by an independent PWM block.
(7) and (8) show that the voltage and current outputs are
given by the instantaneous difference between the lower and 3.1. Harmonic Analysis for PDPWM Modulation Strategy
upper voltages and currents.
Similarly, the sum of (1) and (2) gives: Phase Disposition PWM modulation strategy consists in
the comparison of the reference with carriers that are defined
d (i a ,u  i a,l ) V dc  (V a ,u V a ,l ) with the same magnitude, frequency and phase. They are
V L  L.  (9)
2dt 2 Vdc/N level shifted and form contiguous bands that cover all
the linear modulation range. Each carrier is associated to a
According to (7), the inductor compensates the single sub-module. Upper arm control signals are obtained
difference between the dc bus and the sum of the upper and by comparing the carriers with the upper arm voltage
lower arms voltages. This instantaneous voltage difference reference. Similarly, lower arm control signals are the
generates the circulating current iza, which flows in the upper comparison result of the carriers with the lower arm voltage
arm, lower arm and the dc bus. Current iza has no influence reference. On the basis of [30], one arm output voltage
on the output current ia and is expressed as: Varm(t,φ) can be expressed as follows:
i a ,u  i a ,l V V
i za  (10) V arm (t ,  )  dc  dc .m .cos(0t   ) 
2 2 2
2V dc  1 
Inserting (3) and (4) in (9) yields to: .  C e .cos  2i c t   2 j  10t   
N . 2 i 1 2i j  (16)
V   
V L  dc .(N  (nu  nl ))
  C 0 .cos  2i  1c t  2i 0t   
4V dc 1
2.N (11)  
N . 2 i 1 2i  1 j  k 1
Ideally, the dc bus and the converter’s legs are balanced
and the inductor voltage is null. Hence, the converter’s where:
balance condition is derived from (11) and can be written as:
φ is the initial phase angle of reference waveform, i is the
N  nu  nl (12) carrier index and j is the baseband index. wc and w0 are the
Thus, for a correct N-SM MMC converter operation, the angular frequency of the carrier and the reference
modulation strategy has to ensure that N SMs among the 2N respectively.
available ones are inserted.
 N 
Under this condition, (1) an (2) become: C 0  J 2k 1   2i  1  m  cos(k  )  (A  B ) (17)
 2 

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3.2. Harmonic Analysis for APODPWM Modulation Strategy

Ce   J 2i 1  iN  m  .cos  j  1  (18)
Similarly, the analytical solution of one arm output
A and B are defined in (19) and (20) as in [31]. voltage Varm(t,φ) is deduced from the multilevel converter leg
voltage when modulated with APODPWM [30,31] and is
 1
N /21
 2h  
 sin   2k  2i  1.cos 
expressed as:
cos  i  k    2.  .cos  h 
  Nm  
A
h 1  (19) V dc V dc
V arm (t ,  )   .m .cos(0t   )
2k  2i  1 2 2
2V  1   N   
 1  dc   J 2 j 1  i  m  cos(i  )  sin   Ni  2 j  1 
N /21
 2h   N  i 1 i j     2  (25)
 sin   2k  2i  1.cos 
2
cos  i  k    2  .cos  h 
  Nm  
j 0
h 1 
 cos  i c t   2 j  10t   
B (20)
2k  2i  1

Replacing φ with 0 for the upper arm reference and 180° Thus,
for the lower arm reference, Va,u and Va,l can be deduced from V dc V dc
(16) and are expressed as: V a ,u V arm (t ,0)   .m .cos(0t )
2 2
V V 2V dc  1   N   
V a ,u (t ) V arm (t ,0)  dc  dc .m .cos(0t )    J 2 j 1  i  m   cos(i  )  sin   Ni  2 j  1 
2 2 N  i 1 i j   2   2  (26)
2V dc  1  j 0
 .  C e .cos  2i c t  2 j  10t 
N  2 i 1 2i j   cos  i c t   2 j  10t 
(21)
4V dc   
 2i  1   C 0 .cos 2i  1c t  2i 0t 
1
 And
N 2 i 1 j  k 1
V dc V dc
 .m .cos(0t )
V a ,l V arm (t ,180) 
2 2
V V
V a ,l (t ) V arm (t ,180)  dc  dc .m .cos(0t ) 2V  1 
 N   
2 2  dc   J 2 j 1  i  m   cos(i  )  sin   Ni  2 j  1 
  N  i 1 i j   2   2 (27)
 C e .cos  2i c t   2 j  10t 
2V 1
 dc  j 0
N  i 1 2i j   cos  i c t   2 j  10t 
2
(22)
4V dc   
 2i  1   C 0 .cos  2i  1c t  2i 0t 
1
 Inserting (26) and (27) into (9) gives an inductor voltage
N  i 1
2
j  k 1
that is equal to zero. This means that APODPWM ensures a
correct converter operation where circulating current is
Inserting (21) and (22) in (9) yields to: constant and the inserted sub-modules number is equal to N.
  
