Journal of International Council on Electrical Engineering

ISSN: (Print) 2234-8972 (Online) Journal homepage: https://www.tandfonline.com/loi/tjee20

DC Voltage Balancing and Current Sharing Control

of Parallel Multiple Modules Static Var Generator
Based on CPS-SPWM

Wei Cai, Yanyan Huang, Zhou Fangyuan, Wenjun Qiu, Caixiao Wang, Qiang
Wu, Shi Erlei & Tao Wen

To cite this article: Wei Cai, Yanyan Huang, Zhou Fangyuan, Wenjun Qiu, Caixiao Wang, Qiang
Wu, Shi Erlei & Tao Wen (2013) DC Voltage Balancing and Current Sharing Control of Parallel
Multiple Modules Static Var Generator Based on CPS-SPWM, Journal of International Council on
Electrical Engineering, 3:1, 73-78, DOI: 10.5370/JICEE.2013.3.1.073

To link to this article: https://doi.org/10.5370/JICEE.2013.3.1.073

© 2013 Taylor and Francis Group, LLC

Published online: 10 Sep 2014.

Submit your article to this journal

Article views: 1228

View related articles

Citing articles: 1 View citing articles

Full Terms & Conditions of access and use can be found at

https://www.tandfonline.com/action/journalInformation?journalCode=tjee20
 Journal of International Council on Electrical Engineering Vol. 3, No. 1, pp.73~78, 2013
http://dx.doi.org/10.5370/JICEE.2013.3.1.073

DC Voltage Balancing and Current Sharing Control of Parallel Multiple

Modules Static Var Generator Based on CPS-SPWM

Wei Cai†, Yanyan Huang*, Zhou Fangyuan*, Wenjun Qiu*, Caixiao Wang*,
Qiang Wu*, Shi Erlei* and Tao Wen*

Abstract – For extending the power and improving the performance of SVG, a topology with several
parallel plugging convertor modules is obtained, which has no common DC bus. In respect that the
parameter difference among converters, reactive power of total output sharing has to be resolved. In this
article, mathematics model with DQ analytic transformation is analyzed. Based on double close-loop
decoupling control, and direct current control, a reactive power balance current sharing method is
proposed. By using CPS-SPWM, the current harmonic of SVG is reduced, which is indicated by
simulation result. Further, in order to apply the method to project application, a 2Mvar platform with a
double FPGA-DSP controller broad is carried out. The simulation and practical performance of SVG are
given. The validity and feasibility of the method is demonstrated by the results.

Keywords: Active and reactive decoupling, Static var generator, DC voltage control, CPS-PWM

1. Introduction to parallel converter control. However, due to the DC unit

sharing, each converter control will affect the DC bus
As the development of power electronic technique, static voltage. And when one converter failure, all the converter
var generator (SVG) is more and more applied to high- with DC side contact have be to stop working, and the
power loads such as wind fields, port substation and mine. replacement will be more difficult. Therefore, a solution to
And since the frequency range of high-power IGBT is the problem is needed, in order to improve the parallel SVG
limited, the SVG convertor output harmonic is hard to be performance, reliability and maintainability. Thus this paper
eliminated. To increase the power and suppress output proposes a centralized control strategy based on double-
current distortion of inverter, parallel topology has been loop control method and CPS-PWM modulation control to
introduced by many articles. Many control methods for achieve the control of multi-converter modules operating in
inverter to improve the output characteristics have parallel SVG.
introduced such as, carrier phase shift-sinusoidal plus width
modulate (CPS-SPWM). CPS-PWM allows the semicon-
ductor to achieve the synthesis of higher switching 2. Parallel Multiple Modules SVG
frequency[1]-[3], in a low switching frequency. CPS-PWM
principle is modulated triangular wave phase shift, each iLa
usa
triangular wave staggered at a specify angle. CPS-PWM
usb iLb
modulation can improve the quality of the power converter
synthesis of the output current waveform, reducing the iLc
usc
output THD.
Simply paralleled operating way not only output high
harmonic distortion[4]-[7], but also has circulating current.
ia1 ib1 ic1 ia 2 ib 2 ic 2 ia 3 ib 3 ic 3
Thus, the sharing same dc capacitor converters in parallel
topology way is used to improve the output harmonic
characteristics, CPS-PWM technology was also introduced

† Corresponding Author: CSR Zhuzhou National Engineering Research

Center of Converter Co., LTD., China ([email protected])
U dc1 U dc 2 U dc 3
* CSR Zhuzhou National Engineering Research Center of Converter
Co., LTD., China
Received: December 24, 2012; Accepted: December 26, 2012 Fig. 1. Parallel multiple modules SVG circuit.

