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Abstract—In this paper, a combined reactive power modulation I.INTRODUCTION
O
and grid current distortion improvement approach is proposed
for an H6 transformer-less full-bridge single-phase photovoltaic
wing to the depletion of fossil fuels, distributed generation,
(PV) grid-connected inverter. H6 transformer-less inverters with and local use, the photovoltaic (PV) power generation
traditional modulation and control strategies may not satisfy the system has become the most promising renewable energy
requirement of reactive power compensation or may result in source [1]–[2]. In residential applications of the single-phase
more severe zero-crossing current distortion. Therefore, contrary distributed PV power generation system, a single-phase
to the traditional modulation, a novel reactive power injection grid-connected inverter is used as the interface between the
space vector pulse width modulation (SVPWM) is proposed,
which consists of two operation stages—inverter modulation and
photovoltaic arrays and the single-phase utility grid. In recent
reactive power modulation. The implementation of SVPWM for years, owing to their low cost, high power density, high
reactive power modulation using a digital signal processor (DSP) performance, and super high efficiency, single-phase inverters
is also investigated. Furthermore, to suppress the current with H6 transformer-less full-bridge topology have been
zero-crossing distortion in the reactive power injection mode, a widely used in single-phase grids.
global sliding mode function based on the Most traditional single-phase PV transformer-less
proportion-integration-resonance (PIR) current controller is
designed, and the control law of the global sliding mode is derived.
grid-connected inverters can only operate with a power factor
Using the segment modulation and grid current distortion (PF) of unity. The increased penetration of PV systems in
improvement approach, the function of reactive current injection residential single-phase grids has attracted increasing attention
is implemented in commercial PV inverters, and the total to power quality and reliability. Single-phase PV inverters
harmonic distortion (THD) of the grid current is decreased should be able to conduct voltage regulation through a reactive
significantly by more than 5% in the low power segment, under power control (injecting or absorbing reactive power) acting as
the operating conditions of a lagging or leading power factor (PF)
of 0.95. The effectiveness and feasibility of the proposed approach
the static grid support [3]–[4]. Therefore, some countries have
are verified through simulation and experiment using a 5 kVA updated their grid-connected PV standards to include the
prototype. function of regulating reactive power, such as the German
standard VDEAR-N4105. According to the new standards,
Index Terms—H6 topology PV inverter, reactive power when the power level is between 3.68 kVA and 13.8 kVA, the
injection, zero-crossing distortion, global sliding mode control. commended PF of a grid-connected inverter is from 0.95
1
leading to 0.95 lagging; further, reactive power should be
provided to the utility grid, and its power quality should be
Manuscript received September 13, 2016; revised February 28, 2017; improved.
accepted May 29, 2017. This work was supported in part by the Program for H6-type topology (H4 full-bridge with ac bypass topology),
New Century Excellent Talents in University under NCET-13-0599, in part by
the Innovation-driven Plan in Central South University under Grant
was proposed to eliminate the leakage current that exists in the
2016CXS004, and in part by the Natural Science Foundation of Guangxi transformer inverters [5]. During the freewheeling period of H6
Province under Grant 2016GXNSFBA380241. Corresponding Author: Jian inverter, its dc-side was isolated from the ac-side [6–7]. By
Yang. Paper no.TEC-00784-2016. using the traditional modulation and control methods, the
Bin Liu, Mei Su, Jian Yang, and Dongran Song are with the the School of
Information Science and Engineering, Central South University, Changsha ac-side of the H6 inverter was isolated from the dc-side after the
410083, China (e-mail: bingo.liu@csu.edu.cn; sumeicsu@mail.csu.edu.cn; zero-crossing of the grid voltage. Therefore, the H6 inverter can
jian.yang@csu.edu.cn; humble_szy@163.com). only work under a PF of unity in the grid-connected mode [8–
Deqiang He is with the School of Mechanical Engineering, Guangxi
University, Nanning 530004, China (e-mail:hdqianglqy@126.com). 9]. Thus, enabling the H6 inverter to inject or absorb reactive
Shaojian Song is with the School of Electrical Engineering, Guangxi power from the grid, while maintaining a low leakage current,
University, Nanning 530004, China (e-mail:57095158@qq.com). is of utmost importance.
