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Design oI Multilevel Inverter Driven Induction Machine
Urmila Bandaru
G.. Pulla Reddy Engineering College, Kurnool
A.P., India
E-mail: urmila913gmail.com

Subbarayudu
Brindavan Institute oI Technology, Kurnool
A.P., India
E-mail: dsrgmail.com

The research is financed by Asian Development Bank. No. 2006-A171(Sponsoring information)
Abstract
Multilevel inverters have gained interest in recent years in high-power medium-voltage industry. This
paper considered the most popular structure among the transIormer-less voltage source multilevel inverters,
the diode-clamped inverter based on the neutral point converter. This paper proposes a single carrier multi-
modulation SVPWM technique with conventional space vector switching sequence. Simulation results
presents comparison oI single and multicarrier conventional space vector switching sequence with general
switching sequence oI nine-level diode-clamped inverter Ior stator currents, electromagnetic torque and
speed Ior constant modulation index and Ior constant V/I control method. Simulation is carried out in
MATLAB-Simulink soItware.
Keywords- Multilevel inverter, APODC, SVPWM, total harmonic distortion, Diode-clamped inverter,
SCMMOS, MCMMOS, Induction machine, synchronously rotating reIerence Irame
1. Introduction
Multilevel inverters have drawn tremendous interest in high-power medium-voltage industry. In literature,
inverters with voltage levels three or more reIerred as multilevel inverters. The inherent multilevel structure
increase the power rating in which device voltage stresses are controlled without requiring higher ratings on
individual devices. They present a new set oI Ieatures that suits well Ior use in static reactive power
compensation, drives and active power Iilters. Multilevel voltage source inverter allows reaching high
voltages with low harmonics without use oI series connected synchronized switching devices or
transIormers. As the number oI voltage levels increases, the harmonic content oI output voltage waveIorm
decreases signiIicantly. The advantages oI multilevel inverter are good power quality, low switching losses,
reduced output dv/dt and high voltage capability. Increasing the number oI voltage levels in the inverter
increases the power rating. The three main topologies oI multilevel inverters are the Diode clamped
inverter, Flying capacitor inverter, and the Cascaded H-bridge inverter by Nabae et al. (1981).
The PWM schemes oI multilevel inverters are Multilevel Sine-Triangle Carrier Pulse Width Modulation-
SPWM and Space Vector Pulse Width Modulation-SVPWM. Multilevel SPWM involves comparison oI
reIerence signal with a number oI level shiIted carriers to generate the PWM signal. Due to its simplicity
and its well deIined harmonic spectrum which is concentrated at the carrier Irequency, its sidebands, and its
multiples with their sidebands, the SPWM method has been utilized in a wide range oI AC drive
applications. However, the method has a poor voltage linearity range, which is at most 78.5 oI the six-
step voltage Iundamental component value, hence poor voltage utilization. ThereIore, the zero sequence
signal injection techniques that extend the SPWM linearity range have been introduced Ior isolated neutral

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load applications which comprise the large majority oI AC loads. The carrier based PWM methods can
operate with high switching Irequency and oIIer high waveIorm quality and implementation advantages.
Carrier based PWM methods employ the per carrier cycle volt-second balancing principle to program a
desirable inverter output voltage waveIorm. The programmed PWM technique, SVPWM involves
synthesizing the reIerence voltage space vector by switching among the nearest voltage space vectors.
SVPWM is considered a better technique oI PWM owing to its advantages (i) improved Iundamental
output voltage (ii) reduced harmonic distortion (iii) easier implementation in microcontrollers and Digital
Signal Processor. This paper considered the most popular structure among the transIormer-less voltage
source multilevel inverters, the diode-clamped converter based on the neutral point converter with
SVPWM technique by Carrara et al. (1992). This paper proposes a single carrier multi-modulation
technique Ior multilevel inverter driven induction machine, modeled in synchronously rotating reIerence
Irame. Simulation results present comparison oI single and multicarrier SVPWM oI nine-level diode-
clamped inverter. Improved Iundamental component oI voltage is observed with SCMM method. Reduced
total harmonic distortion and current ripple can be observed with Alternate Phase Opposition Disposition
Carrier (APODC) SVPWM technique by Leon et al. (1999). Simulation is carried out in MATLAB-
Simulink soItware.
. Diode-Clamped Multilevel Inverter
A three-phase nine-level diode-clamped inverter is shown in Fig.1. Each phase is constituted by 16
switches. The complementary switch pairs Ior phase A` are (S
a1
, S
a1
`
), (S
a2
, S
a2
`
), (S
a3
, S
a3
`
), (S
a4
, S
a4
`
), (S
a5
,
S
a5
`
), (S
a6
, S
a6
`
), (S
a7
, S
a7
`
), (S
a8
, S
a8
`
) and similarly Ior B and C phases. Clamping diodes carry the Iull load
current by Jose Rodriguez (2002).
Table1 shows phase to Iictitious midpoint o` oI capacitor string voltage (V
AO
) and line-to-line voltage
(V
AB
) Ior various switching`s.






