Inverter Applications

•Motor Drives

• Power back-up systems

•Others:

Example HVDC Transmission systems

1
 Single Phase Inverter
Square-wave “Modulation” (1)
+ Q1 Q’2 Vdc
q1(t) 1-q2(t)
Vdc +v - vout(t)
out t
1-q1(t) q2(t)
- Q’1 Q2 -Vdc

4 sin(n / 2)

vout (t )  Vdc  cos(nt  n0 )
 n 1 n
4
Vout 1  Vdc  1.27Vdc

2
 Single Phase Inverter
Square-wave “Modulation” (2)

THD = 0.48

Characteristics: - High harmonic content.

- Low switching frequency.
- Difficult filtering.
- Little control flexibility.
3
 Single Phase Inverter
Square-wave “Modulation” (3)
+ Q1 Q’2 Vdc
q1(t) 1-q2(t)
Vdc +v - vout(t)
1-q1(t)
out
q2(t)
t
- Q’1 Q2 -Vdc
2Vin sin(n / 2)

vout (t )  
 n1 n
cosn S t   cosn S t  n 
4  
Vout 1  Vdc cos 
 2

4
 Single Phase Inverter
Square-wave “Modulation” (4)
Example with Vout-1=1.21Vdc

THD = 0.3

Characteristics: - High harmonic content.

- Low switching frequency.
- Difficult filtering.
- More control flexibility.
5
 Single Phase Inverter
Pulse Width Modulation (1)

vout  DVdc  (1  D)( Vdc )  Vdc (2 D  1)

D is the duty cycle of switch Q1. D is the portion of

the switching cycle during which Q1 will remain
closed.
TON Q11
D
TS
In PWM D is made a function of time
D=D(t)

6
 Single Phase Inverter
Pulse Width Modulation (2)

•Let’s 1 1 Modulation
D   m(t )
2 2 function

where m(t )  m[cos(0t )]

Modulation Fundamental
index Signal
Vout 1
m
Vdc
7
 Single Phase Inverter
Pulse Width Modulation (3)
1
D  [1  m cos(0t )]
2
 n m(t ) 
 sin   
4Vdc   cos(n t )
vout (t )  m(t )Vdc  
 n1
2
n
2
S

Moving average

t
vout  Vdc (2 D  1)  m(t )Vdc

8
 Single Phase Inverter
Pulse Width Modulation (4)
Implementation issue: time variable “t” needs to be
sampled. Two basic sampling methods: UPWM
NSPWM

9
 Single Phase Inverter
Pulse Width Modulation (5)

10
 Single Phase Inverter
Pulse Width Modulation (6)
Considering that m(t )  m cos( 0t )

NSPWM UPWM
Fundamental mVdc  nm 
J  
(n=1) and its no sidebands 4Vdc  k n  2k   n  
sidebands 
 i 1 n 1
sin   n  
 k  2
Carrier 4Vdc   im   i  4Vdc  1  im   i 
component  J   sin  
 i 1  2   2 
0  J0  sin  
 i 1 i  2   2 
(n = k)
Sidebands of  im   nm 
the carrier 4Vdc  n  2  
J
  4Vdc 
J  
k n  2k   n  
 i sin n  i   sin   n  
 i 1 2   i 1 n 1  k  2

11
 Three Phase Inverter
Pulse Width Modulation (1)
Active States:
State Qa Qb Qc
S1 0 0 1
S2 0 1 0
Zero States: S3 0 1 1
State Qa Qb Qc S4 1 0 0
S0 0 0 0 S5 1 0 1
S7 1 1 1 S6 1 1 0
12
 Three Phase Inverter
Pulse Width Modulation (2)
ma (t )  m[cos(0t )  ea 0 (t )]
Modulation m (t )  m[cos( t  2 / 3)  e (t )]
b 0 b0
Functions
mc (t )  m[cos(0t  2 / 3)  ec 0 (t )]

ea 0 (t )  e03 (t )  ea 0H (t )
“Zero-Sequence” e (t )  e (t )  e (t )
b0 0 3 b 0 H
Signals
ec 0 (t )  e03 (t )  ec 0H (t )

13
 Three Phase Inverter
Pulse Width Modulation (3)
Triplen Harmonics (3, 9, 15, …)

ma (t )  m[cos(0t )  e03 (t )  ea 0H (t )]

