Modeling and Analysis of Switching Frequency

Circulating Current in Three-Phase Parallel Inverters

Hao Ma1, Zhao Lin1, Liang Dong2, Qian Guo1
1
College of Electrical Engineering, Zhejiang University, Hangzhou, China, 310027
2
State Grid Smart Grid Research Institute, Nanjing, China, 210003
E-mail: mahao@cee.zju.edu.cn

Abstract—There are circulating currents among the small range. Additionally, the relationships between the
parallel inverters. Based on the existing researches on switching frequency circulating current and other circuit
circulating currents, an accurate model of switching parameters have not been discussed detailedly so far.
frequency circulating current is proposed in this paper. In this paper, model of switching frequency circulating
Moreover, the relationships between the circuit current is analyzed in depth based on the device level. On the
parameters and switching frequency circulating current basis of the model, the relationships between circuit
are investigated and analyzed in detail. Based on the parameters and switching frequency circulating current are
analytical results, favorable design guidelines to restrain investigated, and the design principles that how to inhibit
the switching frequency circulating currents are further circulating current better are further brought forward.
presented. The simulation by means of Matlab is well
The model of switching frequency circulating current in
developed to describe the proposed mathematical model
parallel inverters is described minutely in Section II. In order
and validates the effectiveness of the theoretical analyses. to verify the correctness of the academic model, simulation
Keywords—Switching frequency circulating current; three-
waveforms and curves are shown in Section III. As a result,
phase parallel inverters; maximum; modeling; SPWM. the relationships between the circulating current and circuit
parameters, and the design principles are further advanced.
Finally, the conclusion is presented in Section IV.
I. INTRODUCTION
Parallel connection techniques for inverters have become II. MODELING OF SWITCHING FREQUENCY CIRCULATING
the trend of power system design. Multifarious control CURRENT IN PARALLEL INVERTERS
techniques have been proposed for inverter parallel operation, The circuit of two three-phase three-wire parallel inverters
such as master-slave scheme, centralized control, power droop system is shown in Fig.1.
method and so forth [1]-[3], which aim at restraining the
idc1
circulating currents among the parallel system essentially.
sap1 sbp1 scp1
In order to suppress the circulating currents, some Vdc1
ia1 ioa1 ioa
L rL Z1
analyses and researches have been put forward. The concept a1 −
A
va1 ib1 L rL vAB1+ C i Z1 iob
of circulating impedance was proposed in [4], and the b1
vb1 ic1 L rL
−
vBC1+ C
C B ob1
vCA1 C ioc1 Z1 ioc Z load
c1 +
circulating-impedance control regulator is further designed to Vdc1 vc1
−

change the circulating-impedance of parallel system. In [5], san1 sbn1 scn1

zero-sequence circulating current is analyzed minutely and
well suppressed by means of zero-sequence current loop. The idc 2
work in [6]-[7] shows the effect of connection cable
sap 2 sbp 2 scp 2
impedance on parallel system and an optimized controller is Vdc 2
contrived to minimize the circulating currents. However, the a2
ia 2 L rL
A
ioa 2 Z2
−
v AB 2+ C
aforementioned control techniques principally focus on the va 2
b2
ib 2 L rL
− C
i
B ob 2
vCA2 ioc 2
Z2
vb 2 ic 2 L vBC 2+− C
fundamental frequency circulating currents. Vdc 2
c2
vc 2
rL + C Z2

The concept of “uniform modulation” was presented in [8], san 2 sbn 2 scn 2
which indicates that the discrepancy of carrier waves of
inverter modules will result in some switching frequency Fig. 1. Two three-phase three-wire voltage parallel inverters system
ripples in the output currents. Parallel inverters with carrier The switching function is defined by
phase-shifted SPWM technique is described in [9], the
technique will generate switching frequency circulating ⎧ 1 switch is closed
sijk = ⎨ (1)
currents without doubt. Consequently, new PWM scheme was ⎩0 switch is opened
proposed to realize switching frequency circulating current
suppression. In [10], the connections between circulating where, i∈{a, b, c}, j∈{p, n}, k∈{1, 2}, sipk+sink=1.
current and the phase difference of carrier waves were Especially, the following relationship is easy to be attained,
illustrated. However, the phase difference is limited within a

