Study of Compensation Method on Dead-time Effects for VSI Fed Drive Systems

Jinsong Kang [1,2] Guoqing Xu[1] Jiamin Xu[1] Chenbo Zhou[3]

(1 Department of Electrical Engineering, Tongji University, Shanghai, 200092, China) (2 Department of Electrical and Computer Engineering, Ryerson University, Toronto, Canada) (3 Shanghai Norske Skog Potential Paper Co., Shanghai, China)
Abstract: In the paper, a digital compensation method on
dead-time effects was presented. The dead-time effects on the output waveforms of the drive systems were analyzed, in which the Voltage Source Inverter (VSI) was controlled based on Space Vector Pulse Width Modulation (SVPWM). The main method was to compensate three-phase voltages in terms of current directions, which divided three-phase currents into six regions according to the voltage space vectors figure. The analysis and compensation on dead-time effects were validated through analyzing the simulation and experiment results in a drive system, in which the VSI fed the Permanent Magnet Synchronous Motor(PMSM) without increasing the

two switches of one phase bridge of the VSI turning on at one time. The dead-time effects and undesirable behaviors of power switches will bring about the distortion of output currents. Also especially, they will bring about torque pulsation when the motor is running at the low speed region, and even cause other severe results such as oscillating of the motor. Many scholars made great efforts to compensate the dead-time effects and gained lots of achievements
[4-12]

However, some solutions need add an additional circuit to compensate the dead-time effects in the drive system, some compensation processes are complicated, and some processes are based on ignoring some undesirable factors. A compensation method on dead-time effects was provided in the paper. Through an analysis of dead-time effects on output waveforms given for the VSI fed drive systems based on SVPWM, the method divided three-phase currents into six regions according to the space vectors figure, and compensated three-phase voltages in each region in terms of current directions. Simulation and experiment results show that this strategy can receive good compensation effects without increasing the complexity of original drive systems.
. ANALYSIS OF DEAD-TIME EFFECTS

complexity of the original system. KEY WORDS: Drive System Dead-time Compensation; SVPWM; VSI PMSM

. INTRODUCTION Voltage source inverter (VSI) fed Permanent Magnet Synchronous Motor (PMSM) drive systems based on Vector Control strategy have been wildly developed. Space Vector Pulse Width Modulation (SVPWM) is an excellent control strategy for the drive systems. It can not only increase the utilization of the DC-link voltage of VSI, but also decrease the torque ripples and the power losses made by harmonic currents in the drive systems
[1-3]

The main circuit of the dirve system with the SVI fed the PMSM is shown as Fig.1. There, VDC is the DC-link voltage, C d is the filter capacitor for the VSI, T1 ~ T6 are six power switches used as IGBT, and D1 ~ D6 are six freewheeling diodes. As is shown in Fig.2, during the dead-time period, the voltage deviation of the output voltages is determined by the direction of output currents. There are two kinds of situations according to the direction of the phase-a current. One is phase-a current flows from the bridge to the load, which is called positive

. Furthermore, it is suitable

for the Digital Signal Processing (DSP) controller to produce control signals with high accuracy. Therefore, it was applied in the high-performance drive systems more often than before. It seems that most of control techniques are based on the assumption that the power switches operate in an ideal manner. However, power switches do not turn on or turn off instantaneously. The dead-time control strategy was put into use in order to avoid the short circuit of VSI made by both

1-4244-0655-2/07/$20.002007 IEEE

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direction in this paper. The other is phase-a current flows from the load to the bridge, which is called negative direction. Fig.2(a) shows the output voltage waveform with positive direction during a switching period. Fig.2(b) shows the situation of negative direction. Real lines represent real voltage waveforms, dash lines represent reference voltage waveforms, and dash-and-dot lines represent reference voltage for compensation in the figure.