1able 1 nlneLevel lnverLer volLage SLaLes
S
a1
S
a2
S
a3
S
a4
S
a5
S
a6
S
a7
S
a8
V
AO
V
AB
1 1 1 1 1 1 1 1 V
dc
/2 V
dc

0 1 1 1 1 1 1 1 3V
dc
/8 7V
dc
/8
0 0 1 1 1 1 1 1 V
dc
/4 6V
dc
/8
0 0 0 1 1 1 1 1 V
dc
/8 5V
dc
/8
0 0 0 0 1 1 1 1 0 5V
dc
/8
0 0 0 0 0 1 1 1 -V
dc
/8 3V
dc
/8
0 0 0 0 0 0 1 1 -Vdc/4 2V
dc
/8
0 0 0 0 0 0 0 1 -3Vdc/8 V
dc
/8
0 0 0 0 0 0 0 0 -V
dc
/2 0


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Figure 1 Circuit Diagram oI 3 Phase Nine Level Diode Clamped Inverter

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3. SVPWM Implementation
Implementation oI SVPWM involves (i) Sector identiIication-where the tip oI the reIerence voltage vector
lies (ii) Nearest three voltage space vectors (NTV) identiIication (ii) Determination oI the dwelling time oI
each oI these NTVs (iv) Choosing an optimized switching sequence.
Space vector diagram oI nine-level inverter with its 729 (3
9
) vectors are shown in Fig 2. Each sector takes
60 degrees. Sector1 diagram is shown in Figure 3. Each sector consists oI 64 regions 177 vectors.
.1 Sector and Region identification
Three phase instantaneous reIerence voltages (1) are transIormed to two phase (2). Every 60 degrees, Irom
zero to 360 degrees constitute a sector. IdentiIication oI the sector in which the tip oI the reIerence vector
lies is obtained by (3).


(1)

