An equivalent circuit method for modelling and simulation of modular multilevel converter in real-time HIL test bench

In China, two modular multilevel converter (MMC) projects were recently commissioned, and other two are currently under construction. The real time hardware-in-the-loop (HIL) test bench played an important role in validating the manufacturer's controllers. The full detail MMC model does not fit with the HIL test bench, which has to solve the circuit containing numerous switches and handle a large amount of inputs and outputs (I/Os) at a small time step for real time simulation. The main challenge is to find a method to model and simulate the MMC systems with sufficient detail, accuracy, and speed. This paper presents an equivalent circuit method for the HIL test bench. The circuit inside sub-module (SM) is represented by mathematical equations, implemented in CPU or field-programmable gate array (FPGA), and solved in parallel to achieve real time performance. This method based test bench is used in those MMC projects in China and connected to the manufacturer's controllers for HIL tests. The model accuracy and simulation speed achieved by this method met the requirements of the HIL tests. In this paper, various scenarios are tested in an MMC HVDC study system. The results achieved by the proposed method have high agreement with those of a reference model in EMTP-RV.