Direct Power Decoupling Control of Three

Phase PWM Rectifier with Fixed Frequency

Based on Virtual Flux
Chengzhou Xie, Mingyao Lin*, Liuchen Tai, Xinghe Fu, Kai Liu
Engineering Research Center for Motion Control of MOE, Southeast University, China
E-mail: mylin@seu.edu.cn

Abstract —A novel strategy of direct power control of This paper proposes a novel control strategy of three
three phase PWM rectifier is proposed in this paper. This phase PWM rectifier. The proposed strategy solves the
proposed method solves the coupling problem in the power coupling of active and reactive power in the conventional
loop existing in the conventional virtual flux based direct VF-DPC with the complex vector theory. In order to
power control (VF-DPC). Theoretical principle of the
decoupling control method is analyzed in detailed. Space
facilitate the design of LC filters, the space vector
vector modulation (SVM) is also used to fix the switching modulation is also applied to get a constant switching
frequency. The simulation and experimental results show frequency. In this paper, the theoretical principle of the
that the new method has a better dynamic performance decoupling control is analyzed. A simulation and
than the conventional one. experiment are built to verify the correctness of the
proposed strategy.
Index Terms- Direct power decoupling control, virtual
flux, space vector modulator II. CIRCUIT TOPOLOGY
I. INTRODUCTION A. Virtual Flux and Power Estimation
Three phase PWM rectifier is widely used in wind idc iL
energy system and electric vehicle because of its doubly Sa Sb Sc ic
flow of energy, the operation in the high power factor and L ia
ua R
near-sinusoidal current. For the control of three phase a
+
PWM rectifier, various efficient control strategies are ub L R ib
N b C Udc RL
proposed in recent years [1-6]. A new strategy called uc L R ic -
Direct Power Control (DPC) receives much concern c
which brings instantaneous active and reactive power into
the control system of three phase PWM rectifier [7]. The
DPC has a simple structure consisting of internal power Fig. 1. Circuit of three phase PWM rectifier
loop and outer voltage loop without the synchronous In Fig.1, the main circuit of three phase PWM rectifier
rotation transformation. The DPC strategy can be is shown, and R, L are considered as the stator resistance
performed by selecting an optimum switching vector and leakage inductance of a virtual ac motor,
based on the relay signals of active and reactive power, so respectively. Three phase voltage can be regarded as
the active and reactive can be restricted in an appropriate generated by an air gap flux in a virtual ac motor.
hysteresis bands. But it needs a high sampling frequency Therefore, the AC side of three phase PWM rectifier is
to make the current waveform satisfied the requirement. equivalent to be magnitudes related to a virtual ac motor
In [8], a triple-state switching table is applied to improve [10].
the performance of three phase PWM rectifier which can Assuming the three phase voltage is balanced and
decrease the current harmonics under the low sampling undistorted, the voltage equation of three phase rectifier
frequency and improve the steady performance of the in the stationary reference frame can be expressed as
system. di
In [9], the virtual flux is used in the DPC strategy (VF- u = L + Ri + uconv (1)
dt
DPC) to estimate the instantaneous active and reactive