73
 DC Voltage Balancing and Current Sharing Control of Parallel Multiple Modules Static Var Generator Based on CPS-SPWM

In order to make the converter easy to install and replace, ⎡ 2π ⎞ 2π ⎞ ⎤

T
⎛ ⎛
and to be able to work independently, the SVG converter ⎢ sin (θ ) sin ⎜ θ − 3 ⎟ sin ⎜ θ + 3 ⎟ ⎥
⎢ ⎝ ⎠ ⎝ ⎠⎥
modules is used in parallel structure as shown in Fig. 1.
⎢ ⎛ 2π ⎞ ⎛ 2π ⎞⎥
Each three-phase bridge converter module of SVG is Cinv = ⎢ cos (θ ) cos ⎜ θ − ⎟ cos ⎜ θ + ⎟⎥ (3)
connected the power grid by reactor. The inverter modules ⎢ ⎝ 3 ⎠ ⎝ 3 ⎠⎥
operating in parallel, is no electrical contact of other ⎢ 1 1 1 ⎥
⎢ ⎥
moduls’ DC capacitances. The advantage of this structure is ⎣ 2 2 2 ⎦
convenience in using modular converter, which can be
easily replaced itself while damaged, and that is better So the mathematical model of three-phase bridge SVG in
scalability. d-q coordinate can be expressed as (4) and (5), in which id,
iq is represented the active and reactive current components
of the three-phase system current. R is the resistance of
3. The SVG Mathematical Model Analysis inductance, L is the reactance of the inductance value, ω is
the grid fundamental angular frequency, ud is the d-axis
The three phase bridge mathematics model is shown as component of converter output voltage, uq is the q-axis
follow： component of converter output voltage, usd is the d-axis
component of grid voltage, usq is the q-axis component of
the grid voltage, when take the grid voltage for d-axis
⎧ R 1 1
⎪ia = − L ia − L uia + L usa
orientation, the value of usq is zero.
⎪
⎪i = − R i − 1 u + 1 u ⎡ R
− ω ⎥ i
⎤
⎪b b ib sb d ⎡id ⎤ ⎢ L ⎡ d ⎤ 1 ⎡ud ⎤ 1 ⎡usd ⎤
L L L ⎢i ⎥ = ⎢ ⎥⎢ ⎥− ⎢ ⎥+ ⎢ ⎥ (4)
⎨ dt ⎣ q ⎦ ⎢ R ⎥ ⎣ iq ⎦ L ⎣ uq ⎦ L ⎣ usq ⎦
−ω
⎪i = − R i − 1 u + 1 u (1)
⎣⎢
−
L ⎦⎥
⎪c L
c
L
ic
L
sc

⎪ d d d And the DC voltage differential equations is shown in (5).

⎪udc = a ia + b ib + c ic Where, sd is the switching function mapping in the d axis,
⎩ C C C and sq is the switching function mapping in the q axis.
Where, ia, ib, ic, is the three phase current of SVG, usa,
usb, usc is the three phase gird voltage, and uia, uib, uic is dudc 3 T
Cdc ⋅ = ⎡⎣ sd sq ⎤⎦ ⋅ ⎡⎣id iq ⎤⎦ (5)
the converter output voltage. In the three-phase stationary dt 2
coordinate system, the amount of fluctuate in the three-
phase current and voltage values are difficult to analyze. By Parallel converter control is currently the main two
using the d-q transformation, three-phase stationary co- various mode:
ordinate system is converted to the d-q rotating coordinate
system. The transformation matrix is shown as (2): Independent control
Each inverter via the Internet communication line module
output current, combined with the current transformer to
⎡ ⎛ 2π ⎞ ⎛ 2π ⎞ ⎤
⎢sin (θ ) sin ⎜θ − 3 ⎟ sin ⎜θ + 3 ⎟ ⎥
detect the load current to calculate the output current.
⎢ ⎝ ⎠ ⎝ ⎠⎥ Independent control can be modularized, but requires
2⎢ ⎛ 2π ⎞ ⎛ 2π ⎞⎥ multiple calculation unit in each converter. And because
C = ⎢cos (θ ) cos ⎜θ − ⎟ cos ⎜θ + ⎟⎥ (2) there is no central controller, that CPS-PWM modulation is
3⎢ ⎝ 3⎠ ⎝ 3 ⎠⎥ unable to achieve. Still, the output characteristics cannot
⎢ 1 1 1 ⎥ be improved.
⎢ ⎥
⎣ 2 2 2 ⎦
Centralized control
Transformation matrix from d-q rotating coordinate The inverter output control signal given by the
system to the three-phase stationary coordinate system is centralized control center, coordinated through the
shown as (3): communication line inverter output. Centralized control
program must have a centralized control center, on the one