Consequently, the converter’s output voltage step is equal to
 C 0 .cos  2i  1c t  2 j 0t 
4V dc 1
VL    
N  i  2i  1 j  k 1
2 (23)
Vdc/N and (N+1) voltage levels can be generated.
j 0 3.3. Harmonic Analysis for PODPWM Modulation Strategy

The circulating current expression is deduced from the PODPWM leads to the arm output voltage that is
integration of (23) and expressed as: expressed as:

4V dc  V V
1 V arm (t ,  )  dc  dc .m .cos(0t   )
i z (t ) 
2 
LN  i  2i  1 2 2
1 
  2V dc  2i  J 2 j 1  iN  m   cos(i  )
  
  
C0     (24)
.cos   2i  1c t  2 j 0t   
  j 
N  i 1
 j  k 1 (2i  1).c  2 j 0  2   cos  2m c t   2 j  1 0t     (28)
 j 0 
 
2V dc  1 

N 2
 2i  1  (C  D )
Consequently, even carrier harmonics are cancelled from i 1 j 

 cos  (2i  1)c t   2 j  1 0t   

the circulating current harmonic content. The circulating
current contains only odd carrier multiples, while sidebands
harmonics appear around odd carrier multiples. Also, it is to C and D are defined as:
note that the second order harmonic is the dominant
component in the circulating current spectrum.

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2 m  sin  2  2 j  1  Carrier frequency 10 kHz

C  J 2 j 1  i  Nm   cos  j     2  Carrier peak to peak 2000V
N 2  2 j  1 Load resistance 11Ω
2V  1   N    Load inductance 10mH
 dc   J 2 j 1  i  m   cos(i  )  sin   Ni  2 j  1 
N  i 1 i j   2   2  (29) Modulation ratio 0.9
j 0

 cos  i c t   2 j  10t  Firstly, the converter is controlled by PDPWM. All

carriers have the same initial phase angle, equal to zero as
shown in fig. 2.
And

 m
J 2k 1    2 j  1 .2 .   cos  k  
  N 
D 
k 1 2
 sin  2k  2 j  . sin  2k  2 j  2  .  (30)
kj   
2k  2 j 2k  2 j  2
k  j 1  
1
 1 
where   cos   Zoom
 2m 
Upper and lower arm voltage expressions are
respectively given by (31) and (32):
V dc V dc
V a ,u (t ) V arm (t , 0)   .m .cos(0t )
2 2
1 
2V   J 2 j 1.  iN  m   cos(i  )
 dc
N
 2i j 

 cos  2m c t   2 j  1 0t  
i 1 (31)
Fig. 2. PDPWM for a 4-SM MMC converter
2V dc  1   (2i  1)c t  The three line output currents are depicted in fig. 3. They
  2i  1  (A  B )  cos  
   2 j  1 .0t  
N 2 form a balanced three phase system with 338 A as maximum
i 1 j 
value and a THD equal to 0.07%.

V dc V dc
V a ,l (t ) V arm (t ,180)   .m .cos(0t )
2 2
1 
2V   J 2 j 1.  iN  m   cos(i  )
 dc
N
 2i j 

 cos  2m c t   2 j  1 0t  
i 1 (32)

2V dc  1   (2i  1)c t 
  2i  1  (A  B )  cos  
N    2 j  1.0t  
2
i 1 j 
Fig. 3. Phase a, b and c currents of a PDPWM modulated 4
SM-MMC converter
Summing Va,u(t) and Va,l(t) and subtracting the result
from the dc bus gives a null inductor voltage. Hence, the The line to neutral output voltages Vao, Vbo and Vco are
circulating current is constant. PODPWM also generates presented in fig. 4. Each phase presents 9 voltage levels with
(N+1) voltage level in the converter’s output voltage. a THD equal to 16.7%.

