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Abstract—In this paper, the selective harmonic elimina- converter [2]–[8]. Due to the modularity and having a lower
tion (SHE) technique is introduced for a cascaded H-bridge- number of components for synthesizing the same number of
based static VAR compensator (CHB-STATCOM) with un- voltage levels, the CHB structure is a better choice for STAT-
equal capacitive dc-link voltages. The asymmetric topology
allows increasing the number of voltage levels while keep- COM applications.
ing the converter losses low. Moreover, reactive power con- Traditionally, to obtain low harmonic distortion in the output
trol is realized by using the decoupled current control, and voltage waveform of a symmetric CHB, the number of mod-
the voltage of individual capacitors is controlled by the help ules or the switching frequency is increased, which leads to
of SHE modulation. Mathematical equations are derived for
higher cost or power losses, respectively. Asymmetric cascaded
synthesizing the multilevel ac waveform and regulation of
dc-link voltages for a CHB inverter with an arbitrary num- H-bridge inverter is an alternative approach to avoid these prob-
ber of H-bridge cells. Then, to verify the theoretical claims, lems [9]. In this topology, by selecting unequal voltage values
simulation and experimental results are provided for a three- for the dc-link capacitors, the number of voltage levels is in-
phase CHB inverter with two H-bridge cells in each phase. creased and consequently the quality of output waveform is im-
Index Terms—Asymmetric dc links, cascaded H-bridge proved. Furthermore, in this topology, the switching frequency
(CHB), selective harmonic elimination (SHE) modulation, of H-bridge cells has a reverse relation to the dc-link voltages.
STATCOM. In other words, the cells with higher voltages will have lower
switching frequencies, which leads to lower power losses and
I. INTRODUCTION better efficiency. The advantages of the asymmetric multilevel
ACTS devices are commonly used to improve the power CHB inverter has been investigated in [10] and [11] for the
F quality in power systems. Static VAR compensator (STAT-
COM) is one of these devices which has caught more attention
drive application. Both the symmetric and asymmetric CHB
structures need isolated dc sources, which can be cumbersome;
in the last decade. For implementation of STATCOM, multilevel but, in reactive power compensation applications, this issue can
converters can be utilized due to their interesting merits such be overcome by utilizing capacitive dc links instead of iso-
as lower harmonic generation and better efficiency compared lated dc voltage sources [12]. Hence, the control system of the
to conventional two level converters [1]. The three most pop- CHB-based STATCOM should fulfill the following objectives:
ular types of multilevel converter are categorized as 1) flying 1) reactive power control in the network and 2) regulation of ca-
capacitor, 2) diode clamped, and 3) cascaded H-bridge (CHB) pacitors’ voltages. Several solutions for regulation of capacitors’
voltages in CHB-STATCOM have been proposed in literature.
In [12]–[17], the dc-link voltage balancing has been achieved
Manuscript received August 21, 2017; revised December 26, 2017;
accepted February 13, 2018. Date of publication March 9, 2018; date by inserting a compensation term to the modulation voltage of
of current version June 26, 2018. This work was supported by the Iran H-bridge cells in the phase shift pulsewidth modulation (PS-
National Science Foundation. (Corresponding author: Hossein Iman- PWM). In these methods, voltages of capacitors are regulated
Eini.)
R. Sajadi, H. Iman-Eini, Y. Neyshabouri, and S. Farhangi are with to a fixed value that makes them inapplicable for asymmetric
the School of Electrical and Computer Engineering, College of Engi- inverters. The authors in [18]–[20] employ switching redun-
neering University of Tehran, Tehran 1417466191, Iran (e-mail: rahman. dancies to produce different voltage levels and to regulate the
sajadi@ut.ac.ir; imaneini@ut.ac.ir; y.neyshabouri@ut.ac.ir; farhangi@
ut.ac.ir). capacitors voltages to unequal values.
M. K. Bakhshizadeh is with the Department of Energy Technology, Two methods are introduced in [9] and [21] to maintain the
Aalborg University, Aalborg 9100, Denmark (e-mail: mok@et.aau.dk). capacitors’ voltages in predetermined values in an asymmetric
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org. CHB-STATCOM. These strategies are based on a hybrid modu-
Digital Object Identifier 10.1109/TIE.2018.2811365 lation technique, where the cell with higher voltage is switched
0278-0046 © 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
SAJADI et al.: SHE TECHNIQUE WITH CONTROL OF CAPACITIVE DC-LINK VOLTAGES IN AN ASYMMETRIC CHB INVERTER FOR STATCOM 8789
TABLE I
COMPARISON OF SYMMETRIC AND ASYMMETRIC CHBS
Vcq π 2
δ = a tan ∗ . (11)
Vcd
cos nθ1 + cos nθ2 + · · · + cos nθ 3 N −1
= 0, n = 5, 7, . . .
