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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 31, NO. 5 , OCTOBER 1990

An Adaptive Hy steresis-Band Current Control Technique of a Voltage-Fed PWM Inverter for Machine Drive System
Abstract-A Hysteresis-band instantaneous current control PWM technique is popularly used because of its simplicity of implementation, fast current control response, and inherent peak current limiting capability. However, a current controller with a fixed hysteresis hand has the disadvantage that the modulation frequency varies in a band and, as a result, generates nonoptimum current ripple in the load. This paper describes an adaptive hysteresis-band current control method where the band is modulated with the system parameters to maintain the modulation frequency to be nearly constant. Although the technique is applicable to general ac drives and other types of load, an interior permanent magnet (IPM) synchronous machine load is considered. Systematic analytical expressions of the hysteresis band are derived as functions of system parameters. An IPM machine drive system with a voltage-fed current-controlled PWM inverter has been simulated on computer to study the performance of the proposed method.

I. INTRODUCTION INCE the introduction of the general sine-triangle voltage PWM technique by Schonung and Stemmler [9] around two-and-a-half decades ago, the literature in power electronics abounds with various PWM techniques and their implementation. For ac machine drive applications, the PWM voltage control is usually associated with stator current control because the current directly relates to the developed torque of a machine. Besides, the control of current amplitude is particularly important for power semiconductor devices of the inverter. A PWM voltage-controlled inverter may have either scalar or vector current control in outer loops. Scalar current control may be adequate for a simple low-performance drive system. In a high-performance vector or field-oriented drive control system, the vector currents Zqs (torque component of current) and Ids (flux component of current) are controlled independently to control the torque and flux, respectively. The different PWM voltage control techniques, such as sine-triangle and notch angle look-up table, are generally difficult to implement. Besides, the current feedback loops may have delay, which will not permit instantaneous-peakcurrent control of a device. Asynchronous sine-triangle PWM voltage control can be used in conjunction with instantaneous current feedback control to solve the above problem. However, in this method, the current loop errors will be nearly sinusoidal in nature, and the response
Manuscript received July 17, 1989. The author is with the Department of Electrical Engineering, University of Tennessee, Knoxville, TN 37996-2 100. IEEE Log Number 9038039.

will be somewhat limited by the stability requirement of the feedback loops. Besides, multiple crossings of the triangle ramp by the current error may become a problem when time rate of change in the current error becomes greater than that of the ramp. Predictive voltage control techniques [13] to achieve balance between instantaneous command and feedback currents have been forwarded. Although these techniques tend to give optimum performance in terms of response time and accuracy, these are very complex to implement. Among the various PWM techniques, the hysteresis-band current control PWM method is popularly used because of its simplicity of implementation. Besides fast-response current loop and inherent-peak current limiting capability, the technique does not need any information about system parameters. However, the current control with a fixed hysteresis band has the disadvantage that the PWM frequency varies within a band because peak-to-peak current ripple is required to be controlled at all points of the fundamental frequency wave. As a result, the load current contains excess harmonics, which cause additional machine heating. Besides, the difficulty of vector conversion of harmonic rich feedback currents and phase lag of the fundamental current with respect to the reference wave make high-performance machine control difficult. Consider a battery-fed inverter drive system where the battery voltage in the worst case may vary 1 ) from full motoring to full by a factor of two (see Table 1 regeneration. Since maximum inverter switching frequency is a limiting factor and switching frequency tends to increase with the increase of battery voltage for a fixed hysteresis band, the band is to be designed on worst-case basis, i.e., for the maximum battery voltage. This means that most of the time, the drive system will operate with nonoptimum stator current ripple. Malesani and Tenti [3] have proposed a programmable hysteresis-band current control method by using a phase-locked loop (PLL) technique to constrain the inverter switching at a fixed predetermined frequency. The PLL loop with large LP filter tends to create stability problem. Besides, during large transients, the PLL tends to lose synchronization. The paper describes an adaptive hysteresis-band current control PWM technique where the band can be programmed as a function of load and supply parameters to optimize the PWM performance. Although various criteria of optimization are possible, the paper illustrates a case where the modula-

0278-0046/90/1OOO-0402$01.OO

0 1990 IEEE

BOSE: ADAPTIVE HYSTERESIS-BAND CURRENT CONTROL TECHNIQUE

403

'

I A C MACHINE

'
+ O + -0.5V Fig. 2. Current and voltage waves with hysteresis-band current control (machine neutral connected).

