2016 IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC)

June 1 -4, 2016,Busan, Korea

Model Predictive Control of3-Level NPC

ACIDC PWM Converter for DC
Distribution using LCL Filter

Seok-Jin Hongl, Seong-Wook Hyunl, Jin-Wook Kangl, Hak-Sung Kim2, Chung-YuenWon1*

I Sungkyunkwan University, Suwon,Republic of Korea
2
Dongyang Mirae University, Gu-ro, Seoul,Republic of Korea
E-mail: gujjim@naver.com

Abstract-In this paper, model predictive control method is

applied to improve output DC voltage dynamic characteristic of
3-level NPC AC/DC PWM converter for DC distribution using
LCL filter. Generally, DC grid is applied to micro grid with
renewable energy as photovoltaic, ESS. Renewable energy as
photovoltaic causes transient state of DC bus voltage because
input/output of energy is irregular due to irregular generating
power of renewable energy. Transient state of DC bus voltage is
required to be minimized for stable power supplying because
most loads connected to DC grid require digital load which is
sensitive to voltage fluctuation. Proposed control method
improved transient state of DC bus voltage characteristic
applying model predictive control ACIDC PWM converter for
DC distribution using LCL filter. Proposed method is verified by
simulation.

Keywords-Model Predictive Control, LCLjilter, 3-Level, NPC,

ACIDC PWM Converter, DC Distribution
Figure I. Configuration of DC distribution

I. INTRODUCTION
Complying with interest of renewable energy, study of
additional grid as smart or micro grid is actively proceeded. In
these grid, multi-level power converter is necessary because
the grids requires large capacity power and high voltage.
Especially, 3-level NPC topology receives attention due to
advantages of applying similar control method of 2-level
converter, and halved applying voltage to switching device.
These Generally,3-Level Neutral-Point-Clamped(below NPC)
configures additional DC grid in smart or micro grid
connecting to existing AC grid directly as Figure I. 3-Level
NPC requires filter on Ac grid side to minimize harmonics
resulted from switching. In large capacity system, LCL filter
which has excellent reduction of harmonics against its size is
generally used. Meanwhile, output of 3-Level NPC converter
maintains DC voltage using capacitor, but DC voltage of
capacitor is depended on transient change of load due to proper
characteristic of capacitor. Additionally, renewable energy (i.e.,
photovoltaic, ESS) configured with micro grid generates(or
uses) DC power. So,it is connected to DC grid directly.
But,renewable energy as photovoltaic causes transient state
of DC bus voltage because generating power of renewable
energy is irregular. These kind of transition of voltage have to
be minimized for reliability and stability of DC bus voltage in
DC grid. By minimizing transient state, DC power could be
supplied stably to loads which is connected to DC grid. In this
paper, Model Predictive Control(below MPC) is applied as
method of stabilizing output voltage from 3-Level NPC
AC/DC PWM converter using LCL filter. To apply MPC, we
model LCL filter and 3-Level NPC AC/DC PWM converter
and verify its control performance through simulation using
PSIM.
II. MODELING OF 3-LEVEL NPC USING LCL FILTER
Figure 2. shows entire block diagram. 3-Level NPC
AC/DC PWM converter is connected to AC grid and
configures DC grid using output DC link voltage. Total
voltage of output DC link is 1500[Vdc] , and configures
+750[Vdc] and -750[Vdc] at the neutral point. Load could use 3
kinds of voltages.
Switching occurred in 3-Level NPC causes distortion of
AC grid current. LCL filter is used to minimize inflow of
harmonic from switching to AC grid.