Modulation Fundamental Other

index Signal Harmonics
V ph peak (5, 7, 11, 13, 17, ….)
m
Vdc / 2

14
 Three Phase Inverter
Pulse Width Modulation (4)
m cos(0t )

e03 (t )  m(1/ 6) cos(30t )

ma (t )  m[cos( 0t )  e03 (t )]  m[cos( 0t )  (1 / 6) cos( 30t )]

15
 Classic Approaches to PWM (1)
Time Domain
Use of modulation signal: Duty cycle computation:

 D  1  1 m (kT )
 a 2 2 a s

 1 1
 Db   mb (kTs )
t  2 2
 D  1  1 m (kT )
 c 2 2 c s

16
Sector limits
 Classic Approaches to PWM (2)
Classic SVM - Application
Park’s
Transformation
ia* (t )
ib* (t )
Park’s Transformation
3 2
ic* (t )
 1 1  ia 
M (kTs ) M d* (kTs )
 
*

M  2 1  
q
M d (kTs ) *

-  * 
d 2 2  ib 
M de d-PI Domain
M  3
Controller Transformer
 q  0 3

3  
2  c 
+
(Modulator)
 i
- Space
Vector Time 2
q-PI

ia  cos(t )
+
M qe Controller M q (kTs )
M d*  cos(t )
Switch
Control
M qref (kTs ) M dref (kTs )
ib  cos(t  2 / 3)

vref M q*  sin(t )
(From Vector Controller)
DC
Source
Inverter Motor ic  cos(t  2 / 3)

Disadvantages: Can’t see evolution in time

Loss of information about e0-3(t)

17
 Classic Approaches to PWM (3)
Classic SVM
S2 v̂q
S6 Space vector domain
v̂2 SECTOR v̂6
Bdq  vˆd vˆq 
II  SECTOR
SECTOR vref I
v̂3 III v̂0 t v̂4 2 Bases
S3 v̂7 O v̂ BSVM  vˆi vˆ j 
SECTOR SECTOR S d
4
IV VI
v̂1 SECTOR v̂5 BSVM changes in
V each sector
S1
S5 vˆi  vˆ4
S
In O: 7 BSVM in sector I
S0 vˆ j  vˆ6
18
 Classic Approaches to PWM (4)
Classic SVM
Transitions within
S6
sector I T7=T0
S2
SVM Computation
S4 
S7 -Track the sector in which vref is in and based on it
S3 select the appropriate set of basis Bij
S0 
-Calculate the coordinates of vref in the basis Bij
S5
S1
- Change the coordinates of the reference voltage vector

from basis Bdq to basis Bij. The sector dependant transformation yields the period of
time Ti that the machine remains in each state in a given sampling period.

- When the time Ti is finished move to the next state following the sequence given by
the SVM state machine.

19
 Mathematical Framework (1)
Complete representation
involves a 3-D space
Then, a 3-D vector 
can
be introduced: v

R Control Time
Space Vector Domain
S
Domain
Output Time
W Domain

20
 Mathematical Framework (2)
Control Time Domain
Functions of time are used as basis

tˆa  cos(t )  ea 0 (t )
ˆ
Bt  ta , tb , tc   tb  cos(t  2 / 3)  eb 0 (t )
ˆ ˆ ˆ
tˆ  cos(t  2 / 3)  e (t )
c c0


v  m(tˆa  tˆb  tˆc )

21
 Mathematical Framework (3)
Space Vector Domain

dˆ  1 0 0 T


Bdq 0  dˆ , qˆ , nˆ0 t   qˆ  0 1 0
T


ˆ
n
 0t  0 0 e 0 3 (t ) T


v  vd (t )dˆ  vq (t )qˆ  v0 (t )nˆ0t

When e0-H(t)=0, v describes a circumference
with radius equal to m.

22
 Mathematical Framework (4)
Output Time Domain

vˆa  1 0 0
T


BS  vˆa , vˆb , vˆc   vˆb  0 1 0
T


vˆc  0 0 1
T

v  va (t )vˆa  vb (t )vˆb  vc (t )vˆc

23
 Mathematical Framework (5)
Output Time Domain
Length of sides equal to 2

Each corner represents one state

State sequence is obtained naturally

Bdq  va  vb  vc  0
Balanced system plane

Sectors: six pyramid-shaped volumes bounded by sides of

the cube and |vi|=|vj| planes (i, j = a,b,c; i  j).