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. Contrary to the single-phase H4 full bridge topology with a
PF of unity, the zero-crossing points of the H6 inverter output
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voltage and grid current no longer overlap when the H6 inverter The common-mode (CM) ground leakage current is caused by
operates at a non-unity PF. Hence, the grid current waveform the existence of a parasitic capacitor (Cp) between the PV
distortion becomes more significant. In order to solve the panels and earth. Since the PV arrays, parasitic capacitor Cp,
problem of grid current distortion at zero-crossing related to and grid form a ground leakage current transmission path, as
nonlinear modulation, the study in [10] introduced a repetitive illustrated in Fig. 1 by the dotted line, when the CM voltage
control in the inner current-loop control. Consequently, the varies, the ground leakage current ileak appears. The leakage
current distortion in the dual-buck PV inverter was alleviated. current ileak decreases the efficiency of the PV inverter, reduces
Based on the characteristic that the rate of current variation of the grid current quality, and induces severe conducted and
bipolar modulation is larger than that of unipolar modulation, radiated electromagnetic interference (EMI); moreover, it is a
the studies in [11–13] reduced the current zero-crossing major safety concern according to many standards [21]. Thus,
distortion by using a combined unipolar and bipolar pulse width in order to suppress the leakage current ileak of the PV inverter,
modulation (PWM). Recently, as a nonlinear control method, two additional unidirectional freewheeling paths are embedded
the sliding mode variable structure control strategy has been in the bridge arms of the H6 inverter, to separate the PV arrays
widely applied to the control of power electronic devices. Some from the grid during the freewheeling stage.
favorable results have been obtained, such as ideal control A B
effects, good dynamic response, strong robustness, and good
regulation properties over a wide range of operating conditions S1 S3 L1 ig
[14–15]. In [16], the sliding mode control was used to improve PV a
the dynamic performance of a dc-coupled distributed power
Array D1 ug
U dc b
generation system. Many sliding mode control methods for S5 S6 L2 Utility
Grid
inverters have been proposed [17]–[20]. D2
The H6 inverter bridge arm outputs voltage by modulating
DC bus voltage. Similarly, electromotive force can be S2 S4
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dig Sector II, for example, Fig. 4 shows the implementation of the
uab ug = L =L I g sin t LI g cos t . SVPWM. Table III describes the relations among TA, TB, sector
dt
number, and the reference waves X and Y.
(2)
Assuming that da, db, and d6 are the duty cycles of the bridge
arms A, B, and S6, respectively, uab in Sector III can be
expressed as
uab = uan ubn d aU dc d bU dc d 6U dc . (3)
Combining equations (2) and (3) yields d6 at steady state:
LI g cos t ug
d6 . (4)
U dc
As for digital signal processor (DSP) implementation of
reactive power injection modulation, similar to the three-phase
SVPWM modulation technique, the related strategy is
implemented in the reactive power modulation of the H6
Fig. 4. Implementation of SVPWM in Sector II
inverter. First, the location of the reference vector should be
defined. Therefore, according to the directions of the grid TABLE III
voltage ug and the reference grid current iref, sectors can be DEFINING TA ,TB BY X, Y, AND Q
identified in accordance with the following rules: Switching Sector
IF ug >0 THEN M=1 ELSE M=0; point I II III IV
IF iref >0 THEN N=1 ELSE N=0.
TA TC X TC TC
where M and N are the sector identification variable symbols.