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2016 IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC)
June 1 -4, 2016,Busan, Korea

DCGrid
Ground
3-LeJ1e/ NPC
llll'erter
+ 750/Vj -750/Vj

Charging Mel
l
I Top DC Load
Crop
1500/Vj
ACGrid
MaillMCl

��----�++���===�ttl:;==�::=�l=:�:t=;====:t�-+==�--II---t--t---II--�1J
-'-
DC Load
+ 750/Vj
�H-���---��',�����r-��-+-+--;
"V "V "V -+ Rd CBo!tOl
iag ibg icg Cf DC Load
-750/Vj

Figure 2. Schematic of proposed system

Modeling of 3-Level NPC AC/DC PWM converter using Thus, redefmed equations which are applied equation (4) in
LCL filter is perfonned for model predictive control of equation (1)-(3) are as below;
proposed system as follow;
A. System Modeling

L
vef(k) =
[
e(k) - -L ig(k +1) - ig(k) ] (6)
1',
(7)

Current icon value at (k+1) can be predicted using equation

(5)-(7) by the below equation;
Figure 3. Equivalent circuit of proposed system

At LCL filter, 3-Level NPC AC/DC PWM converter and

AC grid could be expressed as equivalent circuit like Figure 3.
To obtain discrete state equation between 3-Level NPC AC/DC (8)
PWM converter and AC grid, differential equation could be
expressed as follow 3 equations;

veoll(t) =-
L COil
dieoll(t)
+ve(t) (1) In equation (8), [ig(k) - ig(k -1) ] is measured by
dt equation (7) using damping resister configured on filter
dig(t) capacitor in series. Current at (k+1) can be predicted by
vef(t) =
e(t) - Lg---:it (2) controlling output voltage from converter (veoll ) at the present
point(k) from equation (8).
ig(t) =
icon(t) + ief(t) (3)
B. 3-Level NPC Modeling
Here, veon've,e'(oll,ig,( are output voltage of converter, 3-Level NPC is configured with 4 switches and 2 diodes for
voltage of filter capacitor side, grid voltage, current of each phases. This power converter is called 3-Level because
converter side,current of grid,current of filter capacitor side in output pole voltage of each leg has 3 states (+,0, -).
order. In above equation, di/dt is defmed as equation (4) by In each leg, when state of output voltage is (+), it is called
forward-oiler method. as Positive(P), when state of output voltage is (0), it is called as
Zero(O), when state of output voltage is (-), it is called as
Negative(N). Switching state of 3-Level NPC expressed as
di i(k +l) - i(k) space vector diagram is as Figure 4.
(4)
dt 1', Possible output voltages are totally 27 by switching status
in 3-Level NPC. But, actual possible output vectors are 19

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2016 IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC)
June 1 -4, 2016,Busan, Korea

because equal vectors which load phase voltage is same exist Voltage of the top and bottom capacitor at (k+1) could be
by connecting status of AC side of 3-Level NPC. calculated as follow;

Current ie, (k) , inflow into DC link capacitor from 3-Level

NPC ACIDC PWM converter is determined by switching
status of each leg,and expressed as follow;[reference]

iCJop (k) = i c (k)- HIJa(k)- Hlbib (k)- HIJe (k) (11)

d
iC_Bollom (k) = i e (k) + H2)a (k) + H2bib (k) + H2Je (k) (12)
d

Here, Hlx' H2x are determined by below switching status;

_
HI., -
{
l ifSx="+"
(13)

{
•

0 otherwIse
Figure 4. Space vector diagram of 3-Level NPC I ifSx ="-"
H2x = (14)
o otherwise
In equation (8), output voltage(= Veon ) of converter is x =a, b, c
determined by 19 vectors express in Figure 4. Output
voltage(= veon) about 19 vectors can be calculated by DC link Voltage balancing of capacitor could be considered by
voltage of AC/DC PWM converter and switching status of equation (9)�(10).
each leg. Magnitude of each vectors is as follow;
D. Cost Function
V Predictive current control shows fast dynamic characteristic
Small vector: �(Vl�V6) by minimizing current error. Cost function shall consider the
3
absolute error between reference current and predicted current.
Vd .
Medium vector: -A e1Ir
/6
(V8�VI8,even number)
Thus, in this paper, cost function shown in equation (15) is
applied.