803
740
634
323
012

768
637
306
043
430
324
213

868
737
606
343
030
424
313

781

681

381

881

831

861

871

801

841

831

821

081

481

381

281

181

182

183

184

180

183

186

187

832
721

842
731

802
741

832
701

862
731

872
761

882
771

782
671

682
371

382
071

082
471

482
371

382
271

282
171

283
172

284
173

280
174

283
170

286
173

287
176

387
276
163

386
273
160

383
270
164

380
274
163

803
742
631

833
702
641

863
732
601

873
762
631

883
772
661

783
672
361

683
372
061

383
072
461

083
472
361

483
372
261

383
272
161

384
273
162

487
376
263
130

486
373
260
134

483
370
264
133

480
374
263
132

484
373
262
131

084
473
362
231

860
734
603
342
031
870
764
633
302
041

086
473
360
234
103
083
470
364
233
102
080
474
363
232
101

380
074
463
332
201

680
374
063
432
301

780
674
363
032
401

863
730
604
343
032
421

873
760
634
303
042
431

883
770
664
333
002
441

783
670
364
033
402
341

683
370
064
433
302
241

383
070
464
333
202
141

876
763
630
304
043
432
321

886
773
660
334
003
442
331

786
673
360
034
403
342
231

686
373
060
434
303
242
131

687
376
063
430
304
243
132

887
776
663
330
004
443
332
221

787
676
363
030
404
343
232
121

387
076
463
330
204
143

386
073
460
334
203
142

087
476
363
230

880
774
663
332
001

830
704
643
332
021
834
703
642
331

864
733
602
341

874
763
632
301
884
773
662
331

784
673
362
031

684
373
062
431

384
073
462
331

804
743
632
321

843
732
621

811

812

813

814

810

813

816

817

818

718

618

318

018

418

318

328
217

428
317

028
417

328
017

628
317

728
617

828
717

827
716

826
713

823
710

820
714

824
713

823
712

822
711

438
327
216

038
427
316

338
027
416

638
327
016

738
627
316

838
727
616

837
726
613

836
723
610

833
720
614

830
724
613

834
723
612

833
722
611

848
737
626
313

748
637
326
013

648
337
026
413

348
037
426
313

048
437
326
213

847
736
623
310
846
733
620
314

843
730
624
313
840
734
623
312

844
733
622
311

800
744
633
322
011

806
743
630
324
013

808
747
636
323
010

708
647
336
023
410

608
347
036
423
310

308
047
436
323
210
638
307
046
433
320
214

738
607
346
433
420
314

838
707
646
333
020
414

738
607
346
033
420
314

638
307
046
433
320
214

833
700
644
333
022
411

867
736
603
340
034
423
312

866
733
600
344
033
422
311

878
767
636
303
040
434
323
212

807
746
633
203
014

877
766
633
300
044
433
322
211

218

288
117

238
127

248
137

208
137

238
107

268
137

278
167

288
177

478
367
236
103

468
337
206
143

438
307
246
133

408
347
236
123

448
337
226
113

488
377
266
133

008
447
336
223
110
038
407
346
233
120
068
437
306
243
130
078
467
336
203
140
088
477
366
233
100

338
007
446
333
220
114

368
037
406
343
230
124

378
067
436
303
240
134

668
337
006
443
330
224
113

678
367
036
403
340
234
123

778
667
336
003
440
334
223
112

388
077
466
333
200
144

688
377
066
433
300
244
133

788
677
366
033
400
344
233
122

888
777
666
333
000
444
333
222
111

188

178

168

138

108

148

138

128

118

378
267
136

388
277
166

368
237
106

338
207
146

308
247
136

348
237
126

338
227
116
Figure 2 Nine-Level Inverter State Space Vector Diagram

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(2)
; (3)
Where 0 is the angle varies Irom 0 to 2a.
Amplitude and angle oI the reIerence vector are obtained Irom (3).
From Park`s transIormation the di-phase, u- components are:
(4)
(5)
Region is obtained by normalizing the di-phase components oI the space vector (4)-(5) oI an n-level
inverter through division by V
dc
/n-1, where V
dc
is the dc link voltage.
.2 Determination of the duration of nearest three voltage space vectors
Switch dwelling duration is obtained Irom (6)-(7).
(6)
(7)
. Determination of optimi:ed switching sequence
Consider reIerence vector is lying in sector1 region 35 oI Figure 3. The nearest three space vectors Ior
switching sequence are , , .
The space redundant vectors Ior sector1-region 35, are, Ior 4 0 8, 3 5 7, 2 3 6, 1 2 5 (4 redundant
vectors), Ior 4 4 8, 3 3 7, 2 2 6, 1 1 5 (4 redundant vectors), and Ior 3 4 8, 2 3 7, 1 2 6 (3 redundant
vectors).
An optimized switching sequence starts with virtual zero vector`s state. A virtual zero vector is with
minimum oIIset Irom zero vector oI two-level inverter. Based on the principles derived in literature Ior
two-level inverter, Ior Region 35, the switching sequence is 4 0 84 4 8 3 4 8 3 4 7 3 3 7 2 3 7
2 3 6 2 2 6 1 2 6 1 2 5 1 1 5 during a sampling interval and 1 1 5 1 2 5 1 2 6 2 2 6 2 3
6 2 3 7 3 3 7 3 4 7 3 4 8 4 4 8 4 0 8 during the subsequent sampling interval. This sequence
uses all the space redundant vectors oI each state by Anish Gopinath et al.(2007), (2009).
. Mathematical Modeling of Induction Machine
Three-phase asynchronous or induction machines which contain a cage, are very popular motors in many
industrial variable speed drive applications and all this is due to its simple construction, robustness,
inexpensive, reliability, good eIIiciency and good selI-starting capability and available at all power ratings.
Progress in the Iield oI power electronics and microelectronics enables the application oI induction motors
Ior high-perIormance drives, where traditionally only DC motors were applied. During starting up and
other severe transient operations induction motor draws large currents, produces voltage dips, oscillatory
torques and can even generate harmonics in the power systems by Vivek Pahwa et al.(2009), Ogubuka et
al.(2009). It is important to predict these phenomena. A transient Iree operation oI the induction machine is

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achieved only iI the stator Ilux linkages are maintained constant in magnitude and its phase is stationary
with respect to the current by Krishnan (2003) and Leon et al. (1999). Various models have been developed
and the qd0 or two axis model Ior the study oI transient behaviors has been tested and proved to be very
reliable and accurate.