MICRO

Fig. 1. Three-phase PWM inverter ac machine drive with hysteresis-band current controller.

be written in the respective switching intervals t , and t,:

tion frequency is held nearly constant. Modem high-performance ac drive systems invariably Use microcomputer control where all the system variables are already available in the memory. An algorithm relating the hysteresis-band with the system variables can be easily computed and updated to a dedicated hardware hysteresis-band current control for an interior permanent-magnet synchronous machine drive application. An analytical derivation of the band has been made and then verified by simulation on computer.

L "

di+ dt

= 0.5VB

did di; i.e. - - = 0 (3) dt dt where L = phase inductance, and i , and i , - are the respective rising and falling current segments. From the geometry of Fig. 2, we can write

n. SYSTEM ANALYSIS did di; -tl - - t l = 2HB (4) Fig. 1 shows a three-phase PWM inverter feeding an ac dt dt machine load where each machine phase is represented by a di; di* - L t , = -2HB -t2 counter emf in series with inductance and resistance. Sinu(5) dt dt soidal command currents ( i ; , i t , iF) are compared with the 1 respective machine phase currents (i,, i,, ic), and the resulttl t, = T ,=(6) ing errors through hysteresis-band current controllers comf, mand the transistor base drives, as is shown. The hysteresis where t , and t , are the respective switching intervals, and f, bands that are normally fixed and the same for a l l phases in a is the modulation frequency. conventional system are shown being updated from a microAdding (4)and (5) and substituting (6), we can write computer in the proposed adaptive band system. The band did di; 1 di; (HB) can be modulated at different points of the fundamental - -- = 0 . t , x t,frequency cycle to control the PWM switching pattern of the dt f, dt inverter. For symmetrical operation of all the three phases, it 4 ) ,we get is expected that the band profiles HB,, HB,, and HB, will Subtracting (5) from ( be same, but phase will be displaced. di+ di; di 2 - (tl - t , ) ~ . 4HB = t l L - t2dt dt A . Case I : Neutral Connected with Pure Inductance Load Substituting (3)in (8), we get Consider a simple case where a wye-connected machine dit di; neutral is C O M & ~ ~ to the center tap of the supply battery, 4HB = (tl t2)- (tl - t 2 ) ~ and the load is purely inductive, i.e., the counter emf and dt resistance are neglectd. In this case, each phase is indepen1 did di; - -- - ( 4 - t2) -&. dent and is supplied by a half-bridge inverter leg. Fig. 2 f, dt shows the PWM current and voltage waves for phase a. The current i , tends to cross the lower hysteresis band at point 1, Again, substituting (3) in (7)and simplifying where the transistor Q1 i s switched on. The linearly rising current ( i , ) then touches the upper band at point 2, where the transistor Q4 is switched on. The following equations can

II

404

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 31, NO. 5, OCTOBER 1990

the frequency f c in Fig. 4 will be modulated at twice the signal frequency. The corresponding maximum and minimum values of f c can be derived as
I

L
Y

t 0
W 13

fcmax
and

(HB)L at wt = 2'

O.125VB

3a

--,etc. 2

(14)

s
LL

z a

0
13 0 0

Fig. 3. Sensitivity of modulation frequency with the supply voltage.