2V
Large vector : � (V7�V17,odd number)
3
Predictive control of 3-Level NPC uses d-q axis
information of stationary reference frame. Thus, d axis and q
axis control about each vectors have to be performed. So,
output voltage of converter( =icon) of (k+1) results 9 values for
d axis,S values for q axis.
c. Output Capacitor Voltage Balancing Control
DC link of 3-Lvevel NPC is configured with a pair of
capacitor in series, and the neutral point of capacitor is being
clamped on each leg through diodes. When 3-Level NPC
operates, voltage unbalancing between top and bottom
capacitor is occurred because charging or discharging amount
of top and bottom capacitor is different due to switching state
of 3-phases. This kind of voltage unbalancing occurs in Vl�V6
g= d-
l
( i:� + I I (/ - i� 1 (15)
- A.dc Iv� ]op - v�_Bollom l + A.n ne
Here, An' Ade are weighting factor for control variable. An
is the variable to give weight into each vector when the real
current follows the reference current. This value affects
efficiency of controller directly. Generally, The higher value
makes the better efficiency of controller, but, when the value is
too high, control may not be performed because applying order
of vector is not appropriate. Ade is weighting factor for
balancing control of DC link capacitor. Voltage balancing of 3-
Level NPC DC link capacitor is controlled using this part
( A. e
d Iv� ]op - v�_BOllom 1 ).
III. MODEL PREDICTIVE CONTROL OF PROPOSED SYSTEM

which uses small vectors. Generally, when PI control is applied in this kind of system,
Voltage balancing control of the top and bottom capacitor PI current controller and PI voltage controller is configured in
must be performed because voltage unbalancing of DC link series for DC link voltage control (as Figure 5-(a)). Also, Inner
capacitor causes distortion in AC side current. current controller operates rapidly over 10 times to secure

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June 1 -4, 2016,Busan, Korea

Pre-Chargillg Circuit LCL Filter 3-Level NPC Groulld

ACGrid +750rVI -750fVl

6jr--I-Ir----1f--
Pre-Charging Me
* I
[M';;] * II I

Phase
W--!-.r-�I
I­ - Clarke

I-
Estimation Tran�formation
DCLoad
1500[VJ It---
- 'I'-'I'--i
-J
ilk) ilk)
vlk) ilk+l) Minimization I--
��------�------------� DCLoad
Clarke
of
Tran:'/ormatlOn
Vc Top(k+l)
rub
Vc Top Predictive g function +750fVJ
Vc Boflom Model
Vc Botlom(k+1)
&

PI Voltage II-..::V d�C �Pl;:Ol::::,, T�C)- i'lk)

---':�2- -+I Switching state DCLoad
I
____________ ____________

+ Control/er 'CiI Selection -750fVJ

Figure 6. Control blocks diagram of proposed DC distribution system

PI Voltage PI Current ve* [ Start-up

dq
Controller Controller
I
(Period: 1kHz) (Period: 10kHz)

�O,g��/NF
(a) PI control system

Switching
PI Voltage State

Controller Current Control

(Period: 10kHz) (Period: 10kHz) /oo (k + I) = (I - RcooT,)/ oo (k) + T, [V (k)- Vcoo (k)]
c Leoo c L, g

(b) Control system applied Model Predictive Current control

+-ZJd(k)T,
v:, (k+l)=Vd(k)

Figure 5. Configuration of control system �;(k+l)=Vc2(k) +-Z/c2(k)T,

stable bandwidth of the controller. Thus, voltage controller

operates once during every 10 times operation of the current
controller for operating without interference to each controller.
But, this consideration causes slow control response
characteristics during controlling DC link voltage which is the
[mal control target. When the current controller operates with
switching frequency in a system using 10 [kHz] , the voltage
controller operates with 1[kHz] .
In case of predictive control, current ( = icon (k + 1» is
calculated at the next sampling point using present measured
information during every sampling period. It is not affected by
bandwidth of outer controller because it is synchronized with
sampling point. Thus,it can be configured as Figure 5-(b). This Figure 7. Control flow diagram of proposed model predictive control
configuration is similar lO[kHz] operation of the voltage
controller. So, response characteristic for voltage control can controller is applied to DC link voltage control, and model
be improved as a result. Also, output of PI current controller predictive current controller is applied to current controller.
which IS controlled at synchronous frame can skip Figure 7 shows control flow of proposed model predictive
transforming process (which includes d-q inverse current controller. In model predictive current controller,
transformation, SVPWM) to switching signal. current about 27 vectors and voltage of DC link top & bottom
Figure 6 shows the entire system control blocks applied capacitor at (k+1) using measured information at (k) and
model predictive current control. In this paper, PI voltage equation (8) are predicted. A vector,minimize the result of cost