4. Simulation Results of a 4-SM MMC Converter

To verify the above analysis, computer simulations of a

4-SM MMC 2.7 MVA converter were performed using
PSIM software. The circuit parameters are summarized in
Table I.
Table 1. Simulated circuit parameters
Parameter Value
Fig. 4. Line to neutral output voltages of a PDPWM
DC bus 8000V
modulated 4-SM MMC converter
Arm inductance 100µH

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Leg a output circulating current iza and upper arm

inductor voltage are depicted in fig. 5. Inductor voltage
oscillates between -1kV and +1kV at the switching
frequency. Consequently, the circulating current amplitude
reaches high values (over 250A) as shown in fig.5-b.
(a )

Zoom

(b)

Fig. 7. APODPWM for a 4-SM MMC converter

Fig.8 shows phase a output current where the THD is

Fig. 5. Leg a outputs a) upper arm inductor voltage b) equal to 0.36%.
circulating current iza temporal analysis
As demonstrated in (24), circulating current spectral
analysis shows high frequency components, odd multiple of
the switching frequency and sidebands that are odd multiple
of the modulation frequency. Accordingly, fig. 6 shows that
first carrier harmonics appear at the switching frequency, 10
kHz, with fundamental even multiple sidebands harmonics at
9900Hz and 10100. The next harmonics appear at 30 kHz,
with sidebands harmonics at 29800 Hz, 29900 Hz, 30100Hz
and 30200 Hz (fig. 6). Fig. 8. Phase a current of APODPWM modulated 4 SM-
MMC converter
(a )
Leg a output voltage depicted in fig. 9 shows 5 levels: -4
kV, -2 kV, 0 V, 2 kV and 4 kV. Calculated THD voltage is
equal to 33.3%.

(b) (c)

Fig. 9. Leg a output voltage obtained with APODPWM: 5

levels
APODPWM ensures the insertion of exactly N sub-
Fig. 6. Spectral analysis for leg a circulating currents a) modules among the 2N available ones. For the considered 4-
simulation result over 50 kHz b) zoom around 10 kHz c) SM MMC converter, 4 sub-modules are inserted while the 4
zoom around 20 kHz remaining ones are disconnected. The DC bus is then equally
divided into the 4 inserted sub-modules, resulting in 5 output
Second modulation strategy used for the converter’s voltage levels.
control is the APODPWM. Neighbouring carriers are 180°
phase shifted. Hence, they are symmetric to the voltage Hence, the inductor voltage is low, with a maximum
reference average value as shown in fig. 7. value equal to 10V for a 0.5% rate compared to one voltage
step. The circulating current is a dc component, with an
average value equal to 22mA as shown in fig. 10.

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I. Ouerdani et al., Vol.6, No.3, 2016
(a)

(b)

Fig. 13. Leg a output voltage obtained with PODPWM: 5

levels
Similarly to the APODPWM, inductor voltage is
negligible, circulating current is low and the number of the
inserted SM is equal to 4, as shown in fig. 14, fig.15 and
fig.16 respectively.
Fig. 10. Leg a outputs a) upper arm inductor voltage b)
circulating current
Finally, the 4-SM MMC converter is controlled with
PODPWM modulation strategy. Carriers are symmetric
according to the reference average value. The two upper
carriers have a null initial phase angle, whereas the two
lower carriers are 180° phase shifted as shown in fig. 11.

Fig. 14. Leg a upper arm inductor voltage

Zoom

Fig. 15. Phase a circulating current

Fig. 11. PODPWM for a 4-SM MMC converter

Leg a current and voltage outputs are shown on fig. 12
and fig. 13 respectively. Current THD is equal to 0.37% and
voltage THD is equal to 33.3%. Fig. 16. Number of inserted SM with PODPWM

In order to evaluate the considered modulation strategies

performances, the converter’s current and voltage outputs are
analysed and compared to the current and voltage harmonics
standards established according to IEC TR 61000-3-6: 2008
[32]. In fact, the MMC converter is mainly used in HVDC
transmission systems [33]. Furthermore, considering its
inherent advantages, the MMC topology would be extended
for energy distribution application [34]. In both cases,
Fig. 12. Line a current of PODPWM modulated 4 SM- considering the pulse-width-modulated output voltages, a
MMC converter filter is required to connect the converter to the grid.
Therefore, the key challenge is to reduce the filter’s size, cost
and resulting power losses.