Therefore, for constant hysteresis-band control, the band is to be designed for f,, which corresponds to the highest V, and rn = 0 point of the cycle. This indicates large harmonic distortion of current, and especially, the problem becomes severe with large variation of dc voltage. Equation (12) indicates that HB can be modulated as a function of V, and rn so that the modulation frequency fc remains constant. This will improve the PWM performances substantially.
B. Case 2: Neutral Connected with Counter emf Load

I I

The machine always develops a counter emf at a speed, and therefore, this type of load is more practical. The counter emf wave is sinusoidal and is at a phase angle with respect to the fundamental frequency applied voltage. During a modulation period, the emf magnitude can be considered to be constant. The following equation can be written from Fig. 2:

Fig. 4. Sensitivity of modulation frequency with the command current slope.

di: 1 dt L di; 1 - - -dt L( O w B

- - - - (0.5VB -

Substituting (10) in (9) gives

r

Substituting (1) in (11) and simplifying

(12)

fcL
i.e.

where uf = counter emf. Note that the magnitudes of the current slopes are different because the counter emf ur is subtractive in positive slope but additive in negative slope. The general equations (7) and (8) of Case 1 will be valid here. Substituting (16) and (17) in (7), we get tl t2 1 diz --(0.5VB - u J ) - -(0.5VB ur) - -- = 0 L L f c dt 0.5 V, i.e. - L

or t, - t , = - where rn = di:/dt is the slope of command current wave. Equation (12) shows the band as a function of modulation Substituting (16), (17), and (18) in (8), we get frequency, supply voltage, and the slope of the i; wave. tl Equation (13) indicates that for a fixed band, the modulation 4HB = - (0.5 VB - uf ) L frequency will vary with V, and rn. Fig. 3 shows the t2 2L sensitivity of f c with V , indicating that the modulation +-(0.5VB uf) - frequency increases with the dc voltage. Fig. 4 shows the L sensitivity of f c with the slope of command current wave. Since i.e., HB =

ut)

I'

= 0.5w2Zi(1

+ cos2wt)

where rn is substituted for dizldt.

BOSE: AJMFTWE HYSTERESIS-BAND CURRENT CONTROL TECHNIQUE

405

and then substituting (22) and (23)

m =

zqsCOS e,

zdSsin e,).

(25)

Substituting (20) and (25) in (19), the complete expression of

HB can be derived to be
HB =

1 1- 7
fcL

0.125VB

4L2w2,

{ (-

J2qf~,

-Z ,

Equation (26) can be written in the form

STATIONARY FRAME

Fig. 5. Phasor diagram of interior permanent magnet synchronous ma chine.

HB

Equation (19) is similar to (12), except the counter emf parameter is introduced. In this equation, the variables vf and m depend on the type of load machine and its operating condition. An interior permanent-magnet synchronous machine load will be considered here, although (19) is valid for any type of ac machine. Fig. 5 shows the phasor diagram [ll] of an IPM machine. In forward direction of motion, the phasor diagram can be considered to be rotating counter clockwise at synchronous speed (U,) with respect to the stationary reference frame d S axis, and at any instant, the angle between the , = o,t. The armature magnet axis ( d e ) and dS axis is 8 reaction flux 'ka adds with the magnet pole flux qf to constitute the stator flux ' k , , which is aligned at an angle 6 (torque angle), as shown. The stator phase voltage V, and induced emf V f are at quadrature to the respective flux components 'ksand q f .A new set of der- qe' axes that k , and V , is shown in the figure. The machine align with ' , is shown at arbitrary lagging power factor phase current Z angle Cp. This current can be resolved as an Zds-Zq, pair on de-qe axes or an Zm-ZT pair on de'-qe' axes. The in-phase current IT contributes to machine torque, whereas the reactive current ZM controls the stator flux. From the phasor diagram, the following equation can be written:

-{(
+

- Ids sin 8 ,

+ ZqsCOS 8,

I',

(27)

where wb = base frequency (rad/@, X L = = 0.5(Xq, X d s ) , and VfB = 'kf Ub' The IPM machine has some saliency but only the average reactance is taken into consideration. Substituting the trigonometrical relation
( A sin e,

+ B COS e,)'
=

o . ~ ( A ' B ' ) [ I - COS^(^,+ a)]

and simplifying (27) can also be written in the form

where

B=
and

0 . 2 5 X, ~~
fcvB

uf = Vfmsin0, is = I,, sin (e,

(20) (21) (22) Fig. 6 shows the typical plot of (28) for a fixed modulation (23) frequency, where it is given in phase relation with the phase current and induced voltage. Evidently, modulation of HB occurs at twice the stator frequency with the average value A-B.