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2016 IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC)
June 1 -4, 2016,Busan, Korea

function is determined and output considering weighting factor Simulation about PI control and model predictive current
of each control element. Output value of model predictive control is performed in the same condition to verify control
current controller can be used as switching signal without any performance of proposed method.
modulation process. Figure 8 shows control response characteristic about step
reference when PI voltage controller and PI current controller
IV. SIMULATION which are configured in series are used. Initial charge circuit is
operated to prevent excessive inflow of inrush current into DC
Proposed DC distribution system has bipolar distribution link capacitor at the starting operation. The controllers start
line using DC output voltage of 3-Level NPc. Thus,3 kinds of operation at O.IS sec, and DC link voltage reference is applied
voltage can be used (±7S0[Vde], IS00[Vde] ). But, in this paper, IS00[Vdel to step at this time. PI current controller operates
simulation is performed when load is connected on IS00[Vde]. 10[kHz], and voltage controller operates once during every S
The parameter of 3-level NPC AC/DC PWM converter using times operation of the current controller to secure stable
LCL filter is given by Table l. bandwidth between controllers. In other words, PI voltage
TABLE I. SIMULATION PARAMETER OF PROPOSED SYSTEM
controller operates 2[kHz] . SO% of load is applied at 0.4 sec,
and lOO% of load is applied at O.S sec.
Parameters Value Unit Figure 8-(b), 8-(c) show expanded waveform for verifying
Power Rating 250 [kW] response characteristic for step reference. Rising time of
Input voltage(Line-to-Line) 380 [V"m,]
control response characteristic is approx. 12.S[msec] as Figure
8-(b) shows. This time is measured at the real voltage is
Source Frequency 60 [Hz]
exactly same with reference voltage(errOl=O). Occurred settling
Switching Frequency 10 [kHz] time is approx. 129.9[msec], overshoot is approx. 13.23[Vde]
Grid Side Inductance 50 [pH]
are verified through Figure 8-(c). Settling time is measured
when the error between the real voltage and the reference
LCL Filter Capacitance 50 [pF]
Filter
voltage is under O.S% after overshoot occurred. Figure 9-(d)
Damping Resistance 2.094 [[)] shows the result of simulation which shows voltage control
Converter Side inductance iOO [pH] ripple in steady state. In steady state, voltage control ripple is
DC-Link Total Voltage 1500 [Vdc] approx. 0.2%. Figure 8-(e) shows the waveform of the top &
bottom capacitor voltage when lOO% of load is applied in

Vdc_Ref Vdc_Total Vd-='_....:

T.P __Vd -= __--
'-B _ ."_.m --,---- __--,
i Start Vde 50% Load 1 100% Load Start Vdc 50% Loml J 00% Loml
i Control Applied i Applied Control Applied Applied

• i
I

5<)0 II If
____----!
5<)0 (
-------1

,., ,.,
Tlme(s) Time(s)

(a) Operation with PI Current Control (a) Operation with PI Current Control

!f !
i :

!. ,
Setlling Time -129.9msec ettJing Time -109. 8mse f

i
1----1' Rb.',"ng 1im� - J 2.5m!>'ec

1---__
---lI ___--.J : 0.24
Time(s) Tlme(s) Tlme(s) Time(s)

(b) Control response (Rising time) (c) Control response (Settling time) (b) Control response (Rising time) (c) Control response (Settling time)

�
o.s. -�------c---c--�
700
0.34 0.59
Time(s) Time(s) Time(s) Tlme(s)

(d) voltage ripple in steady state (e) Top & bottom capacitor voltage (d) voltage ripple in steady state (e) Top & bottom capacitor voltage

