Dead Beat Control

October 1999 1 Simone Buso - Universit di Padova Lesson 4
Lesson
Lesson
4
4
Digital
Digital
Control of Three
Control of Three
-
-
Phase
Phase
DC/AC
DC/AC
Converters
Converters
:
:
Current Control Techniques
Current Control Techniques
Dead
Dead
-
-
Beat Current Control
Beat Current Control
Dead Dead- -Beat Current Control Beat Current Control
The The dead dead- -beat current control technique beat current control technique is is
inherently the inherently the fastest fastest linear linear control strategy control strategy
that can be adopted that can be adopted. .
With dead With dead- -beat control beat control, , in principle in principle, , the current the current
loop loop replicates exactly the current reference replicates exactly the current reference
with with a a two two- -cycle delay cycle delay. .
The The control is based on an internal model control is based on an internal model of of
the the converter converter load load, , which is used which is used to to predict the predict the
systems dynamic behavior systems dynamic behavior. .
The The controller is controller is therefore inherently therefore inherently sensitive sensitive
to to model and parameter model and parameter mismatches mismatches. .
Typical control set Typical control set- -up up
L L
F F
abc

i* i*

SVM
E E
+
-
+
-
Power Power
Converter Converter
V
*

V
*

i i
LL
FF
ZZ
LL
VV
LL
Load Load
Digital Control Digital Control
Dead
Beat
Control
u u
SS
u u
av av
Dead-Beat Current Control Equation Dead-Beat Current Control Equation
current reference current reference
inverter current inverter current
average inverter average inverter
voltage voltage
load voltage load voltage
i i
* *
L L
FF
i i
L L
FF
u u
s s
[ [ ] ] ) k ( u ) k ( u 2 ) k ( i ) k ( i
T
L
) 1 k ( u
av s L
*
L
sw
Fm
av
F F
+ + = = + + [ [ ] ] ) k ( u ) k ( u 2 ) k ( i ) k ( i
T
L
) 1 k ( u
av s L
*
L
sw
Fm
av
F F
+ + = = + +
u
av
kT kT (k+1)T (k+1)T (k+2)T (k+2)T
i i
* *
L L
FF
i i
L L
FF
u u
T T
sw sw
The The control equation control equation assumes a assumes a very simple very simple load load
model model: :
+
L L
Fm Fm
u u
S S
The The parameter parameter L L
Fm Fm
and and
voltage voltage u u
S S
must must be be
known known to compute the to compute the
required voltage required voltage u u
av av
(k+1) . (k+1) .
While While measuring measuring L L
Fm Fm
is quite is quite easy, easy, some problems some problems
may arise with may arise with voltage voltage u u
S S
. .
Note Note also that also that the equation the equation is is independent independent of of E. E.
The control The control equation equation assumes assumes that the that the voltage voltage at at
the load connection point the load connection point u u
S S
is known is known. . This This
voltage can either be voltage can either be measured measured or or estimated estimated. .
In In any any case, for case, for the control system the control system to to work work
properly properly, , the load must exhibit voltage source the load must exhibit voltage source
characteristics characteristics, , with with low low series series impedance within impedance within
the current controller bandwidth the current controller bandwidth. .
If this is not the If this is not the case, a case, a model mismatch model mismatch is is
present and present and significant deviations significant deviations from from the the
expected expected closed loop closed loop performance performance can take place can take place
( (instabilities or lightly damped oscillations instabilities or lightly damped oscillations). ).
[ [ ] ] ) k ( i ) 1 k ( i
T
L
) 1 k ( u ) 1 k ( e
F F
L L
sw
Fm
av s
+ + = = [ [ ] ] ) k ( i ) 1 k ( i
T
L
) 1 k ( u ) 1 k ( e
F F
L L
sw
Fm
av s
+ + = =
The control The control equation can be easily equation can be easily rearranged rearranged to to
create an create an estimation algorithm estimation algorithm for for the load the load
voltage voltage u u
S S
, , as as the following the following: :