24
 Mathematical Framework (6)
Matrix R

When e0-H(t)=0, v describes a circumference
with radius equal to m.
1st Idea: Use Park’s transformation to a synchronous
rotating reference frame:

 vd   cos(t ) cos(t  2 / 3) cos(t  2 / 3)  m(cos(t )  e03 (t )) 

  2  
 q
v   sin(t ) sin(t  2 / 3) cos(t  2 / 3)  m (cos(t  2 / 3)  e0 3 (t )) 
v  3  1  m(cos(t  2 / 3)  e (t )) 
 0  1 1  0 3 

Instantaneous values of the voltages

25
 Mathematical Framework (7)
Matrix R
 vd   1  Problem: components in d̂ and q̂
   
 q 
v  1 
 v   2me (t ) 
are constant values
 0  0 3 
I am interested in having a constant value in nˆ0 t
2nd Idea: Freeze the rotational reference frame at t=0
 1 1
 1   
 d
v  2 2  m(cos(t )  e03 (t ))   m cos(t ) 
  2 3 3    
 vq    0   m(cos(t  2 / 3)  e03 (t ))    m sin(t ) 
v  3 2 2 
      2me (t ) 
 0  1 1 1  m (cos( t 2 / 3) e0 3
(t ))   0 3 
 
 
26
 Mathematical Framework (8)
Matrix R
3rd Idea: Rearrange the product.
 1 1
 1   
  vd   2 2  cos(t )  e03 (t ) 
vB   2 3 3  
dq 0  q
v  0   cos( t  2 / 3)  e (t )  m
v  3 2 
0 3
2 
 0 1 1 1  cos(t  2 / 3)  e03 (t ) 
 
 

 cos(t )  (1 / 2) cos(t  2 / 3)  (1 / 2) cos(t  2 / 3)  m 

2  
  0  ( 3 / 2) cos(t  2 / 3) ( 3 / 2) cos(t  2 / 3)  m 
3  m 
 e03 (t ) e03 (t ) e03 (t )  

vB t

27
 Mathematical Framework (9)
Matrix R
4th Idea: Eliminate the dependency on e0-3(t) in
order to have a constant coordinate in nˆ0 t
 cos(t )  (1 / 2) cos(t  2 / 3)  (1 / 2) cos(t  2 / 3) 
2 
R  0  ( 3 / 2) cos(t  2 / 3) ( 3 / 2) cos(t  2 / 3) 
3 
 1 1 1 

 vd   m  cos(t ) 
     
 vq   R m   m sin(t ) 
v   m  2 
 0    

28
 Mathematical Framework (10)
Matrix R
In order to include e0-H(t) we need to follow the
same steps and apply superposition.
 cos(t )  (1 / 2) cos(t  2 / 3)  (1 / 2) cos(t  2 / 3) 
2 
R  0  ( 3 / 2) cos(t  2 / 3) ( 3 / 2) cos(t  2 / 3)  
3 
 1 1 1 
 ea 0 H (t )  (1 / 2)eb 0 H (t )  (1 / 2)ec 0 H (t ) 
2 
  0  ( 3 / 2)eb 0 H (t ) ( 3 / 2)ec 0 H (t ) 
3 
 0 0 0 
 cos(t )  ea 0 H (t )  (1/ 2)(cos(t  2 / 3)  eb 0 H (t ))  (1/ 2)(cos(t  2 / 3)  ec 0 H (t )) 
2 
R  0  ( 3 / 2)(cos(t  2 / 3)  eb 0 H (t )) ( 3 / 2)(cos(t  2 / 3)  ec 0 H (t )) 
3 
 1 1 1 

29
 Mathematical Framework (11)
Matrix W
ˆ 1 1
d '  vˆa  vˆb  vˆc
2 2
qˆ '  vˆb  vˆc
nˆ '0  qˆ  dˆ  vˆa  vˆb  vˆc

 dˆ '   1  1 / 2  1 / 2  vˆa 
    
 qˆ '    0  1 1  vˆb 
 nˆ '   1  vˆ 
 0  1 1  c 

W’
30
 Mathematical Framework (12)
Matrix W
 1  1/ 2  1/ 2 
 
W '  0 1 1  1) Take the transpose
1 1 
 1 and apply scaling
factor
2 0 1
1 
W ' '    1  3 1
2
 1 3 1 2) Include e0-3(t) in
order to have it as
2 0 e03 (t )  a component
1  
W    1  3 e03 (t ) 
2
 1 3 e03 (t ) 