74
 Wei Cai, Yanyan Huang, Zhou Fangyuan, Wenjun Qiu, Caixiao Wang, Qiang Wu, Shi Erlei and Tao Wen

hand, by the communication cable to connect each 1) Control system first detects the grid voltage and load-
converter, on the other hand, it has single point of failure. side current. Then load current reactive component is
However, to avoid some converter devices contribute to detected through the d-q transformation. After low-pass
excessive lead to premature aging failure, the unified filter to calculate the load all the necessary fundamental
control of the converter status will enable each converter reactive component. This is all the reactive power required
basically controlled in the same state, which made the SVG to compensate for the load.
working in good condition and enable the CPS-PWM 2) Through the bus current and voltage sampling, the
modulation. Hence, the high power converter device is controller calculates the SVG compensate the reactive
commonly controlled in this way, so does in this article. current reference will be multiplied by the scale factor K =
1 / N. Where, N is the number of parallel modules assigned
4. Parallel Multiple Modules SVG Control Strategy in operating status. Thus, each SVG converter module
output required reactive current is obtained, each
Because of the difference of main circuit parameters and computing unit calculates reactive current value of the
control systems delay, there will be circumfluence among reactive current command value as the converter unit to
converters. To stabilize the DC voltage, active power need submit anti-d-q transformation of each SVG converter
controlled respectively. In the reactive power compensation module calculation unit;
only operation mode, SVG does not output the active 3) Each SVG converter module to control active current
current. So, in the case of stabilizing the DC voltage of the of their own to maintain stabilize of DC voltage. As shown
converter and reactor loss only, the average of active in Fig. 2, anti-d-q transformation computing unit is sub-
current is very small. In most of the application situation, mitted the respective d-axis component of each SVG
the assumption is approved. converter module;
Based on the above analysis, this paper proposes a 4) By multiple SVG converter module, anti-d-q trans-
control method for the parallel modules SVG system. The formation unit calculates the three-phase current signal as a
guiding principle is following: Firstly, by using active and modulated signal to the converter.
reactive current decoupling control, reactive current is able 5) By CPS-PWM modulation, the THD will be restrained,
to control without active current influence. Secondly, by and each triangle phase shifting can be carry out by (6).
controlling the parallel SVG converter module active Where, γ is phase shifting angle of CPS-PWM triangle
control link to control the DC voltage, the SVG converter wave.
module converter to absorb the active just to meet the 2π
γ= (6)
consumption needs of the loss. The DC voltage of each n
converter is controlled separately. Finally, each SVG
converter module output reactive power is equal. The
identical module use the same current reference, so that 5. Simulation
each module working nearly in the same state.
In the SimPowerSystems environment of MATLAB, the
θ simulation model is established.
udc 2
udcr idr1 ud∗1 ua∗1

θ id 1 ωL *
u02 =0 ub∗1
iLa iq1 Cinv
ωL uq∗1
iLb uc∗1
K i
iLc qr
udc 2 θ
idr 2 ud∗ 2 ua∗2
udcr
id 2 ωL *
u02 =0 ∗

iq 2 Cinv ub 2
ωL u ∗
q2 uc∗2

Fig. 2. Control diagram of two parallel modules SVG. Fig. 3. CPS-PWM modulation.

The specific control methods are as follows: CPS-PWM modulation simulation is shown in Fig. 3. In

75
 DC Voltage Balancing and Current Sharing Control of Parallel Multiple Modules Static Var Generator Based on CPS-SPWM

this article with four phase shifting triangle wave bipolar

modulation, the triangular wave signal per weight
difference of 90 degree. In the Simulation SVG AC output
voltage is 540V, DC voltage reference value is 1100V, the
DC capacitor is 9mF, output inductance value is 0.5mH,
equivalent internal resistance is 20mΩ, and other converter
equivalent resistance is set to 10mΩ. Each module of the
switching frequency is 2kHz.

Fig. 7. Control subsystem of SVG.

Fig. 4. Simulation model circuit of four parallel multiple Fig. 8. Output current of converter No.1.
converter SVG.
The output current of three phase bridge converter No.1
is as Fig. 8 shown. And the output current of three phase
bridge converter No.2 is as Fig. 9 shown. The total three
phase current waveform of parallel multiple modules SVG
is as Fig. 10 shown. By CPS-PWM modulation, the
performance is improved.

Fig. 5. CPS-PWM modulation subsystem.

As Fig. 4 shown, the simulation model have four Fig. 9. Output current of converter No.2.
converter subsystem and a central controller subsystem.
The simulation subsystem of CPS-PWM is as Fig. 5 shown.
The simulation subsystem of three phase bridge converter is
as Fig. 6 shown. And the controller subsystems is shown in
Fig. 7.