where u = [uα , u β ]T and i = [iα , iβ ]T are three phase
power. The VF-DPC can operate without the AC voltage
sensors, which makes it can provide sinusoidal line voltage and current in stationary reference frame, and
current with low harmonics when the line voltage is the dc voltage in the stationary reference frame can be
distorted [10]. But it is difficult to design the LC filter obtained from the dc-link voltage Udc and the states of
due to the variable switching frequency in VF-DPC. In rectifier switching ( S a ૠ S b ૠ S c ) as follows:
[11], the space vector modulation is introduced in the VF-
DPC scheme to fix the switching frequency, it has a ªuconvα º ª ( 2 / 3)U dc [ S a − 0.5( Sb + S c )]º
uconv = « »=« » (2)
lower sampling frequency and lower harmonic current. ¬uconv β ¼ «¬ ( 2 /2)U dc ( Sb − S c ) »¼
However, it couldn’t achieve the decoupling of the active
and reactive power and the dynamic performance is In practice, R can be neglected [9]. Therefore, the
unsatisfied. virtual flux ψ (= [ ψ α ,ψ β ]T ) can be induced as
 di active power pref*
. The errors pref
*
and qref
*
with their
ψ = ³ udt = ³ ( L + uconv )dt (3)
dt estimations are sent to the power decoupling module. The
According to the instantaneous power theory, the reference reactive power qref*
is usually set to zero for
instantaneous active power p and reactive power q can unity power factor operation of the system. Finally, the
be calculated by (4) and (5) in the stationary reference output signals usd and usq of the power decoupling module
frame, respectively. are transformed to usα and u s β through the following
p = Re ( u ⋅ i * ) (4) formula
(5) ªusα º ª− sin γψ m − cos γψ m º ªusd º
*
q = Im ( u ⋅ i )
∗
where i is the conjugate current vector. «u » = « cos γ − sin γψ m »¼ «¬usq »¼
(12)
¬ sβ ¼ ¬ ψm
The voltage space vector can be obtained from (3) as
where
shown in
ψ mβ
dψ d dψ m jωt sin γψ m = (13)
u= = (ψ m e jωt ) = e + jωψ (6)
dt dt dt (ψ mα )2 + (ψ mβ )2
where ω is the angular frequency of ψ , ψ m is the ψ mα
amplitude of ψ .
cos γψ m = (14)
(ψ mα )2 + (ψ mβ )2
Substituting (6) into (4) and (5), then
The usα and u s β are used to generate the six switching
ª dψ m dψ m º
p = «iα + iβ + ω (ψ mα iβ −ψ mβ iα ) » (7) signals by means of the space-vector-modulator (SVM).
¬« dt α dt β ¼»
ª dψ m º III. COMPLEX VECTOR DECOUPLING PRINCIPLE
dψ m
q = «iα − iβ + ω (ψ mα iα +ψ mβ iβ ) » (8) The power loop of conventional VF-DPC is regulated
«¬ dt β dt α »¼ by two PI controllers separately. It has a simple structure,
When the three phase PWM rectifier operates in a but active and reactive power are coupled with each other.
steady-state, the derivatives in (7) and (8) are equal to When reference active power pref *
is changed, the
zero. Eq. (7) and (8) can be simplified as interaction between active and reactive power leads to the
p = ω (ψ mα iβ − ψ m β iα ) (9) reactive power has a large fluctuation, and it is adjusted
q = ω (ψ mα iα + ψ m β iβ ) (10) to the expected value by the PI controller. In other words,
the dynamic performance of three phase PWM rectifier is
Additionally, û α and û β as the three phase voltage in
deteriorated.
stationary reference frame can be estimated as follows: The voltage equation of the three phase PWM rectifier
ªuˆα º 1 ªiα −iβ º ª pº in the synchronous rotation reference frame is
«uˆ » = 2 2 «i »« » (11) ­ dp
¬ β ¼ iα + iβ ¬ β iα ¼ ¬ q ¼ °° L dt = −Rp − ω Lq + ud − ud usd
2