If the CHB inverter can synthesize the ac terminal voltages 2
according to (10) and (11), the control goals including the re- (12)
active power control and regulation of average voltage of all dc
links will be satisfied. However, for achieving desired voltage where Vf is the amplitude of fundamental harmonic, θ1 , θ2 , . . .
values (or unequal values) for individual dc links, a supplemen- are switching angles, and n represents the harmonic order. Fig. 2
tary control system is required. This control method is described shows the capacitor current for an arbitrary cell, which is written
in the next section. as
⎧
⎨ Ic = Is − Ir
⎪
IV. VOLTAGE REGULATION OF INDIVIDUAL DC LINKS Is = Im sin (ωt + ϕ) (13)
⎪
⎩ I = Vd cj
Voltage regulation of individual dc links is achieved by the r Rd c
SHE modulation. In other words, this modulation technique
is utilized not only for reduction of switching losses, but also where ϕ represents the phase angle between the grid voltage
for regulation of individual dc links. In this modulation tech- and grid current and Im is the amplitude of grid current. One
nique, at first, the appropriate switching instants for controlling can obtain the charging equation for the jth capacitor by the
SAJADI et al.: SHE TECHNIQUE WITH CONTROL OF CAPACITIVE DC-LINK VOLTAGES IN AN ASYMMETRIC CHB INVERTER FOR STATCOM 8791
Fig. 4. Mechanism of voltage generation in each cell of phase-a (left side) and total ac terminal voltage (right side).
following equation: state; hence, the charge values in (16) are set to zero. Now, by
considering this point and combining (16) and (17), and insert-
Vdcj ing Vf value from (12), (18) is obtained, shown at the bottom
Qj = Im sin (ωt + ϕ) − dt. (14)
Rdc of the next page. Therefore, to guarantee the voltage regulation
of capacitors, (18) must be satisfied in the corresponding SHE
Using (14) and noting to the waveform in Fig. 4, the charging technique. In other words, by inserting the defined criterion in
equation for any of capacitors in one period is obtained as (15), (18) to the SHE equations and solving the equations based on
shown at the bottom of this page. By doing some more calcula- it, one can guarantee the voltage regulation of capacitors at the
tions, (15) can be simplified as (16), shown at the bottom of this desired values, i.e., Vdc , 3Vdc , . . . , 3N − 1 Vdc .
page. It is worth noting that in the proposed set of SHE equations,
there are ( 3 2−1 ) degrees of freedom that are used to 1) control
N
Moreover, under the steady-state condition, the input active
power to the converter is equal to cells losses, which is given in the amplitude of fundamental harmonic, 2) to eliminate the
(17), shown at the bottom of this page. Furthermore, the mean harmonic terms such as 5th, 7th, . . . , and 3) to satisfy (18) by
value of each capacitor voltage should remain constant at steady the remaining N−1 degrees of freedom.
2π θ j θ j + 1
Vdcj 3 +1 3 +1
Qj = Im sin (ωt + ϕ) − dt = 2
Im sin (ωt + ϕ) dωt + 2
−Im sin (ωt + ϕ) dωt + · · ·
0 Rdc θ 3 j −1 + 1 θ
3j + 1
2 2
π /2 π −θ 3 N π −θ
−2 ×3 j −1 + 1 3 j −1 + 1
+ Im sin (ωt + ϕ) dωt + 2
Im sin (ωt + ϕ) dωt + · · · + 2
Im sin (ωt + ϕ) dωt
θ 3 N −2 ×3 j −1 + 1
π /2 π −θ
3j + 1
2 2
π +θ π +θ 3π /2
3j + 1 3j + 1 + 1
+ 2
−Im sin (ωt + ϕ) dωt + 2
Im sin (ωt + ϕ) dωt+ · · · + −Im sin (ωt + ϕ) dωt
π +θ π +θ π +θ
3 j −1 + 1 3j + 1 3 N −2 ×3 j −1 + 1
2 2 2
2π −θ 2π −θ 3 j −1 + 1 2π
3 N −2 ×3 j −1 + 1 Vdcj
+ 2
−Im sin (ωt + ϕ) dωt + · · · + 2
−Im sin (ωt + ϕ) dωt − dt (15)
3π /2 2π −θ 0 Rdc
3j + 1
2
⎧ N
×3 j −1 −2
k = 3 N + 3 j −2
⎫
⎪
⎪ k = 3 + 25 ×3 ⎪
⎨ k =1 −2 cos θ3 j −1 (3k − 3 )+ 1 ⎪
⎬
j 2 ×3 j
cos θ3 j −1 (3k − 5 )+ 1 + k =1
2 2 2 2
Qj = 4Im cos ϕ
(16)
⎪
⎪ k = 3 N + 3 j −1 −2 ⎪
⎪
⎩ + 2 ×3 j
cos θ3 j −1 (3k − 1 )+ 1 ⎭
k =1 2 2
i=N 2 i=N 2
1 3(i−1) Vdc 2× 3(i−1) Vdc
Pin = Vf Im cos ϕ = i=1
⇒ Im cos ϕ = i=1
(17)
2 Rdc Vf Rdc
8792 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 65, NO. 11, NOVEMBER 2018
Fig. 5. Overall control in STATCOM for reactive power control and regulation of dc-link voltages at 1:3:9 . . . voltage ratio.