As is shown in Fig.2 (a), the phase-a current is in positive direction. When the upper switching device T1 is off, current flows through the lower freewheeling diode D4 . Because of the voltage drop of freewheeling diode: uao - VDC /2-Vd . When the reference voltage turns positive, the upper switching device is switched on after the dead-time and switching-on delay td ton . Then the phase-a current flows through the upper switching device and uao rises to positive. Because of the voltage drop of the upper switching device, uao VDC /2-Vs. As is shown in Fig.2 (b), the phase-a current is in negative direction. The current flows through the lower switching device. Because of the voltage drop of the lower switching device, uao -VDC /2+Vs. When the reference voltage turns positive, the lower switching device is switched off after the switching-off delay. Then the phase-a

Fig.1 Main circuit of the drive system with the VSI fed the PMSM

current flows through the upper freewheeling diode D1 and uao rises to positive, because of the voltage drop of the upper freewheeling diode, uao VDC /2+Vd. According to the principle that we should make the product of the compensated voltage and its duration equal to that of the reference voltage, if we want the error after compensating to equal to zero when the current direction is positive, we can get the following equations :
((1 D )Ts )Vd V DC ( DT s )Vs tcom (V DC Vd Vs ) 0

Therefore,
(a) Positive direction of the current of phase a

t com
* t aon

V DC

( DT s )V s ((1 D )T s (V DC V d V s )

)V d

(1)

t aon

t com

Similarly, when the current direction is negative,

t com V DC ((1 D)Ts )V s ( DTs (V DC V d V s ) )V d

(3) 4

t aon

* t aon

t com

Where, VDC is the DC-link voltage of the inverter, Vs and Vd are the voltage drops of power switches and freewheeling
(b) Negative direction of the current of phase a Fig.2 Output voltage waveforms of phase a of VSI

diodes, ton and toff are the switching-on and switching-off delay, td is the dead-time delay, Ts is the switching period, t*aon is the designed duration for the upper switching device to turn on,

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taon+

taon- are the compensated duration when the current

(300~900) correspondingly. Therefore, we can get rotor position position sensor. Judging the section
e e

direction is positive and negative, and D=t*aon /Ts (duty ratio), and = td + ton - toff.. The situations of phase-b and phase-c are similar as phase-a. . COMPESTATIVE METHOD As was analyzed before, the precondition for dead-time compensation is exactly acquiring the direction of the 3-phase currents. According to reference[6,7], the relation between the position of voltage space vectors and the directions of 3-phase currents is described in Fig.3, in which 6 arrows refer to voltage space vectors. Dash lines refer to crossover points where currents change their direction, and they divide the voltage space plane into 6 sections for dead-time compensation. In every section, + expresses the current flows the load, ,while - expresses the current flows from the load. For example, current directions of phase-a, phase-b, and phase-c are a+, b+, c- in section I.
-60 0
0 0

with the rotor

according to Tab.1, we

can get current space vector positions and current directions and then compensate dead-time effects in terms of corresponding formulas.
Tab.1. Relation between compensation forlmulas
e

, space vectors position, current directions, and

space
e

3-phase current direction a+,b+,ca-,b+,ca-,b+,c+ a-,b-,c+ a+,b-,c+ a+,b-,c-

compensation formulas taon+ ,tbon+ ,tcontaon- ,tbon+ ,tcontaon- ,tbon+ ,tcon+ taon- ,tbon- ,tcon+ taon+ ,tbon- ,tcon+ taon+ ,tbon- ,tcon-

vector position

e e e e e e

0
0

60

600 1200 1800 240

0

1200 1800 2400 300

0

Notice that in practice there will be situations that the pulse width of the PWM output is so small that the compensated duration becomes less than zero, or the pulse width of the PWM output is so large that the compensated duration becomes more than the saturation value of the duration. Therefore, compensated duration for the upper switching device according (2) and (4) have to be adjusted by following rules: If taon- 0; If taon+ Ts; then taon- =0 then taon+ = Ts

The situations of phase-b and phase-c are similar as phase-a to adjust the compensated duration for upper switching device.
Fig.3. voltage space vectors and 3-phase current directions

. SIMULATION AND EXPERIMENT In the drive of PMSM based on Field Oriented Control (FOC), when the reference id is set to zero (namely id=0 control strategy), the direction of rotor magnetic flux is always aligned with the d-axis of the rotor frame (d-q frame), and the direction of stator current is always aligned with the q-axis. Suppose the electrical angle between d-axis and the -axis of the fixed frame is
e,

In order to test the validity of compensation method on dead-time effects simulation and experiment results were presented. Fig.4 compares phase current with/without dead-time compensation method. As easy can be seen Fig.4(a), phase current was distorted due to dead-time effects. In other hand, Fig.4(b) shows the distortion of phase current was suppressed by applying the proposed dead-time compensation method. Fig.5 shows the diagram of drive system whit VSI

when

changes from 600 to

00, the current space vector in the Fig.3 is in section I

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operating SVPWM control strategy in the experimental application. TMS320LF2407A was the embedded MPU, which was used to perform all algorithms including FOC. In the power circuit of the system, the load was a PMSM, whose rating active power was input DC link voltage PM300CSD060. such as 7.5kW and pole number was 4. The of VSI was been set 31 V.