Considering Q = 2 M + N, the correspondence relations TB TC TC TC X
between Q and the sectors are shown in Table II. T5 Y TC TC 0
T6 TC 0 Y TC
TABLE II
CORRESPONDENCE RELATIONS BETWEEN Q AND SECTOR
Q 0 1 2 3 C. Low Leakage Current Characteristics in Reactive Power
Sector IV III I II Injection Mode
According to the analysis in [5, 9], in a transformer-less PV
Further, X is defined as inverter system, the leakage current is essentially the CM
current. Besides the parasitic capacitor Cp of the PV arrays, the
uref kLI g sin t
X m = , (5) factor deciding the value of the leakage current is the variation
U dc U dc rate of the output CM voltage ucm. The leakage current can be
where uref is the modulating output reference voltage, m (m ≤ 1) expressed as
is the modulation ratio, and k is a proportion factor (a ducm
normalized factor) that is a function of the modulation ratio, ileak = Cp . (7)
reference voltage and reference current. dt
Notably, under reactive power modulation, if the switches S5 Hence, by selecting the appropriate modulation sequence and
and S6 are turned on, the output voltage uab = 0. Using equation maintaining the output CM voltage ucm of the H6 inverter
(1), the variation rate of the grid current is in the opposite constant, low leakage current characteristics of the system can
direction to the grid voltage. Further, if S5 and S6 are turned off, be ensured.
the output voltage of the bridge arms is −Udc (or Udc). When the H6 inverter is modulated by the sequence shown in
Simultaneously, the variation rate of the corresponding output Fig. 3, the output of the bridge uab has the feature of unipolar
grid current is in the same direction as the grid voltage. modulation. In Sector II, modulating by +1 and 0, the output uab
When the H6 inverter operates in the reactive power is Udc and 0, respectively. In Sector IV, modulating by −1 and 0,
modulation mode, the variation law of the grid current, which is the output uab is −Udc and 0, respectively. In these two sectors,
caused by the switches S5 and S6 being turned on and off, is the CM voltage ucm retains half of the dc-side voltage Udc, i.e.,
different from that caused by the switches S1–S4 being turned ucm=0.5Udc. It can be inferred from equation (7) that the leakage
on and off. Therefore, by using the same modulation wave and current of the H6 inverter is very small [22].
setting X as the reference wave of S1–S4, the reference wave of Fig. 5 shows the detailed operating principle of Sector III,
S5 and S6 is defined as when the H6 inverter outputs lagging reactive power. As shown
in Fig. 5(a), the H6 inverter operates in the inverter modulation
Y =1 X . (6)
stage of outputting lagging reactive power, and the current
Further, Tc represents the digital control cycle count value; TA
flows through the path L1GridL2S6D2 L1. Owing to
and TB represent the switching points of the single-phase bridge
the voltage balancing effect of the junction capacitor
arms A and B, respectively; T5 and T6 represent the switching
of switches, uan = ubn = 0.5Udc, and the CM voltage ucm is
points of the freewheeling switches S5 and S6, respectively. In
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Notably, when the H6 inverter outputs reactive power in The dead-time td of the H6 inverter is considered to be
Sectors I and III (negative power region), the inverter bridge is equivalent to a phase angle . Assuming ta πθ/2, tb πθ/2,
separated from the PV arrays during the modulation stages.
and ug Ugsinωt near the zero-crossing point of the output
However, when the H6 inverter operates in other sectors or
voltage, the current derivative is
operates with a PF of unity, the inverter bridge is separated
dig U g sin t
from the PV arrays during the freewheeling stages. Therefore, = . (11)
there are differences between the modulation methods. dt L
Substituting equation (11) into equation (10) yields
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A. PIR Sliding Mode Surface Construction for Lower Order attenuation coefficient. Considering Kp = 2, Ki = 50, ωc = 10,
Harmonics and KR = 100, its Bode diagram is shown in Fig. 8 (b). From the
A sliding mode control can implement a high precision Bode diagram, it can be observed that the PIR controller has a
control under changing parameters and load disturbances; high gain not only at resonant frequency, but also in the low
therefore, it exhibits good robustness and fast dynamic frequency band. This reflects the inhibitory effect of the
response [26]. Owing to these advantageous features, the controller on the current distortion and the dc component.
