Voltage balancing in a Modular Multilevel Converter having delta configuration

Abstract

A method of discharging a Modular Multilevel Converter (MMC) includes a plurality of phase legs connected in delta configuration. Each leg includes a plurality of series connected submodules, each submodule including an energy storage. The method includes disconnecting the MMC from an electrical grid, discharging the energy storages by means of a circulating current, and reconnecting the MMC to the electrical grid. The discharging includes, for each phase leg, setting a voltage reference, and sequentially selecting submodules in zero state by means of a sorting algorithm for switching each of the selected submodules to plus or minus state until the voltage deviation from the set voltage reference of the energy storage of each submodule in the phase leg is within a predefined range.

Claims

1. A method of discharging a Modular Multilevel Converter (MMC) comprising a plurality of phase legs connected in delta configuration, each leg comprising a plurality of series-connected submodules, each submodule comprising an energy storage, the method comprising: disconnecting the MMC from an electrical grid; for each phase leg: setting a voltage reference; and sequentially selecting submodules in zero state with a sorting algorithm for discharging the energy storages using a circulating current flowing through the plurality of series-connected submodules in each of the phase legs connected in delta configuration, by switching each of the selected submodules to plus or minus state until a voltage deviation from the set voltage reference of the energy storage of each submodule in the each phase leg is within a predefined range; the sorting algorithm performing at least one of following operations in order to balance the submodules such that for the each phase leg, an average direct current (DC) voltage of all submodules in the each phase leg decreases: selecting a submodule in zero state with lowest energy storage voltage to be switched to plus or minus state for the energy storage voltage to increase, and selecting a submodule in zero state with highest energy storage voltage to be switched to plus or minus state for the energy storage voltage to decrease; and re-connecting the MMC to the electrical grid.

2. The method of claim 1, wherein the voltage reference has a predetermined frequency.

3. The method of claim 2, wherein the voltage reference is sinusoidal.

4. The method of claim 2, wherein the voltage reference is used in open loop control for the each phase leg.

5. The method of claim 2, wherein the discharging comprises exchanging power between the phase legs.

6. The method of claim 1, wherein the voltage reference is sinusoidal.

7. The method of claim 6, wherein the voltage reference is used in open loop control for the each phase leg.

8. The method of claim 6, wherein the discharging comprises exchanging power between the phase legs.

9. The method of claim 1, wherein the voltage reference is used in open loop control for the each phase leg.

10. The method of claim 9, wherein the discharging comprises exchanging power between the phase legs.

11. The method of claim 1, wherein the discharging comprises exchanging power between the phase legs.

12. A Modular Multilevel Converter (MMC) comprising: a plurality of phase legs connected in delta configuration, each leg comprising a plurality of series-connected submodules, each submodule comprising an energy storage; a circuit breaker for, in a closed position, connecting the MMC to an electrical grid, and for, in an open position, disconnecting the MMC from the electrical grid; and a control arrangement configured for, in accordance with the circuit breaker being in the open position, for each phase leg: setting a voltage reference; and sequentially selecting submodules in zero state with a sorting algorithm for discharging the energy storages using a circulating current flowing through the plurality of series-connected submodules in each of the phase legs connected in delta configuration, by switching each of the selected submodules to plus or minus state until a voltage deviation from the set voltage reference of the energy storage of each submodule in the each phase leg is within a predefined range; wherein the sorting algorithm is configured to perform at least one of following operations in order to balance the submodules such that for the each phase leg, an average direct current (DC) voltage of all submodules in the each phase leg decreases: selecting a submodule in zero state with lowest energy storage voltage to be switched to plus or minus state for the energy storage voltage to increase, and selecting a submodule in zero state with highest energy storage voltage to be switched to plus or minus state for the energy storage voltage to decrease.

13. The MMC of claim 12, wherein the MMC is a Static Synchronous Compensator (STATCOM) or a rail intertie.

14. The MMC of claim 12, wherein the voltage reference has a predetermined frequency.

15. The MMC of claim 12, wherein the voltage reference is sinusoidal.

16. The MMC of claim 12, wherein the voltage reference is used in open loop control for the each phase leg.

17. The MMC of claim 12, wherein the discharging comprises exchanging power between the phase legs.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Embodiments will be described, by way of example, with reference to the accompanying drawings, in which:

(2) FIG. 1 is a schematic diagram of an embodiment of a delta connected MMC in accordance with the present invention.

(3) FIG. 2 is a schematic diagram of an embodiment of a submodule of an MMC in accordance with the present invention.

(4) FIG. 3 is a schematic flow chart of an embodiment of a method of the present disclosure.