978-1-4799-2399-1/14/$31.00 ©2014 IEEE 568

 sik = sipk = 1 − sink (2) As is illustrated in Fig.3, Fig.3 (a) and Fig.3 (b) represent
the modulation waves and carrier waves of two inverters
Assuming that the loads are three-phase symmetrical linear respectively, Fig.3 (c) and Fig.3 (d) describe the states of
loads in delta connection, consequently, three-phase three-wire switch devices of two inverters separately as well. Additionally,
inverter can be decomposed into three single-phase half-bridge Fig.3 (e) shows four working stages in parallel system, which
inverters. For the sake of analysis, one single-phase inverter are depicted in black, white, red and blue.
based on Fig.1 is illustrated in Fig.2. The output voltages of Lf
rL Lf Z1 Z2 rL
half-bridge vaok are calculated by
+ rC rC
+
vaok = (2sak − 1)Vdck (3) vao1 Vdc ZL Vdc vao2
Cf Cf

where, k =1, 2. In addition, the definition of sa1, sa2 is the same − −

as equation (2). (a)
rL Lf Z1 Z2 Lf rL
sap1 + rC rC +
vao1 Vdc Vdc vao2
Vdc1
S1 Cf ZL Cf

a1
rL ia1
L Z1 ioa1 ioa − −
o
+ + (b)
Vdc1 S2 iC1 rL Lf Lf rL
Z1 Z2
vao1
3C ZL vo + rC rC +
san1
− − vao1 Vdc Vdc vao2
Cf ZL Cf
− −
sap 2
(c)
Vdc 2 S3 rL Lf Z1 Z2 Lf rL
L
o a2
rL ia 2 Z2 ioa 2
+ rC rC
+
+ vao1 Vdc
Vdc 2 S4
iC 2 Vdc Cf
ZL vao2
Cf
vao 2
3C − −
san 2
− (d)
Fig. 2. Two single-phase half-bridge parallel inverters Fig. 4. Equivalent circuits of parallel inverters system

Generally, most of the circuit parameters of two inverters As is shown in Fig.4, Lf and Cf are filtering inductor and
are entirely identical. If the carrier waves of two inverters are filtering capacitor respectively, rL and rC are ESRs of them
not fully synchronous, there are four working conditions in the separately, Z1 and Z2 are connection line impedances, and ZL
parallel system according to the diversity of switch devices represents the load impedance. Fig.4 (a) to Fig.4 (d) represent
states in two modules, which are presented in Fig.3. The the four working stages in parallel system. In Fig.4 (a) and
corresponding equivalent circuits are described in Fig.4. Fig.4 (b), the dc sources and change rates of inductor currents
are identical. However, the dc sources and change rates of
carrier wave 1
v inductor currents in Fig.4 (c) and Fig.4 (d) are absolutely
reference modulation wave
opposite, which results in the circulating current.
In summary, if there is phase difference between the carrier
waves of two inverter modules, the relevant circulating current
0 (a) t
carrier wave 2 will appear in the circuit loop, which is known as switching
v frequency circulating current. The analytical model of
reference modulation wave
switching frequency circulating current will be set up below.
θ
0 S1 on, S2 off(b) S1 off, S2 on ωs
t vao1
sa1 1 Vdc
0 S3 on, S4 off (c ) S3 off, S4 on t
0
sa 2 1 d (t )Ts Ts
t
−Vdc
0 (d ) t vao2
1 Vdc

0 t
(e ) 0 θ θ t
d (t )Ts − Ts −
−Vdc ωs ωs
stage 4 stage1 stage3 stage2

Fig. 3. Working stages of parallel inverters system in SPWM mode Fig. 5. Output voltages of half-bridge vaok in switching period