sliding mode control is adopted in this study to improve the Therefore, this study modifies the PIR sliding mode
quality of the grid current waveform. switching surface into a fixed-frequency sliding mode control
The analysis in Section III illustrates that the current for the grid current. First, the switching surface equation SPIR is
distortion is partly caused by the nonlinear PWM modulation. designed as
The traditional current control loop of the PV grid-connected K K Rc s
2 ref
inverter always uses a proportional-resonant (PR) controller or S PIR = K p i 2 i ig , (16)
s s 2c s 0
quasi-PR controller, achieving high gain at the resonance
frequency point of the grid current, but resulting in no where s is the Laplace operator. By selecting the grid current ig
inhibition of the dc component. However, in the actual system, of the H6 inverter as the state variable X, the state equation of
the current zero-crossing distortion appears and results in the H6 inverter can be derived from equation (1) as
higher lower-order harmonics and further leads to an increase dX
AX + BU + D , (17)
in the dc component. Fourier analysis of the current waveform dt
with zero-crossing distortion shows that there are low where X = ig, B = Udc/L, and D = ug/L. Furthermore, A = 0 by
frequency and dc components in the grid current harmonic neglecting the ac-side line resistor. The system is designed with
spectrum [27]. In order to compensate the zero-crossing a negative slope converging to the switching surface, and the
distortion, suppress the dc component, and improve the quality saturation function sat() is used to eliminate the chattering;
of the grid current waveform, an integral link is added to the further, k is set to be the convergence control coefficient of the
quasi PR of the current loop controller, forming a PIR switching surface. Subsequently, the switching surface
controller, as shown in Fig. 8(a), whose transfer function is derivative can be expressed as
expressed as: dSPIR dX ref
K K Rc s AX BU D k·sat SPIR . (18)
G s = Kp i 2 , (15) dt dt
s s 2c s 02 Assuming is the boundary width of the sliding mode control,
where Kp, Ki, and KR are the proportional, integral, and resonant the saturation function is expressed as:
controller parameters, respectively; ω0 is the system resonance 1, S
sat ( S ) S , | S | ; 1 / . (19)
1, S
Kp
The sliding systems control law is obtained as
iref K R ωc s uref
dX ref
s 2 2ωc s 0 2 U B1 E AX D k·sat SPIR ,E = . (20)
dt
ig
Ki Based on the equations (17)–(20), by considering E as the
s unknown disturbances, the voltages applied to the converter uref
can be calculated as
ug
(a) uref = k·sat SPIR . (21)
40 udc
Magnitude (dB)
30 iref uref
S
Kp
20
ig Ki ugs1 ~ugs6
10
s ug ug ig
0
90 K R ωc s
s 2 2ωc s 0 2
Phase (deg)
45
-45
-90
-1 0 1 2 3 4 Fig. 9 Sliding mode control diagram for the grid current
10 10 10 10 10 10
Frequency (Hz)
(b) The sliding mode control block diagram is shown in Fig. 9. The
Fig. 8 Structure and Bode diagram of the PIR controller: (a) structure of the PIR ac-side modulation output reference voltage uref generated by
controller and (b) Bode diagram of the PIR controller the sliding mode controller, after modulation by SVPWM,
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produces the PWM pulse driving power switches. Owing to the Since the initial value of the transient state is f(0+) SPIR(0+),
fixed SVPWM modulation frequency, this control strategy is a f(t) can be designed as
fixed-frequency sliding mode control.
In order to verify the stability and convergence of the sliding
f t f 0 e t , (25)
mode control strategy, a Lyapunov function is constructed as where > 0 and is a constant. The discrete equation (24) yields
follows f k 1 f k e . (26)
V SS T S PIR
2
. (22) According to the definition of the global sliding mode, f(0)
and it easily renders V permanently positive. Its first order finally attenuates to 0 and the value of determines the
derivative is attenuation rate of f(0). If the value of is too large, f(0) decays
T
dSS fast, failing to reflect the effect of global sliding. If the value of
V 2 SPIR sat S PIR . (23)
dt is too small, f(0) decays slowly, and cannot even decrease to 0
Since the arithmetic product of the switching surface in the entire sector, causing an additional distortion of the ac
function SPIR and its saturation function sat() is always greater output reference wave uref. By considering all the
than or equal to 0, the derivative of V in the above equation is aforementioned factors, and assuming = 0.37, after
always less than or equal to 0, i.e., the Lyapunov function V approximately seven control cycles, f(0) can decay to less than
decreases with time until it converges to 0. Hence, the system 0.1 times of the initial value, when the control frequency is 20
converges to the switching surface and is convergent and kHz.
stable.
