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I
c
_ = _
-
c
+R(
L
+
c
)
L(R+
c
)
-
R
L(R+
c
)
1
C(1+
c
R )
1
RC(1+
c
R )
_ _
i
L
I
c
] +_
1
L
u
_ I
u
(1)
I
o
= [
c
+R
R
R+
c
[
L
v
c
(2)
One of the important factors of load effect on the inverter is
output impedance which in this case as rectifier is a load with
nonlinear nature; the output voltage will be highly distorted.
For determining the output impedance, circuit laws can be
applied as shown in Fig. 2.
2011 IEEE Applied Power Electronics Colloquium (IAPEC)
978-1-4577-0008-8/11/$26.00 2011 IEEE 180
Fig. 2. Equivalent circuit of a single-phase inverter
I
o
(s) =
c
Cs+1
LCS
2
+C(
L
+
c
)s+1
I
u
-
c
LCS
2
+(L+
L
c
C)s+
L
LCS
2
+C(
L
+
c
)s+1
I
o
(3)
r
L
and r
c
are ignored in many modeling since they are
generally very small but in this paper only r
c
is disregarded
(r
c
=0 ). By using s = ] and determining Z as output
impedance in I
o
= ZI
o
,
Z = -
]L+
L
-LC
2
+]C
L
+1
(4)
It can be clearly seen in (4) that, by increasing the switching
frequency, the output impedance will be reduced. This means
that lower component values of the LC filter are required [3].
By ignoring the internal resistance of the filter capacitor (r
c
=
0), (1) and (2) can be simplified as (5) and (6).
_
i
L
I
c
_ = _
-
L
L
-
1
L
1
C
1
RC
_ _
i
L
I
c
] + _
1
L
u
_ I
u
(5)
I
o
= (u 1) [
L
v
c
(6)
B. Analysis of multiple feedback loop control
A DC motor has some similarity to an inverter in terms of
using cascade control (multi-loop control) [4]. In a DC motor
system, the armature current and stator voltage are used as
current and voltage feedback loop for achieving sufficient
steady-state and good transient performance. A single-phase
inverter has the same scenario. The inductor current of the
filter acts as an inner loop parameter while the output voltage
is the outer loop parameter. Fig. 3 illustrates the voltage and
current loop [5].
(a)
(b)
(c)
Fig. 3. Control schemes for a single-phase inverter. (a) Voltage feedback loop
control. (b) Current feedback loop control. (c) Outer voltage and inner current
feedback loop control
K
v
and K
I
of Fig. 3, represent voltage and current sensors
gain respectively. Fig. 3(c), shows the overall current mode
control structure. The variable K
PWM
is the PWM gain, which
is defined as
v
dc
v
Tri
. The controller for the loops can be either
PI, Sliding mode, Fuzzy, Deatbeat etc. [6]-[9]. For this work,
a conventional PI controller is used.
III. CONTROL SYSTEM DESIGN
The design of PI controller can be done using several
methods. It can be designed using Ziegler-Nicholas, Pole-
placement method and Frequency response [10]. However,
the latter method will be used to design the controller. For
simplicity, Sisotool from MATLAB/SIMULINK is used to
tune the controller and evaluate the suitability of bandwidth
and stability. As mentioned earlier, the control system is
designed for a linear load (R = 10 ) and tested on a nonlinear
load such as a rectifier. The simulation testing parameters are
as given in Table 1.
TABLE 1. SIMULATION TESTING PARAMETERS
I
dc
215 V
I
out
200 Vp-p
r
L
0.3
Filtcr InJuctor (I) 1.2 mH
Filtcr Copocitor (C) 13.2 F
Iincor IooJ(R) 10
Switcbing Frcqucncy 40 kHz
Currcnt scnsor goin (K
) 0.06
Ioltogc scnsor goin (K
) 0.01
Nonlincor IooJ (ioJc Rcctiicr)
R = 100
C = 500 F
Ioltogc Rccrcncc 1 V
181
Fig. 4. The single-phase circuit with its control system
Fig. S. The single-phase inveitei simulation mouel
PI contiolleis aie useu as the voltage anu cuiient
contiolleis. The PI contiollei tiansfei function is
iepiesenteu as:
K
p
+
K
i
s
= K
p
(s+K
i
K
p
)
s
(7)
For obtaining accurate value of K
p
and K
, the Sisotool in
MATLAB/SIMULINK can be used. Since the voltage loop
and current loop are decoupling, each PI controller can be
designed separately. In this work, the inner loop will be firstly
designed. The control bandwidth for the inner loop should be
larger than the outer loop, since the inductor current has faster
response compared to the output voltage. Since the switching
frequency is 40 kHz, the control bandwidth for the current
loop should be within 4 kHz. The bandwith for the voltage
loop is set to be within 400 Hz. Both loops should be
designed with phase margins of within 65
o
.