569
 Assuming that θ is the phase difference between carrier ⎧ 2V 2V
v1 (t ) = dc [(1 − cos 2dπ ) sin ωs t + sin 2d π icos ωs t ] = dc 2 − 2 cos 2d π sin(ωs t + ϕ )
(6)
⎪⎪
waves of two inverter modules, the output voltages of half- ⎨
π π
⎪v (t ) = 2Vdc [(1 − cos 2dπ ) sin(ω t + θ ) + sin 2d π icos(ω t + θ )] = 2Vdc 2 − 2 cos 2dπ sin(ω t + ϕ + θ )
bridge vaok are described minutely in Fig.5. In Fig.5, ωs and Ts ⎪⎩ 2 π
s s
π
s

represent the switching angular frequency and switching

period separately, and d is the duty ratio of gate drive signal, where,
1 1 (4) sin 2d π
(1 − m) ≤ d (t ) ≤ (1 + m) ϕ = arctan (7)
2 2 1 − cos 2d π
where, m is the amplitude modulation ratio. In addition, it has
According to Fourier decomposition, the output voltages of
4 θ θ π
half-bridge vaok can be approximated to the sum of their DC v1 (t ) − v2 (t ) = Vdc 2 − 2 cos 2d π sin sin(ωs t + ϕ + − ) (8)
components and switching frequency components in switching π 2 2 2
period, The corresponding AC steady state equivalent circuit is
i
⎧ 2V
vao1 (t ) ≈ (2d − 1)Vdc + dc [(1 − cos 2d π ) sin ωs t + sin 2d π icos ωs t ]
illustrated in Fig.6 (c), where, I sc is the vector of switching
⎪⎪ π (5) i i i
⎨ frequency circulating frequency, I m1 , I m2 and I m3 are the current
⎪v (t ) ≈ (2d − 1)V + 2Vdc [(1 − cos 2d π )sin(ω t + θ ) + sin 2d π icos(ω t + θ )]
⎪⎩ ao 2 dc
π s s i
vectors of three loops in the circuit separately. If V1 is treated as
Equation (5) shows us that the dc components of two the reference vector, the following results are not difficult to be
voltages in switching period are identical, while there is phase acquired,
difference θ between the switching frequency components,
which is the primary reason why switching frequency ⎧i 2Vdc i 2Vdc
⎪V1 = 2 − 2 cos 2d π ∠0, V2 = 2 − 2 cos 2d π ∠θ
components exist in the parallel system. ⎪ π π (9)
⎨
LX ⎪ i i 2 2 θ θ π
rL Lf rX Lf rL V1 − V2 = Vdc 2 − 2 cos 2dπ sin ∠( − )
⎪⎩ π 2 2 2
+ rC rC +
Based on the circuitous philosophy, the following
vao1 vao2
Cf Cf equations are obtained,
− − ⎧ i i i i

(a) ⎪ Z11 I m1 + Z12 I m 2 + Z13 I m3 = V1

⎪ i i i
⎨ Z 21 I m1 + Z 22 I m 2 + Z 23 I m 3 = 0 (10)
rL Lf LX rX Lf rL ⎪ i i i i
⎪ Z 31 I m1 + Z 32 I m 2 + Z 33 I m 3 = − V2
+ rC isc (t ) rC
+ ⎩
v1 (t ) v2 (t ) In the interest of analysis, equation (10) is rewritten as,
Cf Cf
− − ⎡ i ⎤
I ⎡ i ⎤
(b) ⎡ Z11 Z12 Z 31 ⎤ ⎢ m1 ⎥ ⎢ V1 ⎥
⎢ ⎢ i ⎥
⎢ Z 21 Z 22 Z 32 ⎥⎥ ⎢ I m 2 ⎥ = ⎢ 0 ⎥ (11)
⎢ ⎥
⎢⎣ Z 31 Z 23 Z 33 ⎥⎦ ⎢ i ⎥ ⎢ i ⎥
rL jωs L f jωs LX
i
rL ⎢ I m 3 ⎥ ⎣ − V2 ⎦
I sc rX jωs L f ⎣ ⎦
+ rC rC i
+ where, Znn is the self-impedance of the nth loop, Zmn is the
i i
i i
I m3 mutual impedance between the mth loop and the nth loop,
V1 I m1 I m2 V2
− 1/ ( jωs C f ) 1/ ( jωs C f ) − ⎧ 1
⎪ Z11 = Z 33 = rL + rC + jωs L f − j ω C
(c) ⎪ s f