.1 Synchronously Rotating Reference Frames Model
The three phase balanced voltages are transIormed to di-phase components which are in stationary rotating
reIerence Irame. These are transIormed to synchronously rotating reIerence Irames using (11). The speed oI
the synchronously rotating reIerence Irames is the stator supply angular Irequency.
. J
qds
c e
qds
v T v =
(8)
. J
t
e
ds
e
qs
e
qds
v v v =
,
. J
t
ds qs qds
v v v =
(9)
. J

|

=


cos sin
sin cos
c
T
(11)
























19





















16
9
13
14
12 7
13
4
8
6 11 3
10 3
2
1
62
48
64
49
63
46 39
43 38
37
36 43
44
42
41 34
33
33 40
32 39
38 31
37 30
60
61
47
23
33
34
32
33
23
24
22
21 30
29 20
28
18 27
17 26
31
36

Figure 3 Sector1 Regions Space Vector Representation

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+
+
+
+
=

e
ds
e
qr
e
ds
e
qs
r r r r s m m r s
r r s r r m r s m
m m s s s s s
m s m s s s s
e
ds
e
qr
e
ds
e
qs
i
i
i
i
p L R L p L L
L p L R L p L
p L L p L R L
L p L L p L R
J
J
J
J
) ( ) (
) ( ) (




(13)




The electromagnetic torque is
) (
2 2
3
e
ds
e
qr
e
dr
e
qs m e
i i i i L
P
T = (14)
.2 J/f Control on Induction Motor
Most oI the industrial loads are operated based on constant Volts/Hz control method oI speed because oI its
simplicity. Neglecting the stator resistance drop, the ratio oI supply voltage to Irequency is maintained
constant by varying these variables. When the Irequency approaches to zero, the magnitude oI the stator
voltage also tends to zero and the stator resistance absorbs this low voltage. The stator resistance drop is
compensated at low speed by injecting the boost voltage to maintain rated air gap Ilux thus Iull load torque
is available up to zero speed. At steady state operation, iI load torque is increased, the slip increases within
stability limit and a balance will be maintained between the developed torque and the load torque. This
paper considered the V/I control on induction machine by Krishnan (2003).

5. Simulation Results and Conclusions
Simulation is carried out on nine-level diode-clamped inverter driven induction machine in synchronously
rotating reIerence Irame Ior two methods oI Space Vector PWM technique at switching Irequency 1.5 KHz
with APODC technique.
(i) SCMM CSVPWM-Single Carrier Multi-Modulation Ior Conventional SVPWM
(ii)MCMM CSVPWM-Multi-Carrier Multi-Modulation Ior Conventional SVPWM
In MCMM the carriers are in Alternative phase opposition disposition, where each carrier band is shiIted
by 180
0
Irom the adjacent bands.
Multi-Carrier Multi-Modulation results reduced harmonic distortion with reduced Iundamental component;
however Single Carrier Multi-Modulation results reduced harmonic distortion with highly improved
Iundamental component oI voltage.
Figure4 and Figure5 are responses oI induction machine Ior stator currents, electromagnetic torque and
speed oI MCMM and SCMM respectively.
The response is observed Ior speed reversal Irom 314 rad/sec to -314 rad/sec at time oI 0.86 seconds and
Irom -314 rad/sec to 314 rad/sec at time oI 0.85 seconds and 1.01 seconds respectively, in Figure6 and
Figure7. Transients are more in MCMM compared to SCMM. Reduced oscillatory behavior is observed in
MCMM. Settling time is less in SCMM compared to MCMM.
Figure6 shows the toque response with speed reversal at 0.86 seconds. When compared to MCMM, SCMM
results more torque.
Figure7 shows the speed response with change in toque Irom 0 to 50 N-m at 0.4 seconds. When compared
SCMM, dip in speed is more in MCMM.
Figure8 and Figure9 are the pole, phase and line voltages Ior SCMM and MCMM methods respectively.

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Figure12 and Figure13 show the stator currents, torque and speed response Ior constant V/I control. The
load torque requirement shiIts Irom 0 to 50 N-m at 0.4 seconds. Modulation index is 0.906 (50 Hz) at 0
seconds, 0.84 (46 Hz) at 0.8 seconds, 0.73 (40 Hz) at 1.2 seconds, 0.62 (35 Hz) at 1.6 seconds, 0.906 (-50
Hz) at 2 seconds, 0.84 (-46 Hz) at 2.4 seconds, 0.73(-40 Hz) at 2.8 seconds, and 0.62 (-35 Hz), at 3.2
seconds.
Figure14 and Figure15 are the pole, phase and line voltages Ior SCMM and MCMM methods respectively
Ior constant V/I control.
When Irequency Ialls below 40 Hz the MCMM perIormance is poor compared to SCMM.
Ripple content is high with V/I control in SCMM.