The PI controller for the current loop can be designed by
using the transfer function between the inductor current and
the current reference. Based on Fig. 3(b), the transfer function
of
I
L
I
rc]
can be obtained as follows:
I
L
I
rc]
= K
pwm
(RCs+1)
RLCs
2
+(CR
L
+L)s+(R+
L
)
(8)
K
pwm
=
v
dc
v
tri
(9)
The complete transfer function by incorporating the PI
controller can be expressed as in (10).
I
L
I
rc]
= K
p
(s+K
i
K
p
)
s
v
dc
v
tri
(RCs+1)
RLCs
2
+(CR
L
+L)s+(R+
L
)
(10)
From (10), it can be shown that the controller adds a zero at
the left side of s-plan and zero at the origin to compensate the
second-order transfer function. Fig. 6 shows the resulting
bode-plot of the closed-loop current mode.
Fig.6. Bode plot of current loop system
182
From Fig. 6, the bandwidth of the current loop is S.62
1u
3
Ez while the phase margin is 6S
o
, which are acceptable
values. To design the outer loop controller, it is assumed that
the inner loop is unity as illustrated in Fig. 7. Equation (11)
expresses the complete transfer function of Fig. 7 with PI
controller.
v
c
vc]
= K
p
(s+K
i
K
p
)
s
R
RCs+1
(11)
It should be noted that the outer loop should have a bandwith
of 400 Hz. Fig. 8 shows the resulting bode plot and root locus
of the voltage loop.
Fig. 7. Voltage loop block diagram with the designed current loop.
Fig.8. Bode plot and root locus of the voltage loop
It can be clearly seen that, the bandwidth is lower than the
inner loop (942 Hz) while its phase margin is 63
o
.
IV. SIMULATION RESULTS
The control system has been designed for a linear load (R
= 10 ). The following figures (Fig. 9 and Fig. 10) illustrate
the voltage and current waveforms of the load when the
system becomes no-load at t = 0.004.
Fig. 9. Output voltage
Fig. 10. Load current
V. CONCLUSION
In this paper a current mode PI controller for a single-
phase PWM inverter has been designed. The control structure
is comprised of two loops and has been arranged in a cascaded
fashion. Two systems variables namely the inductor current
and the output voltage are sensed as the feedback variables.
The Sisotool from MATLAB/SIMULINK has been used to
tune and design the PI control parameters for both loops. The
performance is verified by subjecting the inverter system with
different types of load. The simulation results have shown
that the controller is capable of producing good output voltage
regulation.
0 0.005 0.01 0.015 0.02
-100
-50
0
50
100
Time Second
V
o
l
t
a
g
e
(
V
o
l
t
)
Output Voltage
0 0.005 0.01 0.015 0.02
-15
-10
-5
0
5
10
15
Time (second)
C
u
r
r
e
n
t
(
A
m
p
)
Load Current
183
REFERENCES
[1] Bass, R.M.; Krein, P.T. State-plane animation of power electronic
systems: a tool for understanding feedback control and stability
Applied Power Electronics Conference and Exposition, 1990.
[2] Hong Yi, Jiyang Dai and Jiaju Wu; Research on Modeling and Control of
The Single-Phase Inverter System with A Nonlinear Load Proceedings of
the 7
th
World Congress on Intelligent Control and Automation June 25 -
27, 2008, Chongqing, China
[3] H. Deng, R.Oruganti and D. Srinivasan, Modelling and Control of Single-
Phase UPS Inverter: A Survey, in Proc. PEDS-Kuala Lumpur, Kuala
Lumpur, pp. 848-853, 2005.
[4] W. Leonhard, Control of electrical drives, Springer-Verlag, 1984.
[5] Ying-Yu Tzou, Shih-Liang Jung; Full control of a PWM DC-AC
converter for AC voltage regulation, IEEE Transactions on Aerospace
and Electronic Systems.vol.34,no.4, pp: 1218 1226, 1998.
[6] Naser M.Abdel-Rahim,etc,Analysis and design of a multiple feedback
loop control strategy for single-phase voltage-source UPS
inverter,IEEE trans.power electrp.vol.11,July 1996, pp.532-541.
[7] Zhang Kai,etc,Deadbeat control of PWM inverter with repetitive
disturbance.1999 APEC.Record.1999, pp.1026-1031.
[8] S.M. Ayob, N.A. Azli, Z. Salam, Single input PI-fuzzy controller for
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Engineering, vol. 3, no.3, pp. 418 425, June 2008.
[9] Michael J.Ryan, ets, Control Topology options for single-phase UPS
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New York, 2003.
184