Figure 8. Control response characteristic with PI current Control Figure 9. Control response with Model Predictive Current Control

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2016 IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC)
June 1 -4, 2016,8usan, Korea

steady state. Voltage balancing of the top & bottom capacitor is

maintained because voltage balancing control is applied to PI
controller.
The simulation result at Figure 9 shows control response
characteristic for step reference when PI voltage controller and
model predictive current controller which are configured in
series are used. The entire operation sequence and parameters
are maintained in same condition with Figure 8.
When model predictive current control is applied, rising
time is approx. 7.5[msec], settling time is approx. 109.8[msec] ,
overshoot is approx. 13.63[Vdc]. If model predictive current
control is applied, control response characteristic is improved (a) LCL both sides current with PI current control
because rising time,settling time are shorter than PI controllers
configured in series. Voltage control ripple is approx. 0.5% in
steady state, it is increased than using PI current controller.
Voltage balancing control performance is improved beside
using PI controller. It can be verified through Figure 9-(e).

11\ _
(b) LCL both sides current with Model Predictive Current Control

\ Figure 12. 3-phase AC current in full load condition

inductor is reduced by LCL filter, but, harmonics around the

(a) d-axis real and predicted current fundamental wave is not really reduced.

t= == F � V. CONCLUSION

\·
F
�lr i[ ),
c::
1;= � =
� - � 11\ =-1 In this paper,3-Level NPC AC/DC PWM converter using
lI= \ If- \
L \1L I\/�r'lR -\ t
LCL filter is being modeled, and model predictive
t= t= E
�� .. �
- control(MPC) is applied. Control performance of 3-Level NPC
=
t=
t:��t"'"
= I\ \
-i.,
_.w' .."
:_;":w,
:,.'(V"JO,lJ 1/", I, "f
converter is verified through simulation and compared with
performance of PI control method when MPC method is
applied. From the simulation result, in case of applying model
Thne($)
predictive control instead of PI current controller, dynamic
(b) q-axis real and predicted current characteristic performance is improved in transient state.
Figure 10. Reference. real and predicted current in synchronous frame Voltage ripple in steady state is superior when PI current
control is applied. But, balancing control performance of the
Figure 10 shows the simulation result of d-q axis current in top & bottom capacitor voltage of NPC is superior when model
synchronous frame. MPC predicts current at (k+1) when each predictive current control.
vectors are applied to current of the present point (k). and, the
best vector of predicted vectors is selected and output to ACKNOWLEDGMENT
minimize error between reference and present current. The This work was supported by the Korea Institute of Energy
selected one is determined by cost function, and this value is Technology Evaluation and Planning(KETEP) and the
not always the closest value from the reference current Ministry of Trade,Industry & Energy(MOTIE) of the Republic
The simulation result expressed in Figure ll-(a) shows the of Korea (No. 20152020105720).
3-phase AC current waveforms of LCL filter both sides in full
load condition using PI current controller. It can be verified
through FFT analysis that current which flows in converter side
inductor includes harmonic about switching frequency. REFERNCES
Harmonics around switching frequency in current which flows [I] R.Vargas. P. Cortes. U.Ammann. J. Rodriguez, J. Pontt, "Predictive
in grid side inductor is reduced by LCL filter. Control of a Three-Phase Neutral-Point-Clamped Inverter" IEEE Trans.,
Issue. 5,vol. 54,pp. 2697-2705,2007
Figure 11-(b) shows the current of LCL filter both sides in
full load condition when model predictive current control is [2] 1. Rodriguez, P. Cortes, "Model Predictive Control-Predictive Control of
Power Converters and Electrical Drives", Wiley-IEEE Press eBook
applied. If model predictive current control is applied, current Chapters, 2012
includes irregular harmonics and switching frequency because
[3] V.A. K Parabhala, B. P. 8addipadiga, M. Ferdowsi, "DC distribution
current is predicted and controlled in real-time. Harmonics systems-An overview", IEEE Conference Publications, ICRERA, 2014
around switching frequency in current which flows in grid side International Conference on, pp. 307-312,2014

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