B. Virtual Flux based Direct Power Control ® (15)

°L dq = −Rq + ω Lp − u u + u u
ua L R °̄ dt q d d sq

ia
N
ub C +U where the three phase voltage in synchronous rotation
- dc RL
uc ib Voltage loop reference can be calculated by
ªud º ª − sin γψ cos γψ º ªuˆα º
«u » = «− cos γ
_
− sin γψ »¼ «¬uˆβ »¼
Power loop Power & Virtual
S
Sa Sb Sc + U dc* (16)
Flux estimator
(P&VF)
SVM ¬ q¼ ¬ ψ
PI
γψ m usĮ usȕ Based on the instantaneous power theory, the
p q Į-ȕ d-q instantaneous active and reactive power in the
usq usd
synchronous rotation reference frame can be expressed as
power decoupling ­° p = ud id + uqiq
module
® (17)
_ °̄ q = uqid − ud iq
_ *

*
+ + pref Due to the balanced and undistorted of three phase
qref =0
voltage, it is easy to know that the value of u q is equal to
Fig.2. Basic structure of proposed VF-DPC
Fig. 2 is the basic structure of the proposed VF-DPC. zero[13]. Eq. (17) can be shown as follows:
The VF-DPC strategy consists of DC voltage outer loop ­° p = ud id
and power internal loop. The dc-link voltage Udc is ® (18)
°̄q = −ud iq
compared with the reference voltage Udc* , and their The dynamic model of three phase PWM rectifier can
difference is delivered to a PI controller. The output of PI be represented using complex vector [12]. The complex
controller multiplies Udc equals to the value of reference vector of i d q and Pdq can be represented as
 idq = id + jiq (19)
Pdq = p − jq (20) p
Therefore, the Eq. (15) can be expressed as Eq. (21)
using complex vector with Eq. (19) and (20)
dPdq
L + RPdq + jω LPdq = ud (udq − usdq ) (21 *
pref
dt
where u dq = u d + ju q and u sdq = u sd + ju sq .
Supposing vd = (u d − u sd )u d , vq = (u q − u sq )u d and
v dq = v d + jv q , the equation (21) can be written as
dPdq *
L + RPdq + jω LPdq = vdq (22) qref
dt
From the Eq. (22), the two-input/two-output system is
simplified as a one-input/one-output system. Considering
q
the R + jωL as a whole, the PI controller can be designed
as
1 ( ki + jω k p )
Cdq ( s ) = ª¬ k p s + (ki + jω k p ) º¼ = k p + (23)
s s (a) Conventional VF-DPC
According to the Eq. (22) and Eq. (23), it’s easy to
design the PI parameters based on the pole-zero
cancellation principles and the appropriate selection of p
cut-off frequency.
The v d and vq can be acquired by
v d + jv q = C dq ( Pdq* − Pdq ) *
pref
ki ωk p *
= (k p + )( p* − p) + (q − q)
s s
ª k ωk p * º
− j «(k p + i )(q* − q) − ( p − p)» (24)
¬ s s ¼ *
qref
Eq. (24) can also be written as
­ ki *
ωk p *
°° vd = ( k p + )( p − p ) + (q − q)
s s (25)
®
°v = −( k + ki )( q* − q ) + ω k p ( p* − p ) q
°̄ q p
s s
From Eq. (25), it’s obvious that active and reactive
power is decoupled with each other. Fig.3 is the
decoupling control diagram of three phase PWM rectifier (b) Proposed strategy
Fig.4. Step resopnses of both strategy
in the synchronous rotating reference frame. As can be
00W at 0.8s on both strategy. The reference reactive
seen from Fig.3, the decoupling control process has no
power qref
*
is changed from 0Var to -40Var at 1s, and
inductance parameter, which means the system can
operate without the value of inductance in advance or the risen to 0Var at 1.2s on both strategies. It can be seen
value of inductance doesn’t need to be very exact. that when the reference power pref
*
( qref
*
) is changed, the
q (p) is affected by the change of p (q) in the
usd2 usd2
*
pref _ + + p
conventional VF-DPC. But the phenomenon doesn’t
+ k p + ki / s
_
_ 1/ ud u ud
_
_
1
happen in the proposed VF-DPC, which indicates the
sd sL + R
( k pω ) / s ωL
decoupling of active and reactive power is achieved in the
suggested method.
( k pω ) / s ωL
_
+ + ud +
+ 1 q
k p + ki / s 1/ ud IV. SIMULATION AND EXPERIMENT
qref* = 0 _
+ usq _ sL + R
uu ud uq
d q
A. Simulation result
Fig. 3. Decoupling control of three phase PWM rectifier In order to verify the correctness of the proposed VF-
Fig.4 is the step response of the conventional and DPC and carry out a comparison of both strategies, a
suggested strategy. The reference active power pref
*
is 150W-rated power of three phase PWM rectifier model
using both methods is established with Matlab/Simulink
changed from 100W to 135W at 0.6s, and decreased to 1-
software. The main electrical parameters of the power
circuit are given as follows: three phase voltage U=25V,
voltage frequency f=50Hz, inductance of reactors L=7mH,
resistance of reactors R=0.1ȍ, DC-link capacitor
C=3000uF, load resistance RL=36.5ȍ and the switching
frequency fs=3.75kHz. Fig.5 shows the basic waveforms
using the two different control strategies. The reference
active power pref
*
is risen up to 135W from 100W at 0.4s,
and drop down to 100W at 0.5s.
As can be seen from Fig. 5, there are some same
features for both control strategies, such as high
sinusoidal current, the same phase of voltage and current
and the steady state performance. when the reference
(b) Proposed VF-DPC
active power pref
*
is changed suddenly, current changes Fig. 5 Basic waveforms of both strategies
quickly as follow without any overshoot, so as the actual power has a small fluctuation up to 10Var, then goes
active power. In the proposed VF-DPC, when pref *
varies, down to 0Var by the regulation of PI controller. The
reactive power is essentially the same with little simulation result shows that the proposed method
fluctuation. But in the traditional VF-DPC, the reactive achieves the decoupling of the active and reactive power
and improves the dynamic performance of three phase
power is affected by the variation of active power when PWM rectifier.
the reference active power pref
*
is increased, the reactive
B. Experimental Setup and Results
A 25V input, 150W rated power prototype is
ua established and tested. Fig.6 is the experimental prototype
of three phase PWM rectifier, which includes inductance,
power circuit, DSP control board and the resistance load.
ua/V,ia/A