Fig. 5 illustrates the overall block diagram of control strat- cells. Hence, for the case of N = 2 and according to Fig. 4 and
egy. As it can be seen from Fig. 5, the decoupled current con- (18), four degrees of freedom are obtained. One degree is used
trol system reads the capacitors’ voltages, phase currents, and to control the fundamental harmonic, two degrees are dedicated
grid voltages. Then, based on differences between the estimated to eliminate the 5th and 7th harmonic terms, and the last one is
active and reactive powers and the active and reactive power used to regulate the capacitor voltages according to (19). The
references, the modulation index M and the phase shift δ are simplified form of (19) is written as (20) for N = 2 cells. In
calculated. Finally, based on calculated M, δ, and (12) and (18), fact, by setting the parameters as j = 1, i = 2, and N = 2 in
the switching angles are computed and applied to the CHB in- (18) and noting that Vdc i and Vdc j are dc-link voltages of ith
verter. and jth cells (Vdci = 3(i − 1) Vdc , Vdcj = 3(j − 1) Vdc ), one can
In this method, by using the low-frequency switching, switch- derive the following condition for voltage regulation:
ing losses are decreased and the efficiency is increased. By using Vdc cos θ1 − 2 cos θ2 + cos θ3 + cos θ4
asymmetric voltages in dc sides, the output waveform of inverter → = . (20)
3Vdc cos θ2
is enhanced compared to symmetric inverters. Also, the capac-
itors’ voltages are kept constant when the reference of reactive Different methods have been presented in literature to solve
power is changed. the SHE equations. In this paper, the particle swarm optimization
(PSO) method [25] is used, and switching angles obtained at
different modulation indices are shown in Fig. 6.
V. SIMULATION RESULTS
Table II shows the parameters of selected system for the
To verify the proposed control method, several simulations simulation study. Also, Fig. 7 shows the phasor diagram of
have been done in PSCAD/EMTDC environment. Since the CHB-STATCOM in inductive and capacitive modes. In Fig. 7,
hardware prototype has N = 2 cells in each phase, the simu- the term Vs represents the amplitude of grid phase voltage, Vc
lations are also performed with the same number of H-bridge is the output voltage of inverter, which is equal to MVf , M is the
Vdc j
Vdc i
k =
3 N + 5 ×3 j −1 −2
k = 3 N + 3 j −2
k = 3 N + 3 j −1 −2
k =1
2 ×3 j
cos θ 3 j −1 (3k − 2 )+ 2
5 1 + k =1
2 ×3 j
−2 cos θ 3 j −1 (3k − 2 )+ 2
3 1 + k =1
2 ×3 j
cos θ 3 j −1 (3k − 2 )+ 2
1 1
= N N N
k = 3 + 5 ×3 i −1 −2
3 + 3 i −2
k = 2 ×3 i
k = 3 + 3 i −1 −2
.