+ 6 - Cp)
a)

zqs= I,,
where

cos (6 -

Ids= I,, sin (6 - +)

Vfm = J2Vf = J 2 \ k f ~ , and I,, = J2Zs.

The phase current is (i.e., i,) can be considered to be tracking accurately with respective commanded current (it) C. Case 3: Isolated Neutral with Counter emf Load with the hysteresis-band current control. Therefore, differenSince machines normally operate with isolated neutral, this tiating (21) is the most practical case. Unfortunately, with isolated neutral, the machine phase voltages interact and can no longer be di, 0.5 V B as with a connected neutral. The derivation of the m=-= w , [ e ~ , z ~ ~COS (6 - +) dt exact expression of HB is somewhat difficult in this case. In -sin e,Z, sin (6 - +)] (24) Fig. 1, the phase voltages with floating neutral can be given

406
ADAPTIVE HYSTERESIS BAND (A-B)t B CosZ(O+o)

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 31, NO. 5 , OCTOBER 1990

FIXED HYSTERESIS BAND (WORST CASE) LOCKED OUT PULSE

'

Fig. 6. Adaptive hysteresis-band profile for constant modulation showing relation phase current and induced voltage waves. TABLE I SWITCHING MODES OF T H E INVERTERA N D PHASE a IMPRESSED VOLTAGES
MODE
1
ON-DEVICE

l-lmn&
T/2

PHASE a VOLTAGE

QI
QI

Q(,
Qh

Q5 Q2 Q5 Qz QZ
Q5

+ 113V13

2
3
4

+ 113Vu
0

Fig. 7 . Typical PWM voltage waves when the machine neutral is isolated.

QI
QI

Q3 Q(,

+ 2 / 3 V 13
0
-2/3v1{
- 1 / 3 V 13

5
6

Q-1 Qb

QA
Q-1
$4

43

Q i Qz

(21, QS

-1/3Vl{

as

VI
2
' a n = -'a0 3

1
?('bo

'CO)

(29) (30) (31)

2
"bn

1
- ?('a,

= -3 ubo

+ 'CO)
+ 'bo)

'cn =

-'CO

2 3

1
- ?('a."

Table I gives all the switching modes of the inverter, and Fig. 7 shows [2] typical PWM voltage waves in the isolated neutral case. When Q1 is on, the possible phase-a voltage may be 0, 113, or 2/3VB, and when Q4 is on, the corresponding voltage may be 0, -113, or -2/3VB. Typical PWM phase voltage and current waves during a modulation cycle are shown in Fig. 8. With the assumed polarity of counter emf when Q1 is on, the phase current in a time segment will rise or fall, respectively, depending on the dominating phase voltage or counter emf, but the current will always fall during the Q4-on period. The general expression of incremental current rise AHB during Q1-on period is given by
4

ON

ON

Fig. 8. Typical PWM phase voltage and current waves in a modulation cycle in isolated neutral case.

Therefore, summing up the total current

1 (33) The general expression of incremental current fall during the Q4-on period is given by -AHB
= -(at', L

AHB = -L ( a V B - ur) - tlnm

In

(32)

where 1 3 2 3
a = 0 , - or - and m =

-.
dt

di;

t2 n

+ U,.)

tZnm.

(34)

BOSE ADAPTIVE HYSTERESIS-BAND CURRENT CONTROL TECHNIQUE

407

Therefore, the total fall is -2HB = C

- AHB = C[ -t2,,( m
1

z)

- xt2,,aV,
(35)
R ON

The average current rise and fall during the periods t , and t , , respectively, are shown by the dotted lines in Fig. 8. The slope of these lines will be determined by the weighted average supply voltage. In (33) and ( 3 3 , the second term can be expressed as

Fig. 9. Block diagram for implementation of adaptive hysteresis-band

current control.

Zt,,aV, = t , d V, Zt2,aV, = t2a" V,

(37)

or

(39)
' and a" are the respective applied voltage coeffiwhere a cients. Although the average applied voltages in the two intervals may have some asymmetry, we will assume these same (i.e., d = a") as in Case 1 and Case 2 for computational simplicity. The computation of HB on this assumption will give a small amount of inaccuracy. The parameters a, a', and a" will typically vary between 1/3 and 2/3, and the later is the worst case. Combining (33), (33, (38), and (39), we get

0.25a' V, HB = [ l fcL

L2 - -(y d'VB'

-14.