where where e e
S S
stands stands for for the the estimation estimation of of u u
S S
. .
Actually Actually, , the value of u the value of u
S S
(k) (k) is needed in the is needed in the
control equation control equation; ; therefore therefore some some interpolation is interpolation is
needed needed to to generate generate e e
S S
(k) (k) from from e e
S S
(k-1). (k-1).
,, ,
The simplest The simplest way way to to generate e generate e
S S
(k) (k) from from e e
S S
(k-1) (k-1) is is
by means of by means of linear linear interpolation interpolation. . Applying this Applying this to to
e e
S S
(k-1) (k-1) we get we get to: to:
1 0 ), 2 k ( e ) 1 k ( e ) 1 ( ) k ( e
s
+ + = = 1 0 ), 2 k ( e ) 1 k ( e ) 1 ( ) k ( e
s
+ + = =
By varying By varying , , it is possible it is possible to to vary the dynamics of vary the dynamics of
the estimator the estimator. . This This affects the system stability affects the system stability in in
the presence the presence of of mismatches mismatches. . In In the the ideal case, ideal case,
there there are are no no effects effects on the stability on the stability if if is changed is changed. .
It is It is important important to to notice notice that that control and estimation control and estimation
equation equation are are dynamically not independent dynamically not independent. .
Dead Dead- -Beat Control Behavior Beat Control Behavior
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
-50
-40
-30
-20
-10
0
10
20
Current reference tracking (no PWM) Current reference tracking (no PWM)
The controller is able
to replicate the
current reference
with a two-cycle
delay. Note the
absence of any
transient at the exit
of saturated mode of
operation.
The controller is able The controller is able
to to replicate the replicate the
current reference current reference
with a with a two-cycle two-cycle
delay. delay. Note the Note the
absence of absence of any any
transient transient at the exit at the exit
of of saturated mode saturated mode of of
operation. operation.
3 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 4
x 10
-3
7
7.5
8
8.5
9
9.5
10
2T
sw
2T 2T
sw sw
Current reference tracking (no PWM) Current reference tracking (no PWM)
This generates a This generates a
tracking error. tracking error.
The The reference value reference value
is is correctly correctly
reproduced reproduced only only
after after two control two control
periods. periods.
Load voltage estimation in ideal conditions Load voltage estimation in ideal conditions
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
In ideal conditions,
i.e. when no
parameter or model
mismatches are
present, the error in
the estimation is
very small. In this
case, we have = 1.
In In ideal conditions, ideal conditions,
i.e. when i.e. when no no
parameter or model parameter or model
mismatches mismatches are are
present, present, the error the error in in
the estimation the estimation is is
very small. very small. In this In this
case, we have case, we have = 1. = 1.
Load voltage estimation in ideal conditions Load voltage estimation in ideal conditions
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
-0.03
-0.02
-0.01
0
0.01
0.02
0.03
Estimation error as a
function of time and
parameter :
= 0.0
= 0.5
= 0.75
= 1.0
A minimum is almost
reached for = 0.75.
Estimation error Estimation error as a as a
function of function of time time and and
parameter parameter : :
= 0.0 = 0.0
= 0.5 = 0.5
= 0.75 = 0.75
= 1.0 = 1.0
A A minimum minimum is almost is almost
reached for reached for = 0.75. = 0.75.
Dead Dead- -Beat Control Stability Beat Control Stability
In In principle principle, , if there if there are are no no parameter and parameter and / / or or
model errors model errors, , the closed loop current control the closed loop current control is is
dynamically dynamically equivalent equivalent to a to a double unity double unity- -delay delay, ,
i.e. : i.e. :
i i
L L
F F
(k) = i (k) = i
* *
L L
F F