The power switch module used in the system was Typically, the electrical parameters are toff =2.0 s Vs = 1.7V, and Vd = 2.2V. ton =0.8 s

The switching frequency was 16kHz and dead-time of the inverter is set to 5 s. Fig.6 shows the experiment results with uncompensated and compensated current waveforms of phase-a current when the motor in low speed. There, time axis was 50ms/DIV and current axis was 20A/DIV.
Fig.4 Simulation waveform of phase current

Fig.5 Diagram of the drive system based on VSI with dead-time compensation unit

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directions with the position of space vectors and then make corresponding compensations. Furthermore, the simulation and experiment results proved that the compensation method on dead-time effects was executable and can be applied to the drive systems. ACKNOWLEDGMENTS The project was supported by Tongji University and Shanghai Ananda Drive Technology Corporation. The authors very thank for their helpful support and constant encouragement. They also thank the LEDAR research group of Ryerson University for their useful help and instruction.
(a) Waveform of phase a current before compensation

REFERENCES
[1] Xiaowei Zhang Yongdong Li Wensen Wang A novel implementation of SVPWM algorithm and its application to three-phase power converter[C]. PIEMC 2000 Virginia.1104-1107 [2] Zhenyu Yu. Space-Vector PWM WithTMS320C24x/F24x Using Hardware and Software Determined Switching Patterns [R] Application Report of TEXAS INSTRUMENTS 1999 9 [3] Yang Guijie, Sun Li. Research on Space Vector Pulse-Width Modulation methods. [J] Proceedings of the CSEE 2001 21(10) 79-83 [4] Vitor M Cardenas G.,Sergio Horta M., Rodolfo Echavarria S. .Elimination of dead-time effects in three phase inverters.[C]. CIEP1996, Mexico,258-262. [5] Jong-Woo C Seung-Ki S Inverter output voltage synthesis using novel dead-time compensation[J] IEEE TRANS Power Electionics 1996 11(2) 221-227 [6] Huang Wenxin Hu Yuwen. A novel method for dead-time compensation used in SVPWM inverter [J] Journal of Nanjing University of Aeronautics & Astronautics, 2002 34(2) 143-146

(b) Waveform of Phase a current after compensation Fig.6 Experiment waveforms of phase current

[7] Hu Qingbo, Lu Zhengyu. A novel method for dead-time compensation based on SVPWM[J]. Proceedings of the CSEE 2005 25(3) 13-17 [8] Wu Maogang, Zhao Rongxiang. Study of Vector-Controlled Permanent Magnet Synchronous Motor at Low Speed and Light Load [J], Transactions of China electrotechnical society, 2005,20(7):87-92 [9] Sun Xiangdong, Zhong Yanru A novel measuring method for

V. CONCLUSION In this paper the distortion of output voltage made by dead-time effects and the nonideal behavior of power switches was analyzed for VSI based on SVPWM. The compensation method according to current directions was advised. Aiming at the FOC drive system of PMSM, this paper advised the method that after acquiring the electrical position with rotor position sensor, we can get current

dead-time compensation[J] Proceedings of the CSEE 2003 23(2) 103-107 [10] Xu Defeng Han Zhonglin. Analysis of the influence of dead-time on inverter under the control of PWM [J], Low-voltage apparatus, 2004, 12: 53-57 [11] Zhang Junhong Zhao Jinghong. Analysis and compensation of the dead-time for space voltage vector PWM inverter[J], Small & Special Electrical Machines 2005 4 24 26 [12] J. W. Choi and S. K. Sul. A new compensation strategy reducing voltage/current distortion in PWM VSI systems operating with low output voltages[J]. IEEE Trans. Industry Application., 1995 , 31(5) 10011008

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