(40)

treated as constants, whereas the terms V, , we, Ids, Zqs, and 8 , are variables at any steady-state operating condition. Fig. 9 shows the block diagram for the implementation of (41). The absolute position of the machine rotor is sensed by an analog resolver and then converted to speed ( U , ) and position (e,) outputs by a resolver-to-digital converter. The 8, signal is then converted to cosB, and sine, signals by look-up tables. The stator phase currents are converted to synchronously rotating frame signals Ids and Zqs using the cos Be and sin Be unit vectors. Note that the HB signals (HB,, HBb, HB,) for all the phases are symmetrical but phase shifted by 60". A digital signal-processor-type TMS 32W25 by Texas Instruments is ideally suited for the control implementation. Because of the symmetry, a segment of HB for the interval 0" to 180" can be computed and stored in the form of a look-up table, which can then be retrieved sequentially for each phase. The table is to be refreshed every sampling interval in steady-statecondition. The algorithm for implementation is as follows:
0 0

Equation (40) is same as (19) except 0.5 VB has been replaced here by a' V , . Therefore, the complete expression of HB for the isolated case of IPM machine is HB =

0.25a'V,wb

f,XL

Xi u , ) ~ - 7 " .
wb

Sample the variables V,, we, Ids, and Zqs every 2 ms. With the known parameters a', w b , f,, X , , and Vf,, compute HB every 5" interval for 0 to 180" (36 samples) and load the table every 2 ms. Using the 5" interval pulse train, retrieve the HB look-up table (with the help of phase location pointers) and load HB,, HB,, and HB,.

= (A'

- B')

+ B'cos2(Be + a )
A'=2dA B B' = a''

I',

(41)

where

The A , B, and a parameters have been defined in (28).

III. CONTROL IMPLEMENTATION AND SIMULATION The hysteresis-band HB in (41) can easily be implemented by microcomputer in a high-performance drive system where all the essential parameters may exist in the memory. In this equation, the parameters a', w b , f , , X,, and VrB can be

The 180" pulse train as shown is used for synchronization purposes. Since the algorithm is not valid for transient operation, which is indicated by the current loop error exceeding the band, the automatically worst-case HB (Fig. 6) is commanded. The adaptive hysteresis-band current control for the isolated neutral case of the IPM machine drive system has been implemented in digital simulation using the SIMNON (Lund Institute of Technology, Sweden) language. The details of the drive system are described in [ll] and [12]. Table 1 1 shows the parameters of the drive system. Fig. 10 shows the simulation result of phase current waves and HB profile for f, = 4 KHZ, V, = 204 V and d = 2/3 (wont case). ' parameter will cause some spread The inaccuracy of the a of modulation frequency, and a conservative a' value in practical implementation will result in the maximum modulation frequency below that of the optimum value. The re-

l -

408
TABLE II PARAMETERS OF THE IPM MACHINE DRIVE SYSTEM
70 hp, 4-Pole, Wye Connected Neodymium-Iron-Boron

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 31, NO. 5 , OCTOBER 1990

\

(Crumax 30A) Machine

*Base Speed (01,) = 710.48 radis (elec.) (3394 RPM) Magnet flux ( w b y t ) = 40.2 Volts(at 75C) Rated Stator Flux ( w i ) y b r ) = 58.5 Volts Battery Voltage
VI^) =

204 Volts (nominal)

(135 - 264 Volts variation) Rated Stator Current (Isr) = 315 Amps Stator Resistance (R,) = 0.00443 Ohms Stator Leakage Reactance (wbLqs) = 0.0189 Ohms De-Axis Magnetizing Reactance (wbLdm) = 0.0785 Ohms Qe-Axis Magnetizing Reactance (obLqm) = 0.1747 Ohms *At Battery Voltage of 135 Volts

-a

--

AVERAGE SUPPLY VOLTAGE C O E F F I C I E N T

Fig. 11. Real-time search of parameter a for optimum hysteresis band.