0.8
B. Global Sliding Mode Control for Sector Switching Distortion
Compensation
0.6
By setting up the model of the fixed-frequency sliding mode
control for the grid current, the SVPWM control process can be
0.4
optimized by constructing a suitable sliding function S,
according to the theory of sliding mode control; subsequently,
the objective of system optimized control can be achieved. 0.2
From Fig. 3 and the analysis of the grid current waveform
2.0 2.4 2.8 3.2 3.4
distortion of the H6 inverter, the switching process of the H6
inverter from a reactive current output mode to an active t (ms)
(a)
inverter mode (i.e., switching from Sector I to Sector II or from
Sector III to Sector IV) is not smooth. Since these two 3A
processes occur near the zero-crossing points of the current
2A
(switching from negative to positive or from positive to
negative), the switching that is less smooth leads to the grid 1A
current zero-crossing distortion. Therefore, the modulation 0A
could be so sensitive that the modulator has to adopt a soft 1A
transition. During the global sliding mode controlling, the
2A
global function S has a sliding surface gradient characteristic
and can attenuate to zero rapidly. Moreover, by determining the 3A
transient state by the sector switching, considering the initial 2.0 2.4 2.8 3.2 3.4
value of the sliding mode surface as the initial value of the t (ms)
transient state, and constructing the dynamic nonlinear global (b)
sliding surface to smooth the sector switching process, the Fig. 10 Comparison of the waveforms when the inverter is running with and
compensation of zero-crossing distortion can be implemented. without the global sliding mode controller
Therefore, the new global sliding mode function can be Fig. 10 compares the detailed waveforms of the ac-side
designed as modulation reference wave uref, in the vicinity of the current
S S PIR f t . (24) zero-crossing, when the H6 inverter operates with and without
The global sliding mode function is the original sliding mode the global sliding mode controller. When the H6 inverter
function minus the function f(t), which is designed to achieve switches between the reactive power injection mode and the
the global sliding mode; further, f(t) satisfies the following active inverter mode, the global sliding mode controller lowers
three conditions [28]: uref in several control cycles just after sector switching as
1)f(0) = S(0); compared to the conventional controller, and it is much closer
2)When t∞, f(t)0; to the ideal reference wave. Hence, the grid current
3)f(t) has a first-order derivative. zero-crossing with the global sliding mode control is more
moderate than that without the global sliding mode control.