(k-2) (k-2)
From From a a stability analysis stability analysis standpoint this means standpoint this means
that the that the closed loop system closed loop system exhibits exhibits two poles two poles
located located in the origin of the complex in the origin of the complex Z-plane Z-plane and and
no no zeroes zeroes. . In In other words other words, , it is equivalent it is equivalent to a to a
second order all second order all- -pass pass FIR FIR filter filter. .
Unfortunately Unfortunately, , parameter mismatches parameter mismatches are are
always encountered in practice always encountered in practice. . The The sensitivity sensitivity
of the controls stability of the controls stability to to errors errors, , at least in the at least in the
identification of identification of parameter parameter L L
F F
, , needs needs to to be be
investigated investigated. .
In general, In general, it is possible it is possible to to calculate the calculate the closed closed
loop poles loop poles of the system of the system as a as a function of the function of the
relative identification relative identification error error L L
% %
, , defined defined as as
follows follows: :
L L
% %
=1 - =1 - L L
Fm Fm
/L /L
F F
% 2 , 1
L p = =
% 2 , 1
L p = =
It is possible to It is possible to verify verify that, in the case of that, in the case of load load
voltage measurement, voltage measurement, the closed loop systems the closed loop systems
has has two simple poles two simple poles given by: given by:
As can be seen, As can be seen, in the ideal case in the ideal case the poles are the poles are
located in the origin, located in the origin, but but move away move away from it as from it as
soon as soon as there is there is an identification error. an identification error.
Anyway, Anyway, the stability robustness the stability robustness is very is very good. good. In In
principle, the relative error can be as high a principle, the relative error can be as high a
100%, 100%, before before instability occurs. instability occurs.
Practically, as soon as the error goes over Practically, as soon as the error goes over 60% 60%
the controller behavior the controller behavior becomes unacceptable, becomes unacceptable,
i.e. lightly damped oscillations i.e. lightly damped oscillations appear. appear.
The situation is The situation is totally different totally different if, instead of if, instead of
measuring the load voltage, an measuring the load voltage, an estimation estimation
algorithm algorithm is adopted. is adopted.
This modifies the This modifies the system dynamics, system dynamics, negatively negatively
affecting the affecting the stability robustness. stability robustness.
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
-10
0
10
20
30
40
50
Example of control instability. Example of control instability.
The system shows
persistent
oscillations, at a half
of the sampling
frequency (Nyquist
frequency). Note that
the simulation does
not include PWM, so
the high frequency is
not current ripple.
The system shows The system shows
persistent persistent
oscillations, oscillations, at a half at a half
of the sampling of the sampling
frequency frequency ( (Nyquist Nyquist
frequency). frequency). Note that Note that
the simulation the simulation does does
not include PWM, not include PWM, so so
the the high frequency is high frequency is
not not current current ripple. ripple.
To To analyze the control stability analyze the control stability when voltage when voltage
estimation estimation is employed, is employed, it is necessary to it is necessary to
include in the systems dynamic equations also include in the systems dynamic equations also
the the estimator equation. estimator equation.
The The system order is increased by one, system order is increased by one, but the but the
analytic calculation analytic calculation of the closed loop poles is of the closed loop poles is
still possible. still possible. It can be found that: It can be found that:
% %
3
L 2 z L 3 z ) z ( + + = =
% %
3
L 2 z L 3 z ) z ( + + = =
is is the systems characteristic polynomial, the systems characteristic polynomial, whose whose
roots are the systems roots are the systems eigenvalues eigenvalues. .
1
-1
1
(a)
(b)
(c)
(c)
(b)
(c)
(b)
Re(z)
Im(z)
System System eigenvalues eigenvalues plot in Z-plane plot in Z-plane
Real and imaginary Real and imaginary
components of the components of the
closed loop poles closed loop poles
(solutions of (solutions of (z)=0) (z)=0)
for different values for different values
of of L L
% %
parameter: parameter:
a) a) L L
% %
=0%, =0%,
b) b) L L
% %
=20%, =20%,
c) c) L L
% %
=30%. =30%.
Instability! Instability! Instability!
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
-0.5
0
0.5
1
1.5
2
Example of control instability (voltage estimation) Example of control instability (voltage estimation)
Estimation error Estimation error Estimation error
Estimated voltage Estimated voltage Estimated voltage
Load voltage Load voltage Load voltage
As can be seen, with
only a 25% error on
the value of
parameter L
F
the
system goes clearly
unstable.
As can be seen, with As can be seen, with
only a only a 25% 25% error on error on
the value of the value of
parameter L parameter L
F F
the the
system goes system goes clearly clearly
unstable. unstable.
A A different type of instability different type of instability may affect the may affect the
dead-beat control in case of a dead-beat control in case of a model mismatch. model mismatch.
A A model mismatch model mismatch arises any time arises any time the actual the actual
load of the power converter differs from the load of the power converter differs from the
internal model internal model the controller uses to compute the controller uses to compute
the control variable. the control variable.
A A typical case typical case is the presence of is the presence of capacitive capacitive
filters filters at the converters output, at the converters output, needed in needed in
certain applications to reduce the current ripple. certain applications to reduce the current ripple.
This is the case of This is the case of PWM rectifiers PWM rectifiers or or UPSs UPSs. .
These cases need to be analyzed. These cases need to be analyzed.
u u
S S
Not included in the control algorithm Not included in the control algorithm
PWM filter PWM filter
R R
C C
C C
u u
C C
i i
S S
+ +
_ _
+ +
abc abc
PWM PWM
Rectifier Rectifier
+ +
+ +
- -
- -