, I

jOBl

band is modulated as a function of system parameters to maintain the modulation frequency to be nearly constant. Systematic mathematical analysis has been presented, and band expressions have been derived as a function of the load machine and supply parameters for connected and isolated neutral cases. An IPM machine drive system with the proposed adaptive band has been studied by digital simulation.
REFERENCES
[l]
l A D A F 1 IVE

[2] [3]

HE

[4] [5]
0.1
T I M E (secs)

Fig. 10. Simulation phase current wave with adaptive hysteresis-band current control.

[6] [7]

finement of the above method by real time search of the a parameter is at present under investigation and is indicated in Fig. 11. In the beginning, HB is computed on the basis of conservative value a = 2/3. The a parameter is then iterated on the basis of actual average modulation frequency f c ( a v ) until f c ( a v ) = fc(opr). The f c ( a v ) can be determined by counting the transistor base drive logic transition of a phase leg of the inverter over a full cycle.
IV . CONCLUSION

[8] [9] [IO]

[ll] [I21

A novel adaptive hysteresis-band current control PWM technique has been described in the paper. A hysteresis-band current control PWM method is popularly used because it is simple to implement by dedicated hardware, has fast response, and device peak current is automatically limited. The conventional fixed hysteresis-band current control generates excessive current ripple because modulation frequency varies within a band. In an adaptive hysteresis-band method, the

[I31

[14]

B. K. Bose, Power Electronics and AC Drives. E n g l e w d Cliffs, NJ: Prentice-Hall, 1986. A. B. Plunkett, A current controlled PWM transistor inverter drive, in Proc. Conf. Rec. IEEEIIAS 1979 Ann. Mtg., 1979, pp. 785-792. L. Malesani and P. Tenti, A novel hysteresis control method for current-controlled VSI PWM inverters with constant modulation frequency, in Proc. Conf. Rec. IEEEIIAS Ann. Mtg., 1987, pp. 851-855. H. Le-Huy and L. A. Dessaint, An adaptive current controller for PWM inverters, in Proc. Conf. Rec. IEEEIPESC Conf., 1986, pp. 610-616. A. Kawamura and R. G. Hoft, Instantaneous feedback controlled PWM inverters with adaptive hysteresis, IEEE Trans. Industry Appl., vol. IA-20, pp. 769-775, 1984. D. M. Brod and D. W. Novotny, Current control of VSI-PWM inverters, IEEE Trans. Industry Appl., vol. IA-21, pp. 562-570, 1985. G. Pffaf, A. Weschta, and A. Wick, Design and experimental results of a brushless ac servo drive, in Proc. Conf. Rec. IEEEIIAS Ann. Mtg., 1982, pp. 692-697. A. Nabae, S. Ogasawara, and H. Akagi, A novel control scheme of current-controlled PWM inverters, in Proc. Conf. Rec. IEEEIIAS Ann. Mtg., 1985, pp. 473-478. A. Schonung and H. Stemmler, Static frequency changers with subharmonic control in conjunction with reversible variable speed ac drives, Brown Boveri Rev., pp. 555-577, 1964. B. K. Bose and H. Sutherland, A high-performance pulsewidth modulator for an inverter-fed drive system using a microcomputer, IEEE Trans. Industry Appl., vol. IA-19, pp. 235-243, 1983. B. K. Bose, A high performance inverter-fed drive system of an interior permanent magnet synchronous machine, in Proc. Conf. Rec. IEEEIIAS Ann. Mtg., 1987, pp. 269-276. B. K. Bose and P. M. Szczesny, A microcomputer-based control and simulation of an advanced IPM synchronous machine drive system for electric vehicle propulsion, in Proc. IECON 87, 1987, pp. 454-463. J. Holtz and S. Stadtfeld, A predictive controller for the stator current vector of ac machine-fed from a switched voltage source, in Proc. Int. Power Electron. Conf. Rec. (Tokyo), 1983, pp. 1665-1675. B. K. Bose, Power electronics-an emerging technology, IEEE Trans. Ind. Electron., vol. 36, pp. 403-412, Aug. 1989.