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ug
ig
uab
(a)
Fig. 11 Photograph of the prototype H6 PV inverter ug
TABLE IV
PARAMETERS OF 5 KVA PROTOTYPE
Parameters Value
Switching Frequency fs/Hz 20k ig uab
AC filter inductor L1 =L2/mH 0.8
DC link capacitor Cdc/mF 3
Rated Capacity Se/(kVA) 5
Output frequency f/Hz 50
Rated grid voltage ug/V 220
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10
uan ileak
uan ubn
ubn
ig (c)
Fig. 15 Measured waveforms of grid voltage, grid current, and leakage current
when the H6 inverter operates at unity PF and 0.95 PF: (a) at unity power
factor; (b) at PF of 0.95(leading) and (c) at PF of 0.95(lagging)
Fig. 14 Experimental waveforms of uan, ubn and twice CM voltage uan+ ubn when
the H6 bridge operates under 0.95 PF ug ug
ug
ig ig
ileak
(c)
(a) Fig. 16 Comparison of the grid current experimental waveforms with and
without the waveform-improving controller at PF of 0.95 (lagging): (a) with
traditional current controller; (b) with waveform-improving current controller
ug and (c) harmonic spectrum of grid current of (a) and (b)
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11
control, it can be observed that the dc component and main In case of the H6-type transformer-less single-phase inverter
characteristic harmonics have declined. for grid-tied PV system,some research work was reported in
20 [29] and [30]. However, the study in [29] focused on the
efficiency of the H6-type inverter, and the
Traditional control
waveform-improving method was not described in [30]. The
performance comparison of the studies in [29] and [30], and the
THD/%
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12
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Electron. Confnf. Expo., Long Beeach, CA, USA, M Mar. 2013. University, Channgsha, China, in 2014. He is currrently
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in a power facctor correction circcuit,” in Energy C Conversion Congrress and University, and a Lecturer in School of Elecctrical
Exposition (EC CCE), 2012 IEEE E, 2012, pp. 4049-4052. Engineering, Guaangxi University.. His research intterests
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Compensationn,” IEEE Trans. P Power Electron., vol. 29, no. 4,ppp. 1702– CCentral South U University, Changgsha, China, in 1989,
1709, 2014. 1992 and 2005, rrespectively. Since 2006, she has bbeen a
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stabilizing DCC-link of DC-DC converter in phottovoltaic systemss. Power EEngineering, Central South Uniiversity. Her ressearch
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2 from 2007 to 20110. Since 2011, hee has been with C
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C Professor with the School of
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a power electroonics.
Al-Haddad,“D Design and impllementation of space vector moddulation
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D and F. W W. Fuchs, “Discrrete sliding modee current Central South UUniversity, Changgsha, China, in 2006,
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in Proc. IEEE Int. Symp. Ind. E Electron., Jul. 20110, pp. 779–785. working as a postt-doctoral membeer. He was an Elecctrical
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P
regulation off grid-connected DC/AC convertters using slidingg mode Zhongshan, fromm 2009 to 2013. His research intterests
control approaach,” IEEE Transs. Power Electronn., vol. 26, no. 1, ppp. 210– include wind turbbines, power elecctronics and renewable
222, Jan. 20111. energy system.
[211] VDE-AR-N44105:2011-08, “Poower generation systems s connecteed to the
low-voltage distribution networrk,” Berlin, Germ many: VDE Press, 2011. DDeqiang He received PhD deggree from Chonngqing
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L H. Qian, C. H Hutchens, J. H. Z Zhang, and G. Lisi, etal., UUniversity, Chonngqing, China, inn 2004. Now hee is a
“High-efficienncy inverter with H6-type configguration for phottovoltaic pprofessor of thee School of Meechanical Engineeering,
non-isolated A AC module appliications,” presentted at the IEEE Applied GGuangxi Universsity. His main reesearch interests are in
Power Electroonics Conference,, Palm Springs, U USA, 2010. ffault diagnosis aand the intelligennt maintenance oof rail
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time compenssation of inverteers with LC filteer” in Proc. IEE EE 13th
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[255] Wu Fengjiangg, Sun Bo, Zhao K Ke, et al. “Analysis and Solution off Current Guangxi Universsity, Nanning, Chhina, in 1994 andd 2001
Zero-Crossingg Distortion Withh Unipolar Hysteeresis Current Coontrol in respectively. Now w he is a professor of the Schoool of
Grid-Connecteed Inverter,” IEEE E Trans. Ind. Elecctron., vol. 60, noo. 10, pp. Electrical Engineeering, Guangxi University.
U His cuurrent
4450-4457, Oct, 2013. research interestts include modelling, optimizationn and
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Sliding Modee controller for iinverters” Interrnational Sympossium on active distributionn network, powerr electronics and eenergy
Power Electrronics, Electricaal Drives, Autom mation and Mootion, p conversion withh particular em mphasis on connverter
1102-1107, 20010. modeling, controol, and various appplications.
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grid-tied transsformerless inverrters for PV systeem,” 2015 Saudii Arabia
Smart Grid (SSASG), Jeddah, 20015, pp. 1-6.
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