k =1
2 ×3 i
cos θ3 i −1 (3k − 5 )+ 1 + k =1 −2 cos θ3 i −1 (3k − 3 )+ 1 + k =1 2 ×3 i
cos θ3 i −1 (3k − 1 )+ 1
2 2 2 2 2 2
(18)
Vdc 1 = 3(1−1) Vdc
Vdc 2 = 3(2−1) Vdc
k = 3 2 + 5 ×3 1 −1 −2
k = 3 2 + 3 1 −2
k = 3 2 + 3 1 −1 −2
2 ×3 1 2 ×3 1 2 ×3 1
k =1 cos θ 3 1 −1
(3k − 2 )+ 2
5 1 + k =1 −2 cos θ 3 1 −1
(3k − 2 )+ 2
3 1 + k =1 cos θ 3 1 −1
(3k − 2 )+ 2
1 1
= 2 2 2 2 2 −1
k = 3 + 5 ×3 2 −1 −2
k = 3 + 3 −2
k = 3 +3 −2
2 ×3 2 2 2
k =1 cos θ3 2 −1 (3k − 5 )+ 1 + k =1 2 ×3 −2 cos θ3 2 −1 (3k − 3 )+ 1 + k =1 2 ×3 cos θ3 2 −1 (3k − 1 )+ 1
2 2 2 2 2 2
(19)
SAJADI et al.: SHE TECHNIQUE WITH CONTROL OF CAPACITIVE DC-LINK VOLTAGES IN AN ASYMMETRIC CHB INVERTER FOR STATCOM 8793
TABLE II
PARAMETERS OF SIMULATION
Parameters Value
Fig. 11. Dynamic behavior of CHB inverter under step change of reac-
tive power from −202 to 202 kvar.
TABLE III
PARAMETERS OF EXPERIMENTAL SETUP
Parameters Value
Fig. 16. Capacitor voltages, inverter voltage, and grid current in dy-
namic state.
[6] C. K. Lee, J. S. K. Leung, S. Y. R. Hui, and H. S.-H. Chung, “Circuit Rahman Sajadi received the B.Sc. degree in
level comparison of STATCOM technologies,” IEEE Trans. Power Del., electrical engineering from the Buali-Sina Uni-
vol. 18, no. 3, pp. 1084–1092, Jul. 2003. versity, Hamedan, Iran, in 2014, and the M.Sc.
[7] G. Farivar, C. D. Townsend, B. Hredzak, J. Pou, and V. G. Agelidis, “Pas- degree in electrical engineering from the Univer-
sive reactor compensated cascaded H-bridge multilevel LC-STATCOM,” sity of Tehran, Tehran, Iran, in 2016.
IEEE Trans. Power Electron., vol. 32, no. 11, pp. 8338–8348, Nov. 2017. His research interests include design, mod-
[8] Y. Zhang, X. Wu, X. Yuan, Y. Wang, and P. Dai, “Fast model predictive eling and control of power converters, multilevel
control for multilevel cascaded H-bridge STATCOM with polynomial converters, and renewable energy systems.
computation time,” IEEE Trans. Ind. Electron., vol. 63, no. 8, pp. 5231–
5243, Aug. 2016.
[9] S. Du, J. Liu, J. Lin, and Y. He, “A novel dc voltage control method for
STATCOM based on hybrid multilevel H-bridge converter,” IEEE Trans.
Power Electron., vol. 28, no. 1, pp. 101–111, Jan. 2013.
[10] Z. Zheng, K. Wang, L. Xu, and Y. Li, “A hybrid cascaded multilevel
converter for battery energy management applied in electric vehicles,” Hossein Iman-Eini (M’10–SM’17) received the
IEEE Trans. Power Electron., vol. 29, no. 7, pp. 3537–3546, Jul. 2014. B.S. and M.S. degrees from the University of
[11] S. Mekhilef and M. N. Abdul Kadir, “Novel vector control method for Tehran, Iran, in 2001 and 2003, respectively, and
three-stage hybrid cascaded multilevel inverter,” IEEE Trans. Ind. Elec- the Ph.D. degree jointly from the University of
tron., vol. 58, no. 4, pp. 1339–1349, Apr. 2011. Tehran and the Grenoble INP, Grenoble, France,
[12] Z. Liu, B. Liu, S. Duan, and Y. Kang, “A novel DC capacitor voltage in 2009, all in electrical engineering.
balance control method for cascade multilevel STATCOM,” IEEE Trans. He is currently an Associate Professor with
Power Electron., vol. 27, no. 1, pp. 14–27, Jan. 2012. the School of ECE, University of Tehran. His re-
[13] Y. Li and B. Wu, “A novel dc voltage detection technique in the CHB search interests include the modeling and con-
inverter-based STATCOM,” IEEE Trans. Power Del., vol. 23, no. 3, trol of power converters and renewable energy
pp. 1613–1619, Jul. 2008. systems.
[14] G. Farivar, B. Hredzak, and V. G. Agelidis, “Decoupled control system for
cascaded H-bridge multilevel converter based STATCOM,” IEEE Trans.
Ind. Electron., vol. 63, no. 1, pp. 322–331, Jan. 2016.