Dead-Beat Dead-Beat
Control Control
U U

U U

U

U

Space Space
Vector Vector
Modulator Modulator
Digital Digital
Controller Controller
i i
b b
i i
c c
i i
a a
R R
LL
i i

L L
F F
L L
S S
C C
L L
Typical control set Typical control set- -up up for a for a PWM PWM rectifier rectifier application application
i i
L L
F F

i i
* *
i i
* *

i i


= =

= =

+ +

+ + = =
0
C
1
C
1
L
1
L
R
L
R
L
1
L
R
L
R
A ,
u
i
i
x
u
0
L
1
0
u
0
0
L
1
x A
dt
x d
s s
c
s
c
F F
c
F
c
c
s
L
s
s
av
F
F
r
r
r

= =

= =

+ +

+ + = =
0
C
1
C
1
L
1
L
R
L
R
L
1
L
R
L
R
A ,
u
i
i
x
u
0
L
1
0
u
0
0
L
1
x A
dt
x d
s s
c
s
c
F F
c
F
c
c
s
L
s
s
av
F
F
r
r
r
The dynamic
equations of the
input PWM filter
are not included in
the converter
internal model.
Stability analysis
can be performed
by computing the
closed loop
eigenvalues of the
whole system.
The The dynamic dynamic
equations of the equations of the
input PWM filter input PWM filter
are are not included in not included in
the converter the converter
internal model. internal model.
Stability analysis Stability analysis
can be performed can be performed
by by computing the computing the
closed loop closed loop
eigenvalues eigenvalues of the of the
whole system. whole system.
The control equation, together with a The control equation, together with a discretized discretized
version of the load equations version of the load equations can be used to can be used to
derive a derive a complete state space representation complete state space representation of of
the controlled system. the controlled system.
The The eigenvalues eigenvalues of the A matrix of the A matrix can then be can then be
computed. computed.
Assuming the Assuming the output voltage is measured output voltage is measured and and
there is there is no identification error in parameter L no identification error in parameter L
F F
it it
is possible to evaluate the effect of the input is possible to evaluate the effect of the input
capacitive capacitive filter alone. filter alone.
Real and imaginary
components of the
closed loop poles
for different values
of capacitor C:
a) C = 0.005 pu
b) C = 0.01 pu
c) C = 0.015 pu
d) C = 0.5 pu
of of capacitor C: capacitor C:
a) C = 0.005 a) C = 0.005 pu pu
b) C = 0.01 b) C = 0.01 pu pu
c) C = 0.015 c) C = 0.015 pu pu
d) C = 0.5 d) C = 0.5 pu pu
1
(a)
(c)
(b)
Re(z)
Im(z)
(d)
(a)
(a)
(b)
(c)
(d)
1 0
(a)
(d)
(d)
instability! instability! instability!
If the output voltage is If the output voltage is estimated, estimated, essentially the essentially the
same analysis procedure same analysis procedure can be applied. can be applied.
The The estimator equation estimator equation must be must be added to the added to the
control and load ones control and load ones (the latter in discrete-time (the latter in discrete-time
format) to include its dynamics in the system format) to include its dynamics in the system
analytical representation. analytical representation.
Again, matrix Again, matrix A of the complete system state A of the complete system state