(5) FIG. 4 is a schematic flow chart, in more detail, of an example embodiment of the method of the present invention.

DETAILED DESCRIPTION

(6) Embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments are shown. However, other embodiments in many different forms are possible within the scope of the present disclosure. Rather, the following embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Like numbers refer to like elements throughout the description.

(7) FIG. 1 schematically illustrates an embodiment of a three-phase MMC 1. The MMC 1 comprises three phase legs 2, one per phase, connected in delta configuration. The MMC 1 is connectable to an electrical power grid (not shown) via at least one circuit breaker (not shown). The circuit breaker may comprise a sub-breaker for each phase. Each phase has a respective voltage (V) and current (i) as indicated in the figure. Each phase leg 2 comprises a plurality of series connected cells 3, herein called submodules 3.

(8) FIG. 2 schematically illustrates an embodiment of a bipolar submodule 3. The submodule comprises an energy storage 4, typically a capacitor, and a plurality of semiconductor switches S1-S4 (e.g. IGCTs) forming two parallel legs of a full-bridge submodule. When the submodule charge or DC voltage etc. is discussed herein, it is the state of the energy storage 4 which is intended.

(9) Each submodule 3 can have basically four states: pulse block, plus, minus and zero state. Pulse block state means that the current independent of sign (flowing in or out of the submodule) will charge the submodule (this state is not used with the present invention). Zero state means that the submodule DC voltage does not change other than by slow discharging of the capacitor due to energy taken for control of the submodule. This state is used for the slow discharging according to conventional methods. Plus state with current flowing into the submodule means that the submodule DC voltage is increasing. Plus state with current flowing out of the submodule means that the submodule DC voltage is decreasing. Minus state with current flowing into the submodule means that the submodule DC voltage is decreasing. Minus state with current flowing out of the submodule means that the submodule DC voltage is increasing.

(10) In accordance with the present invention, typically all the submodules are in plus, minus or zero state, not in pulse-Mock state. The number of cells in zero state changes according to the sinusoidal reference voltage (At zero crossing, all modules are in zero state. At peak voltage, most of the cells are in plus state for the positive half wave respectively in the minus state for the negative half wave). The sorting algorithm of the present disclosure therefore selects a submodule in zero state with the lowest DC voltage to be switched to plus or minus state in case submodule DC voltage will be increasing (plus state with current flowing into the submodule, or minus state with current flowing out of the submodule). Similarly, a submodule in zero state with the highest DC voltage is selected to be switched to plus or minus state in case submodule DC voltage will be decreasing (plus state with current flowing out of the submodule, or minus state with current flowing into the submodule).

(11) Whether a zero state submodule is switched to plus or minus state depends on whether the voltage reference is in its positive or negative half wave.

(12) In accordance with the present method, the MMC 1 is actively discharged in a relatively fast manner. The average DC voltage of all submodules in the phase leg decreases even if the DC voltage of individual submodules may be increased (as discussed above).

(13) As mentioned above, if the main circuit breaker is opened, the voltage of each phase leg 2 has to be in a specific range so that the circuit breaker can be closed again and the converter is able to continue operation. If the deviation of the voltage of the energy storages 4 in at least one phase leg is too high, a balancing of the voltage of each submodule 3 in each phase leg is performed individually. This is done with a voltage reference for each phase leg 2. The series connected submodules 3 see the same charging current if the circuit breaker is closed. The energy storages (capacitors) 4 which are already charged close to the upper limit of their safe operation range may then be charged to a level above the safe operation range. If there are no actions taken, an overvoltage in a capacitor 4 may lead to a firing of a bypass thyristor. A bypassed submodule 3 is no longer available for further operation. This overcharging of the capacitor is prevented by balancing the voltage level within a predefined range. The balancing is done until either all measured voltages of the submodules have a small deviation from the reference, or the power supply of the submodules is switched off because of the too low voltage level in its energy storage 4. This switching off behaviour of the submodule power supply can be used because of the topology in which the submodule power supplies are connected to the energy storage (capacitor) 4 and have a predefined voltage level where they switch on/off.

(14) The here described method to balance the voltages in the submodules 3 uses a voltage reference e.g. in open loop control (no closed loop control is implemented) for each phase leg. The sorting algorithm used to balance the submodules will select submodules 3 to either set positive, zero or negative state depending on the orientation of the current. Thus, the higher charged energy storages 4 will be discharged and lower charged energy storages charged. If this is done over a few cycles, the submodules get balanced to the same voltage level (small deviation acceptable) in accordance with the voltage reference.