⎪ 2
Fig. 6. Equvalent circuits of switching frequency circulating current ⎪ Z 22 = rX + 2rC + jωs LX − j
⎨ ω sC f (12)
According to Fig.5, Fig.4 can be simplified and presented
⎪ 1
in Fig.6 (a), where, LX and rX are equivalent inductor and ⎪ Z12 = Z 21 = Z 23 = Z 32 = −rC + j
resistor of connection line between two inverters respectively. ⎪ ωs C f
Based on equation (5), Fig.6 (a) is further simplified and ⎪
depicted in Fig.6 (b), where, v1(t) and v2 (t) are the ⎩ Z13 = Z 31 = 0
corresponding switching frequency components, isc represents According to Cramer’s rule, the following result is easily to
the switching frequency circulating current, be acquired,

570
 i In order to validate the accuracy of modeling of switching
Z11 V1 Z13 frequency circulating current in parallel inverters system, the
i i Δ2 1
I sc = I m 2 = = Z 21 0 Z 23 simulation of two 1kW three-phase three-wire parallel
Δ Δ i inverters was carried out by Matlab. The corresponding
Z 31 − V2 Z 33 parameters are listed in Table I. The control block diagram of
− Z11 Z12 i i simulation model is shown in Fig. 7. The two inverters share
= (V1 − V2 ) (13)
Δ the same input DC source. In addition, the switching devices
and the corresponding gate drive circuits are identical.
−Z Z 2 2 θ θ π Additionally, a phase-shifted segment is added to carrier-wave
= 11 12 Vdc 2 − 2 cos 2d π sin ∠( − )
Δ π 2 2 2 generator of inverter 2.
Consequently, the RMS (root-mean-square) value of
switching frequency circulating current I can be calculated by S1
Vdc
rL Lf rX / 2 LX / 2
i − Z11 Z12 2 2 θ o a1 ioa1 ioa

I = I sc = Vdc 2 − 2 cos 2d π sin (14) Cf

Δ π 2 Vdc S2
rC RL

where, DSP
g ate
d r iv e
carrier − wave c ir c u it

Z11 Z12 Z13 phase − shifted

2 S3
Δ = Z 21 Z 22 Z 23 = Z11 ( Z11 Z 22 − Z12 ) (15) Vdc
o a2
rL Lf rX / 2 LX / 2
ioa 2

Z 31 Z 32 Z 33 Vdc
S4
Cf

rC

Based on equations (12), (14), (15), the result is acquired,

Fig. 7. Control block diagram of simulation model
⎛ 1
2
⎞ 2 2 2 θ (16)
⎜⎜ ⎟⎟ + rC i V 2 − 2 cos 2dπ sin Based on the simulation model and the circuit parameters,
i
⎝ ωs C f ⎠ π dc 2
I = I sc =
⎛ ⎞
2
⎛ ⎞
2
⎡⎛ 1 ⎞
2
⎤ the simulation waveforms with diverse phase difference θ,
1 2
⎟⎟ + ( rL + rC ) i ⎟⎟ + ( rX + 2rC ) line inductance LX, filtering inductance Lf respectively are
2 2
⎜⎜ ωs L f − ⎜⎜ ωs LX − − ⎢⎜ ⎟⎟ + rC2 ⎥
⎝ ωs C f ⎠ ⎝ ωs C f ⎠ ⎢⎜⎝ ωs C f ⎠ ⎥
⎣ ⎦ obtained in Fig.8 to Fig.16,
2
⎛ 1 ⎞ 4 2 θ
+ rC2 i V sin(dπ ) sin
⎜⎜ ω C ⎟⎟ π dc 2
⎝ s f ⎠
5