space representation space representation can be computed and its can be computed and its
eigenvalues eigenvalues evaluated, as a function of the evaluated, as a function of the size size
of the of the capacitive capacitive filter. filter.
The stability robustness The stability robustness is, in general, is, in general, reduced. reduced.
(a)
(c)
(b)
(d)
Re(z)
Im(z)
1
(d)
(d)
(d)
(d) (a)
(a)
(a)
(b)
(a)
(c)
closed loop poles closed loop poles for for
different values of different values of
capacitor C: capacitor C:
a) C=0.005 a) C=0.005pu pu, ,
b) C=0.01 b) C=0.01pu pu, ,
c) C=0.015 c) C=0.015pu pu, ,
d) C=0.5 d) C=0.5pu pu. .
instability! instability! instability!
The last analysis shows that The last analysis shows that when the output when the output
voltage is estimated the stability robustness is voltage is estimated the stability robustness is
worsened. worsened.
The The stability limit stability limit moves from moves from less than 0.01 less than 0.01 pu pu
capacitive capacitive filter filter to about 0.015 to about 0.015 pu pu. .
In fact, In fact, the critical capacitor values the critical capacitor values are a little are a little
smaller than the ones typically adopted smaller than the ones typically adopted to filter to filter
the current ripple. the current ripple.
As a consequence, As a consequence, in general only a little in general only a little
oversizing oversizing of the of the capacitive capacitive filter filter may be may be
necessary to necessary to guarantee the systems stability. guarantee the systems stability.
With With a little increase a little increase in the algorithm complexity in the algorithm complexity
it is anyway it is anyway possible to improve the stability possible to improve the stability
robustness. robustness.
The oscillations The oscillations that take place in the controlled that take place in the controlled
system when it goes unstable system when it goes unstable are due to the are due to the
interaction between the estimation algorithm interaction between the estimation algorithm
and the current control. and the current control.
The The propagation of such oscillations propagation of such oscillations can be can be
avoided remembering that the avoided remembering that the estimated output estimated output
voltage waveform is known to be sinusoidal. voltage waveform is known to be sinusoidal.
Dead Dead- -Beat Control Stability Improvement Beat Control Stability Improvement
The control algorithm robustness can be greatly The control algorithm robustness can be greatly
improved with a improved with a pass-band filter centered at the pass-band filter centered at the
supply frequency supply frequency applied to the estimated voltage. applied to the estimated voltage.
LL
Fm Fm
TT
sw sw
z z
-1 -1
Reference Reference
Generation Generation
Selective Selective
Filter Filter
Estimator Estimator
G G
eq eq
++
--
+ +
+
+
-
i i
LL
FF
(k) (k)
ii
**
(k) (k)
LL
FF
-
u (k) u (k)
av av
u (k) u (k)
s s
T T
sw sw
L L
F F
1 1
z - 1 z - 1
. .
2 2 1
2 2 1
1
z m z cos m 2 1
z ) 1 m ( z ) m 1 ( cos 2
) z ( W