Fig. 10. Output total current of SVG.

The FFT of single module’s current is shown in Fig. 11.

Characteristic frequency of the harmonic can be got. The
FFT of SVG is shown in Fig. 12. Characteristic frequency
Fig. 6. Converter subsystem. of SVG is shown,.

76
 Wei Cai, Yanyan Huang, Zhou Fangyuan, Wenjun Qiu, Caixiao Wang, Qiang Wu, Shi Erlei and Tao Wen

follows: inductance L = 0.25mH, capacitance C = 9mF, DC

voltage reference VDC= 1100V, AC side output voltage VAC
= 540V.

Fig. 11. FFT analysis of single module’s output current.

Fig. 14. Dual-DSP and dual- FPGA controller.

As Fig. 14 shown below, dual-DSP and dual-FPGA

controller is designed. DSP is to calculate the reactive and
active current, and FPGA is used in implementation of
CPS-PWM modulation.
Fig. 12. FFT analysis of output current using CPS-PWM.

Fig. 13. DC voltages of two modules.

The DC voltage waveform of two different modules is

shown in Fig. 13. When there is a step reactive power in
0.1s, the DC voltage difference between tow module is
Fig. 15. Single module of DC voltage and output current.
expanded. Simulation results show that the CPS-PWM
modulation makes the SVG output current harmonic
distortion significantly reduced, and the current harmonics
characteristic frequency increase from about 2kHz up to
about 8kHz at the same time. We can also see the
emergence of a small amount of low harmonic FFT analysis
results, mainly due to the modulation signal to take the
saturation measures, because the truncation of the
modulation signal, so that the output waveform to produce
a small amount of distortion.

6. Experiment Result and Application

To validate the method, an engineering SVG device with

four converter operating in multiple parallel is designed. Fig. 16. Parallel multiple SVG total output performance of
The output capacity of it is 2Mvar. Where, the parameter is running on-site.

77
 DC Voltage Balancing and Current Sharing Control of Parallel Multiple Modules Static Var Generator Based on CPS-SPWM

The out per performance and dc voltage of single module [7] A. Schonknecht and R.W. A. A. De Doncker, “Novel
is given in Fig. 15. The total output performance are topology for parallel connection of soft-switching
strongly improved, which can be seen in Fig. 16. high-power high-frequency inverters” IEEE Trans. Ind.
Appl., vol. 39, no. 2, pp. 550–555, Mar./Apr. 2003.
[8] L. Matakas, Jr., C. Burlacu, and E. Hasada, “High
7. Conclusion power, high performance parallel connected multicon-
verters: Analysis and control” in Proc. ISIE, vol. 1, pp.
This article is present a design of SVG, which using 121–126, 1995.
parallel modular converter structure. By CPS-PWM, the
THD is reduced. By independent DC voltage control, the
DC voltage is stabilized. Base on the strategy, a application WEI CAI received M.S degree in
design is given. Simulation and experimental results show electrical engineering from Guangxi
the effectiveness of control methods. And the device has university. His research interests are
been stable operation of the in engineering project. high power convertor, power quality
control.

Acknowledgements

This work was supported by the ICEE 2012.

References

[1] Shosuke Mori, Katsuhiko Matsuno, Masatoshi Takeda

and Makoto Seto, “Development of a large static var
generator using self-commutated inverters for
improving power system stability” IEEE trans on
power systems, vol. 8, pp. 371-377, February 1993.
[2] Chuan Xie, Chao He, Zhiqiang Wang, Guozhu Chen,
“Study on large power shunt active power filters with
high compensation precision” IECON 2010 - 36th
Annual Conference on IEEE Industrial Electronics
Society, pp. 2675 – 2680, Nov. 2010.
[3] “ZL201120077723.3”, Chinese authorized utility
model patent.
[4] Chunyan Zang, Zhenjiang Pei, Junjia He, Ting
Guo,Jing Zhu, Wei Sun, “Research on the application
of CPS-SPWM technology in cascaded multilevel
inverter” Electrical Machines and Systems, ICEMS
2009. International Conference on 2009, pp.1 – 4,
2009.
[5] F. Z. Peng, J. S. Lai, J. W. McKeever, and J.
VanCoevering. “A multilevel voltage-source inverter
with separate DC sources for static Var generation”
IEEE Trans. Ind. Appl., vol. 32, no. 5, pp. 1130–1138,
Sep./Oct. 1996.
[6] R. Teodorescu, F. Blaabjerg, J. K. Pedersen, E.
Cengelci, and P. N. Enjeti, “Multilevel inverter by
cascading industrial VSI” IEEE Trans. Ind. Appl., vol.
49, no. 4, pp. 832–838, Aug. 2002.

78