=
ioa1 / A

⎛ 1 ⎞
2
⎛ 2 ⎞
2
⎡⎛ 1 ⎞2 ⎤ 0

⎜⎜ s f ω C ⎟⎟ ( L C ) ⎜⎜ s X ω C ⎟⎟ ( X
+ r + 2rC ) − ⎢⎜ ⎟ + rC ⎥
2 2
ωL − + r +r i ω L − 2

⎝ s f ⎠ ⎝ s f ⎠ ⎢⎜⎝ ωs C f ⎟⎠ ⎥
⎣ ⎦ -5

5
On the basis of equation (16), when the duty ratio d ranges
ioa 2 / A

from 0.5(1-m) to 0.5(1+m), I varies as sinusoidal. In general, 0

we pay more attention to the maximum of I. Especially, if d -5

equals to 1/2, the maximum Isc can be expressed by, 5

isc / A

⎛ 1 ⎞
2
2 4 2 θ (17) -5
⎜⎜ ⎟⎟ + rC i V sin 0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101

⎝ ωs C f ⎠ π dc 2 t/s
I sc =
⎛
2
⎞ ⎛ ⎞
2
⎡⎛ 1 ⎞
2
⎤
1 2 Fig. 8. Waveforms of output currents and switching frequency circulating
⎟⎟ + ( rL + rC ) i ⎟⎟ + ( rX + 2rC ) − ⎢⎜⎜ ⎟⎟ + rC ⎥
2 2
⎜⎜ ωs L f − ⎜⎜ ωs LX −
2

⎝ ωs C f ⎠ ⎝ ωs C f ⎠ ⎢ ωC ⎥ current (LX =14μH, θ =180°, Lf =3.4mH)

⎣⎝ s f ⎠ ⎦

III. SIMULATION VERIFICATION

ioa1 / A

-5

TABLE I PARAMETERS OF SIMULATION 5

ioa 2 / A

Symbol Description Value Unit 0

2Vdc Input voltage 200 V -5

m Amplitude modulation ratio 0.9 - 5

f Fundamental frequency 50 Hz
isc / A

0
fs Switching frequency 20 kHz
Lf Filtering inductor 3.4 mH -5
0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101

rL ESR of filtering inductor 0.04 Ω t/s

Cf Filtering capacitor 6.6 μF
Fig. 9. Waveforms of output currents and switching frequency circulating
rC ESR of filtering capacitor 0.01 Ω
current (LX =19.2μH, θ =180°, Lf =3.4mH)
LX Line inductor 19.2 μH
rX Line resistor 0.05 Ω
RL Loads resistor 11.7 Ω

571
 5 10

ioa1 / A
ioa1 / A

0 0

-5 -10

5 10

ioa 2 / A
ioa 2 / A

0 0

-5 -10

5 10

isc / A
isc / A

0 0

-5 -10
0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101 0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101

t/s t/s
Fig. 10. Waveforms of output currents and switching frequency circulating Fig. 14. Waveforms of output currents and switching frequency circulating
current (LX =20μH, θ =180°, Lf =3.4mH) current (LX =19.2μH, θ =180°, Lf =2mH)

5 10

ioa1 / A
ioa 2 / A ioa1 / A

0 0

-5 -10

5 10

ioa 2 / A
0 0

-5 -10

5 10
isc / A

isc / A
0 0

-5 -10
0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101 0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101

t/s t/s
Fig. 11. Waveforms of output currents and switching frequency circulating Fig. 15. Waveforms of output currents and switching frequency circulating
current (LX =19.2μH, θ =45°, Lf =3.4mH) current (LX =19.2μH, θ =180°, Lf =3.4mH)