(15) By means of the method to balance the voltage of each submodule disclosed herein, the circuit breaker can be closed within a short time (e.g. almost immediately) after it was opened because of e.g. a fault in the surrounding system. A criteria to reclose the breaker may be that all submodule voltages are not spread above a certain predefined deviation from the voltage reference. A second condition may be that all submodule power supplies are still powered.

(16) If the measured voltages in the energy storages 4 are high enough, the circuit breaker can be closed immediately. Otherwise, pre-charging over resistors may be performed first, then the converter 1 may start boosting the voltage of the energy storages 4 up to nominal voltage. If nominal voltage is obtained, the circuit breaker can be closed and the converter goes back to operation in only a few seconds. If the method disclosed herein is not used, the converter would be blocked until the energy storages are discharged by the losses of the devices in each submodule.

(17) Active discharging is performed by setting a voltage reference and frequency for each phase leg 2. Due to the delta topology, a circular current will actively discharge the energy storages 4 in each submodule 3. Additionally, power may be exchanged between the phase legs 2 for improved or faster balancing. Meanwhile, the sorting algorithm described herein may be used to balance the voltages in the submodules 3 in the each of the phase legs 2. This method may be implemented in the control software of the application in a control arrangement of the converter 1. The control arrangement may be co-located with the phase legs 2 or be external, e.g. in an external control room. The control arrangement is configured, e.g. by means of the control software, to control the converter 1 to perform the method of the present invention. Typically applications where this method might be used include static synchronous compensators (STATCOM), medium voltage converters (MVC) and, possibly in slightly adapted way, for rail grid coupling converters or converters for pump storage plants, e.g. Rail Interties (frequency converters e.g. 50 Hz to 16 Hz).

(18) FIG. 3 schematically illustrates an embodiment of a method of the present disclosure. The method is for discharging an MMC 1 comprising a plurality of phase legs 2 connected in delta configuration, each leg comprising a plurality of series connected submodules 3, each submodule comprising an energy storage 4. Typically, the method is performed by a control arrangement of the MMC 1.

(19) The method comprises disconnecting S1 the MMC 1 from an electrical grid, e.g. by opening the circuit breaker. Further, the method comprises discharging S2 the energy storages 4 by means of a circulating current, and re-connecting S3 the MMC 1 to the electrical grid, e.g. by closing the circuit breaker.

(20) The discharging S2 comprises, for each phase leg 2, setting S2a a voltage reference, and sequentially selecting S2b submodules 3 in zero state by means of a sorting algorithm for switching each of the selected submodules to plus or minus state until the voltage deviation from the set voltage reference of the energy storage 4 of each submodule in the phase leg is within a predefined range.

(21) FIG. 4 is a schematic flow chart, in more detail, of an example embodiment of the method of the present invention.

(22) Step S1:

(23) The MMC is disconnected S1 from the grid by the circuit breaker opening.

(24) Step 41:

(25) Yes: If the sum of measured voltages of the energy storages 4 is higher than the grid voltage, the breaker can be closed again directly, re-connecting S3 the converter.

(26) Step 42:

(27) Submodule voltage is measured and compared with other submodule voltages in the same phase leg 2.

(28) No: If there is a too high deviation between submodules of one phase, the active discharging is started.

(29) Yes: If all submodule voltages are within a safe range, active discharging is not needed and the converter is ready to be recharged 47.

(30) Step 43:

(31) Yes: If all submodules 3 are energized and active, the discharging with circular currents is possible.

(32) No: If not all submodules 3 are active, the discharging is done by conventional discharging with power losses.

(33) Step S2:

(34) Discharging is done by running a circular current and generating higher losses in accordance with the present disclosure. This is done until a submodule 3 is no longer able to be energized due to too low voltage of the energy storage 4, or the voltage deviation of each submodule in the phase leg 2 is within the predefined range.

(35) Step 44:

(36) Discharging is continued until the measured voltages of the energy storages 4 are within the predetermined range.

(37) Step 45:

(38) Then the discharging is stopped immediately to avoid discharging a submodule too much. All submodules are now discharged to approximately the same voltage and balanced.

(39) Steps 48 & 46:

(40) If discharging with circular current was not possible, the energy storages 4 are discharged 48 with power losses. It is then checked whether the measured submodule voltages are within the predetermined range.

(41) Yes: Charging 47 is allowed.

(42) No: Conventional discharging 48 is continued.

(43) Step 47:

(44) Resistive re-charging.

(45) Step S3:

(46) Grid breaker is closed, re-connecting the converter to the electrical power grid.

(47) The present disclosure has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the present disclosure, as defined by the appended claims.