0 0.5 1 1.5 2
-100
-200
0
200
100
0 0.5 1 1.5 2
-100
-200
0
200
100
0 0.5 1 1.5 2
-100
-200
0
200
100

Figure 4 MCMM Stator Currents, Torque and Speed
0 0.5 1 1.5 2
-100
-200
0
200
100
0 0.5 1 1.5 2
-100
-200
0
200
100
0 0.5 1 1.5 2
-100
-200
0
200
100

Figure 5 SCMM Stator Currents, Torque and Speed

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0.8 0.82 0.81 0.8 0.88 0.9 0.92 0.91 0.9 0.98 1
-300
-200
-100
0
100
200
300
100
0.8 0.82 0.81 0.8 0.88 0.9 0.92 0.91 0.9 0.98 1
-300
-200
-100
0
100
200
300

Figure 6 SCMM, MCMM Stator Currents Ior speed reversal
Irom 314rad/sec to -314 rad/sec

1. 5 1. 52 1. 51 1. 5 1. 58 1. 1. 2 1. 1 1. 1. 8 1. Z
-100
-300
-200
-100
0
100
200
300
1. 5 1. 52 1. 51 1. 5 1. 58 1. 1. 2 1. 1 1. 1. 8 1. Z
-300
-200
-100
0
100
200
300

Figure 7 SCMM, MCMM Stator Currents Ior speed reversal
Irom -314rad/sec to 314 rad/sec
0. Z5 0. 8 0. 85 0. 9 0. 95 1 1. 05 1. 1
-100
-300
-200
-100
0
100
0. Z5 0. 8 0. 85 0. 9 0. 95 1 1. 05 1. 1
-300
-200
-100
0
100

Figure 8 SCMM, MCMM Electromagnetic torque Ior speed reversal at 0.86sec


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0.35 0.1 0.15 0.5 0.55 0.
210
20
280
300
320
0.35 0.1 0.15 0.5 0.55 0.
200
250
300
350

Figure 9 SCMM, MCMM rotor speed when torque change
Irom 0 to 50 N-m

0 0. 01 0. 02 0. 03 0. 01 0. 05 0. 0
-100
-50
0
50
100
0 0. 01 0. 02 0. 03 0. 01 0. 05 0. 0
-200
-100
0
100
200
0 0. 01 0. 02 0. 03 0. 01 0. 05 0. 0
-200
-100
0
100
200

Figure 10 SCMM Pole, Phase and Line Voltage

0 0. 01 0. 02 0. 03 0. 01 0. 05 0. 0
-100
-50
0
50
100
0 0. 01 0. 02 0. 03 0. 01 0. 05 0. 0
-200
-100
0
100
200
0 0. 01 0. 02 0. 03 0. 01 0. 05 0. 0
-200
-100
0
100
200

Figure 11 MCMM Pole, Phase and Line Voltage


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0 0.5 1 1.5 2 2.5 3 3.5
-500
0
500
0 0.5 1 1.5 2 2.5 3 3.5
-500
0
500
0 0.5 1 1.5 2 2.5 3 3.5
-2
0
2

Figure 12 SCMM Stator Currents, Torque and Speed with V/I Control
0 0.5 1 1.5 2 2.5 3 3.5
-500
0
500
0 0.5 1 1.5 2 2.5 3 3.5
-200
0
200
0 0.5 1 1.5 2 2.5 3 3.5
-2
0
2

Figure 13 MCMM Stator Currents, Torque and Speed with V/I Control
0 0.5 1 1.5 2 2.5 3 3.5
-100
0
100
0 0.5 1 1.5 2 2.5 3 3.5
-200
0
200
0 0.5 1 1.5 2 2.5 3 3.5
-200
0
200

Figure 14 SCMM Pole, Phase and Line Voltages with V/I Control

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Vol 2, No 6, 2011


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0 0.5 1 1.5 2 2.5 3 3.5
-100
0
100
0 0.5 1 1.5 2 2.5 3 3.5
-200
0
200
0 0.5 1 1.5 2 2.5 3 3.5
-200
0
200

Figure 15 MCMM Pole, Phase and Line Voltages with V/I Control

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