+ +
+ +
= =
2 2 1
2 2 1
1
z m z cos m 2 1
z ) 1 m ( z ) m 1 ( cos 2
) z ( W

+ +
+ +
= =
Pass-band filter Pass-band filter
The The selective band pass filter selective band pass filter eliminates the eliminates the
oscillations oscillations from the estimated voltage from the estimated voltage
waveform and so waveform and so avoids their propagation in avoids their propagation in
the current loop. the current loop.
The idea is to The idea is to exploit the information exploit the information about the about the
input voltage waveform, which is known to be input voltage waveform, which is known to be
sinusoidal at the line frequency. sinusoidal at the line frequency.
The The stability analysis can now be repeated stability analysis can now be repeated
taking into account the taking into account the presence of the presence of the
selective filter selective filter in the control system. in the control system.
(a)
(a)
-1
1
(a)
(a)
(a)
(c)
(c)
(c)
(c)
Re(z)
Im(z)
(b)
(b)
(a)
(c)
0
of of capacitor C, with capacitor C, with
L L
% %
= 20%. = 20%.
Note how the poles Note how the poles
now now remain inside remain inside
the unity circle. the unity circle.
Filter dynamics Filter dynamics Filter dynamics
PWM rectifier behavior
with the conventional
estimation technique
and L
%
=20%.
Upper trace: line
voltage (u
S
).
Middle trace: converter
output current (- i
L
F
).
Lower trace: estimated
voltage (e
S
).
PWM rectifier behavior PWM rectifier behavior
with the with the conventional conventional
estimation technique estimation technique
and and L L
% %
=20%. =20%.
Upper trace: Upper trace: line line
voltage ( voltage (u u
S S
). ).
Middle trace: Middle trace: converter converter
output current (- output current (- i i
L L
F F
). ).
Lower trace: Lower trace: estimated estimated
voltage ( voltage (e e
S S
). ).
Modified estimation Modified estimation
technique and technique and
L L
% %
=20%. =20%.
Upper trace: Upper trace: line line
voltage ( voltage (u u
S S
). ).
Middle trace: Middle trace: converter converter
output current (- output current (-i i
L L
F F
). ).
Lower trace: Lower trace: estimated estimated
voltage ( voltage (e e
S S
). ).
ADSP 21020: ADSP 21020: floating point CPU (32-40 bits) floating point CPU (32-40 bits)
40 40 ns ns cycle cycle
ADMC 200: ADMC 200: motion control board including motion control board including
PWM modulator (25kHz max) PWM modulator (25kHz max)
12 bit A/D converter 12 bit A/D converter
DSP based control system featuring: DSP based control system featuring:
Experimental Experimental Tests Tests
Prototype Ratings: Prototype Ratings:
Line Voltage (RMS) Line Voltage (RMS) 85 V 85 V
Bridge Output Power Bridge Output Power 1 kW 1 kW
DC Link Voltage DC Link Voltage 300 V 300 V
Converter Inductance Converter Inductance 1.8 1.8 mH mH
Switching Frequency Switching Frequency 10 kHz 10 kHz
Experimental Results Experimental Results
PWM Rectifier PWM Rectifier
Conventional estimation
L L 12% 12%
Test conditions: Test conditions:
no filter no filter on the estimated line on the estimated line
voltage; voltage;
V V
dc dc
= 120V; = 120V;
L L
%%
= 0.12; = 0.12;
time-scale: 2ms/div; time-scale: 2ms/div;
Upper trace: Upper trace: estimated line estimated line
voltage (200mV/div) voltage (200mV/div)
Middle trace: Middle trace: line to neutral line to neutral
measured voltage (40V/div) measured voltage (40V/div)
Lower trace: Lower trace: phase current phase current
(1A/div) (1A/div)
Experimental Results Experimental Results
PWM Rectifier PWM Rectifier
L L 30% 30%
Modified estimation
Test conditions: Test conditions:
no filter no filter on the estimated line on the estimated line
voltage; voltage;
V V
dc dc
= 120V; = 120V;
L L
%%
= 0.30; = 0.30;
time-scale: 2ms/div; time-scale: 2ms/div;
Upper trace: Upper trace: estimated line estimated line
voltage (200mV/div) voltage (200mV/div)
Middle trace: Middle trace: line to neutral line to neutral
measured voltage (40V/div) measured voltage (40V/div)
Lower trace: Lower trace: phase current phase current
(1A/div) (1A/div)
References References
[1] [1] L. L. Malesani Malesani, P. , P. Mattavelli Mattavelli, S. , S. Buso Buso: : Robust Dead-Beat Current Robust Dead-Beat Current
Control for PWM Rectifiers and Active Filters, IEEE Transactions Control for PWM Rectifiers and Active Filters, IEEE Transactions
on Industry Applications, on Industry Applications, Vol Vol. 35, No. 3, May/June 1999, pp. 613- . 35, No. 3, May/June 1999, pp. 613-
620. 620.
[2] [2] L. L. Malesani Malesani, P. , P. Mattavelli Mattavelli, S. , S. Buso Buso: : "Dead-Beat Current Control for "Dead-Beat Current Control for
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October 1999 1 Simone Buso - Universit di Padova Lesson 4

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