5 10
ioa1 / A
ioa1 / A

0 0

-5 -10

5 10
ioa 2 / A

ioa 2 / A

0 0

-5 -10

5 10
isc / A
isc / A

0 0

-5 -10
0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101 0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101

t/s t/s
Fig. 12. Waveforms of output currents and switching frequency circulating Fig. 16. Waveforms of output currents and switching frequency circulating
current (LX =19.2μH, θ =90°, Lf =3.4mH) current (LX =19.2μH, θ =180°, Lf =5mH)

5
10
ioa1 / A

0 maximum value of theoretical model is 8.36A theoretical curve — —

9
-5 simulation curve —x—
5
8
ioa 2 / A

maximum value of simulation model is 8.5A

0 7

-5 6
I sc / A

5
isc / A

5
0

4
-5
0.1 0.1001 0.1002 0.1003 0.1004 0.1005 0.1006 0.1007 0.1008 0.1009 0.101

t/s 3

Fig. 13. Waveforms of output currents and switching frequency circulating 2

current (LX =19.2μH, θ =180°, Lf =3.4mH)

1

0
1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3

LX / H
-5
x 10

Fig. 17. Maximum of peak-to-peak values of switching frequency circulating

current Isc vs line inductance LX (θ =180°, Lf =3.4mH)

572
 However, as is shown in Fig.14 to Fig.16, and Fig.19,
10
theoretical curve — — switching frequency circulating current will decrease with the
9
simulation curve —x—
enhancement of filtering inductance. Therefore, filtering
8 inductance ought to increase appropriately, but the bandwidth
7
of LC filter should be considered at the same time.
6
I sc / A

5
IV. CONCLUSION
4
In this paper, modeling of switching frequency circulating
current in three-phase three-wire parallel inverters is
illustrated in detail. Simulation of actual devices validates the
3

2
correctness and efficiency of the proposed model, regarding
1 the influence of different parameters such as line inductance,
0
phase difference of carrier waves and filtering inductance.
0 20 40 60 80 100 120 140 160 180
Based on the relationships between circulating current and
θ/ circuit parameters, some designed guidelines are offered to
Fig. 18. Maximum of peak-to-peak values of switching frequency circulating restrain the circulating current of the parallel inverters system.
current Isc vs phase difference θ (LX =19.2μH, Lf =3.4mH)
ACKNOWLEDGEMENT
10
theoretical curve — — This project is supported by National Natural Science
9
simulation curve —x— Foundation of China (51177149), Zhejiang Key Science and
8 Technology Innovation Group Program (2010R50021), and
7 Specialized Research Fund for the Doctoral Program of
6
Higher Education (20130101110108).
I sc / A

5
4
3
2 Paralleled Inverters and Three-Phase Three-Limb Inductors”, IEEE
1
0
2 3 4 5 6 7
Lf / H
Fig. 19. Maximum of peak-to-peak values of switching frequency circulating
current Isc vs filtering inductance Lf (LX =20μH, θ =180°)
In order to describe the accuracy of the model of switching
frequency circulating current, other conditions with diverse
parameters are further investigated. According to the data of
academic and simulation model, theoretical curves and
simulation curves are illustrated in Fig.17 to Fig.19. The
curves have shown us that with the same circuit parameters,
academic model coincides with the simulation of actual
devices commendably.
Fig.8 to Fig.10 describe that with the enhancement of line
inductance, switching frequency circulating current increases
firstly and then decreases. In additon, Fig. 17 illustrats that the
maximum of switching frequency circulating curents will be
obtained when LX =19.2μH. The principal reason is that in
such a case, the resonant frequency of the seond loop in
Fig.6(c) equals to 20kHz, which is the same as switching
frequency. Consequently, line inductance ought to be chosen
reasonbly, so that the resonant frequency of the output
resonant loop can be far from switching frequency.
The increase of phase difference will lead to the
enhancement of switching frequency circulating current
accordingly, which is depicted in Fig.11 to Fig.13, and Fig.18.
Obviously, phase difference between carrier waves of inverter
modules should be controlled as small as possible.
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