[15] J. A. Barrena, L. Marroyo, M. Á. Rodriguez Vidal, and J. R. Torrealday
Apraiz, “Individual voltage balancing strategy for PWM cascaded H-
bridge converter-based STATCOM,” IEEE Trans. Ind. Electron., vol. 55, Mohammad Kazem Bakhshizadeh (S’16) re-
no. 1, pp. 21–29, Jan. 2008. ceived the B.S. and M.S. degrees in electri-
[16] J. I. Y. Ota, Y. Shibano, and H. Akagi, “A phase-shifted PWM D- cal engineering from the Amirkabir University
STATCOM using a modular multilevel cascade converter (SSBC)—Part of Technology, Tehran, Iran, in 2008 and 2011,
II: Zero-voltage-ride-through capability,” IEEE Trans. Ind. Appl., vol. 51, respectively. He is currently an Industrial Ph.D.
no. 1, pp. 289–296, Jan./Feb. 2015. student in electrical engineering with Aalborg
[17] Y. Neyshabouri, H. Iman-Eini, and M. Miranbeigi, “State feedback con- University, Aalborg, Denmark, in collaboration
trol strategy and voltage balancing scheme for a transformer-less STATic with DONG Energy Wind Power, Fredericia,
synchronous COMpensator based on cascaded H-bridge converter,” IET Denmark.
Power Electron., vol. 8, no. 6, pp. 906–917, Jun. 2015. His research interests include power quality,
[18] F. Z. Peng, J. W. McKeever, and D. J. Adams, “A power line conditioner modeling and control of power converters, and
using cascade multilevel inverters for distribution systems,” IEEE Trans. grid converters for renewable energy systems.
Ind. Appl., vol. 34, no. 6, pp. 1293–1298, Nov/Dec. 1998.
[19] H. Iman-Eini, J. L. Schanen, S. Farhangi, and J. Roudet, “A modular
strategy for control and voltage balancing of cascaded H-bridge rectifiers,”
IEEE Trans. Power Electron., vol. 23, no. 5, pp. 2428–2442, Sep. 2008.
[20] M. Moosavi, G. Farivar, H. Iman-Eini, and S. M. Shekarabi, “A voltage
balancing strategy with extended operating region for cascaded H-bridge Yousef Neyshabouri received the B.Sc. and
converters,” IEEE Trans. Power Electron., vol. 29, no. 9, pp. 5044–5053, M.Sc. degrees in electrical engineering from
Sep. 2014. the University of Tehran, Tehran, Iran, in 2011
[21] K. Sano and M. Takasaki, “A transformerless D-STATCOM based on and 2013, respectively, where he is currently
a multivoltage cascade converter requiring no dc sources,” IEEE Trans. working toward the Ph.D. degree in electrical
Power Electron., vol. 27, no. 6, pp. 2783–2795, Jun. 2012. engineering.
[22] L. K. Haw, M. S. A. Dahidah, and H. A. F. Almurib, “SHE–PWM cascaded His research interests include power convert-
multilevel inverter with adjustable dc voltage levels control for STATCOM ers and their application in FACTs and renew-
applications,” IEEE Trans. Power Electron., vol. 29, no. 12, pp. 6433– able energy systems.
6444, Dec. 2014.
[23] R. Lizana, M. A. Perez, D. Arancibia, J. R. Espinoza, and J. Rodriguez,
“Decoupled current model and control of modular multilevel converters,”
IEEE Trans. Ind. Electron., vol. 62, no. 9, pp. 5382–5392, Sep. 2015.
[24] T. A. Lipo and M. D. Manjrekar, “Hybrid topology for multilevel power
conversion,” U.S. Patent 6 005 788, Dec. 21, 1999. Shahrokh Farhangi (M’90) received the B.Sc.,
[25] H. Taghizadeh and M. Tarafdar Hagh, “Harmonic elimination of cascade M.Sc., and Ph.D. degrees in electrical engi-
multilevel inverters with nonequal DC sources using particle swarm op- neering, with honors, from the University of
timization,” IEEE Trans. Ind. Electron, vol. 57, no. 11, pp. 3678–3684, Tehran, Tehran, Iran, in 1972, 1973, and 1994,
Nov. 2010. respectively.
[26] A. Cetin and M. Ermis, “VSC-based D-STATCOM with selective har- He is currently a Professor with the School
monic elimination,” IEEE Trans. Ind. Appl., vol. 45, no. 3, pp. 1000–1015, of Electrical and Computer Engineering, Univer-
May-Jun. 2009. sity of Tehran. His research interests include de-
[27] A. Marzoughi, Y. Neyshabouri, and H. Imaneini, “Control scheme for cas- sign and modeling of power electronic convert-
caded H-bridge converter-based distribution network static compensator,” ers, drives, photovoltaics, and renewable energy
IET Power Electron., vol. 7, no. 11, pp. 2837–2845, Nov. 2014. systems.