The main parameters in the experimental prototype are

the same as the simulation above. The values of active
power p and reactive power q are obtained from DA
ia
output of DSP.
Resistance Load

Inductance

Power circuit
DSP control
board
Fig. 6 Experimental prototype of three phase PWM rectifier

ua(10V/div)
(a) Conventional VF-DPC

ua
ua/V,ia/A

21

ia

ia(5A/div)
10ms/div
Fig. 7 Steady state characteristics of proposed strategy
 Fig. 7 shows the waveforms of the proposed strategy at ua(20V/div)
the steady state. It can be seen clearly that the waveform
of voltage exists some harmonics which couldn’t be
avoided. The waveform of current has a high sinusoidal 12
and has the same phase with the waveform of voltage.
ua(20V/div)
ia(10A/div)
p(100W/div)
21

q(100Var/div) 2Var
43
ia(10A/div)
p(100W/div) 20ms/div

q(100Var/div) 17Var (b) Proposed VF-DPC

43 Fig 9 Transient response of both strategies
(reference active power is decreased)
lf a cycle, so as the value of active power. In conventional
20ms/div VF-DPC shown in Fig.8 (a), the reactive power has a
*
(a) Conventional VF-DPC slight fluctuation when the pref is risen and return to the
ua(20V/div) zero rapidly by the PI controller. But in the proposed
strategy shown in Fig.8 (b), the reactive power isn’t
*
21
affected by the change of pref .
Fig. 9 shows the contrast of both strategies at the
*
transient state where pref is fallen down to 100W from
ia(10A/div)
135W. Fig.9 (a) and Fig.9 (b) are the basic waveforms of
p(100W/div) the conventional and the proposed strategy. The
phenomenon in the fallen of reference active power is
q(100Var/div) 5Var *
43 similar to Fig. 8. When pref is decreased, the reactive
power stays unchanged basically in the proposed strategy,
while the reactive power has an obviously decline in the
20ms/div conventional strategy. The experimental results show the
(b) Proposed VF-DPC value of active power can be control independently
Fig 8 Transient response of both strategies without the effect of reactive power, the decoupling of
(reference active power is increased) active and reactive power is realized in the proposed
Fig.8 shows the comparison of both strategies at the strategy and demonstrate the validity of the proposed VF-
*
transient state, where pref is increased to 135W from DPC.
100W. Fig. 8 (a) and Fig. 8 (b) are the basic waveforms
V. CONCLUSION
of the conventional and the proposed strategies. In both
*
strategies, when pref is risen, the current responses very This paper proposed a novel strategy of direct power
control without any AC voltage sensors. The complex
quickly and goes up to the expected value in less than ha- vector theory is used to simplify three phase PWM
ua(20V/div) rectifier to a one-input/one-output system and achieve the
decoupling of active and reactive power by adding two
integral controllers in the power internal loop. The
12 proposed strategy has a good steady state performance
and realizes the unity power factor operation. The
simulation and experimental results show that the
ia(10A/div)
proposed strategy can regulate the active and reactive
p(100W/div) power respectively without mutual influence and improve
the dynamic performance of three phase PWM rectifier.
q(100Var/div) 11Var
43
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