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I. Ouerdani et al., Vol.6, No.3, 2016

According to IEC TR 61000-3-6: 2008, the current Management; Proceedings of PCIM Europe 2015;
harmonics standards are equal to 1.2% for distribution lines International Exhibition and Conference for Power
and 0.4% for transmission ones. Voltage harmonics Electronics, Intelligent Motion, Nuremberg, pp. 1–6,
standards are equal to 1.5% for bus voltage at PCC greater 19-21 May 2015.
than 161 kV. The voltage THD for high voltage systems like
[4] O. Alizadeh-Mousavi, C. Y. Evrenosoglu, and M.
in HVDC applications is limited to 2%.
Zima-Bockarjova, “Optimal location and sizing of
For the three proposed modulation strategies of MMC HVDC converters for same-tower AC-DC overhead
converters, current THD does not exceed 0.33%. lines,” in PowerTech, 2015 IEEE Eindhoven, 29 June-2
Consequently, the line currents verify the current harmonics July 2015, pp. 1–6.
standards. Due to the greater number of the output voltage
[5] S. Acharya, S. Bhattacharya, and N. Yousefpoor,
levels obtained with PDPWM compared to PODPWM and
“Dynamic performance evaluation of hybrid multi-
APODPWM, the obtained voltage THD, equal to 16.7%, is
terminal HVAC/HVDC grid,” in 2015 IEEE Energy
lower than the one obtained with PODPWM and
Conversion Congress and Exposition (ECCE), 20-24
APODPWM strategies, equal to 33.3%. As expected, the
September 2015, pp. 2287–2293.
three proposed modulation strategies achieve a low THD in
the converter’s output voltage. The lower the THD is, the [6] J.S. Contreras, and F. Rivas Davalos, "Reliability and
more optimised the filter is. Even though the voltage THD availability of VSC-HVDC links: A state of the art.”,
seems to exceed the aforementioned standards, it is to note 2015 IEEE International Autumn Meeting on Power,
that it will be sensitively reduced if a filter is added into the Electronics and Computing (ROPEC), 4-6 November
system. 2015, pp. 1-8
[7] E. Behrouzian, M. Bongiorno, and H. Z. D. L. Parra,
5. Conclusion
“An overview of multilevel converter topologies for
grid connected applications,” in 2013 15th European
This paper investigated the circulating current harmonics for
Conference on Power Electronics and Applications
an N-SM MMC converter. A double Fourier integral based
(EPE), Lille, 2-6 September 2013, pp. 1–10.
methodology was proposed to point out the effect of the
converter modulation technique on the circulating current [8] P. Qashqai, A. Sheikholeslami, H. Vahedi, and K. Al-
harmonics. . It has been showed that the circulating current Haddad, “A Review on Multilevel Converter
harmonic is a DC component when the converter is Topologies for Electric Transportation Applications,” in
controlled with PODPWM and APODPWM strategies. 2015 IEEE Vehicle Power and Propulsion Conference
Under these conditions, the converter operates in balanced (VPPC), Montreal, 19-22 October 2015, pp. 1–6.
conditions between the phase legs and the DC bus. This
[9] B. Li, R. Yang, D. Xu, G. Wang, W. Wang, and D. Xu,
balance ensures that exactly N sub-modules are inserted into
“Analysis of the Phase-Shifted Carrier Modulation for
the leg and consequently (N+1) voltage levels exist in the
Modular Multilevel Converters,” IEEE Trans. Power
output voltage of the corresponding leg. Whereas, when the
Electron., vol. 30, no. 1, pp. 297–310, January 2015.
converter is controlled with PDPWM, the circulating current
reaches high values with high frequency harmonics that are [10] S. Fan, K. Zhang, J. Xiong, and Y. Xue, “An Improved
odd multiple of the switching frequency. Hence, the Control System for Modular Multilevel Converters with
circulating current harmonics can be fully eliminated and its New Modulation Strategy and Voltage Balancing
magnitude can be tremendously reduced when using the Control,” IEEE Trans. Power Electron., vol. 30, no. 1,
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can then be exploited to solve other issues of the MMC
[11] U. Karaagac, J. Mahseredjian, L. Cai, and H. Saad,
converter, namely the sub-modules capacitors voltage
“Offshore Wind Farm Modeling Accuracy and
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