31
 Mathematical Framework (13)
Matrix S
S=WR

 2 cos(t )  e03 (t )  cost  2 / 3  e03 (t )  cos(t  2 / 3)  e03 (t ) 

1 
S    cos(t )  e03 (t ) 2 cos(t  2 / 3)  e03 (t )  cos(t  2 / 3)  e03 (t )  
3 
  cos(t )  e03 (t )  cos(t  2 / 3)  e03 (t ) 2 cos(t  2 / 3)  e03 (t ) 
 2ea 0 H (t )  eb 0 H (t )  ec 0 H (t ) 
1 
   ea 0 H (t ) 2eb 0 H (t )  ec 0 H (t ) 
3 
  ea 0 H (t )  eb 0 H (t )  2ec 0 H (t ) 
 2 cos(t )  e03 (t )  2ea 0 H (t )  cost  2 / 3  e03 (t )  eb 0 H (t )  cos(t  2 / 3)  e03 (t )  ec 0 H (t ) 
1 
S    cos(t )  e03 (t )  ea 0 H (t ) 2 cos(t  2 / 3)  e03 (t )  2eb 0 H (t )  cos(t  2 / 3)  e03 (t )  ec 0 H (t ) 
3 
  cos(t )  e03 (t )  ea 0 H (t )  cos(t  2 / 3)  e03 (t )  eb 0 H (t ) 2 cos(t  2 / 3)  e03 (t )  2ec 0 H (t ) 

32
 3D Analysis and Representation
 
vB  ( R )v B
  dq 0 t

v B  (W )v B
S dq 0
 
v B  ( S )v B
S t

 va   cos(t S )  ea 0 (t S ) 
   
 vb   m cos(t S  2 / 3)  eb 0 (t S ) 
v   cos(t  2 / 3)  e (t ) 
 c  S c0 S 

33
 3D Analysis and Representation
1
ei 0 (t )  e03 (t )   cos(3t )
4

UPWM

34
 3D Analysis and Representation
SVM

UPWM

35
 3D Analysis and Representation

3D Representation: Plot

evolution of v in output
time domain during a
complete fundamental
period.

The resulting curve always

lays within the cube defined
by the switching states.
1
ei 0 (t )  e03 (t )   cos(3t )
6

36
 3D Analysis and Representation
Triplen harmonic distortion:
Evolution away from the
plane va+vb+vc=0

Other harmonic distortion:

non circular projection
of the curve over the
plane va+vb+vc=0

Sharp corners indicate the presence of higher

order harmonics.

37
 Commonly used schemes

ei 0 (t )  0 1
ei 0 (t )  e03 (t )   cos(3t )
6

SVM

Square wave

38
 3D Analysis and Representation

1
ei 0 (t )  0 ei 0 (t )  e03 (t )   cos(3t ) Square wave
6

39
 3D Analysis and Representation
Phase and Line Voltages (1)
   1 
vab  va  vb  vˆa  vˆb vab (t )  Vdc (v .vab )
2
 1   1 1 
voa  (vab  vca )  (2vˆa  vˆb  vˆc ) voa (t )  Vdc (v .voa )
3 3 2

Phase Leg a b c
Phase
voltages
13 2  1  1
T
13  1 2  1
T
13  1  1 2
T

Line Voltages 1  1 0
T
0 1  1
T
 1 0 1
T

40
 3D Analysis and Representation
Phase and Line Voltages (2)

voa (t) va (t)

Direction of vab
t Direction of voa

41
 3D Analysis and Representation
Phase and Line Voltages (3)
e03 (t )  (1/ 4) cos(30t )
e0 H (t )  (1/ 10) cos(50t )
voa (t) va (t)

42
 3D Analysis and Representation
Maximum non distorting range
Radius of circle is m if it is
measured in the Space Vector
Domain.
There is a scaling factor in W
 
vd Bdq 0  vˆd vd 1
Bdq 0

 3
vd BS  vˆa  0.5vˆb  0.5vˆc vd BS

2
1
ei 0 (t )  e03 (t )   cos(3t ) 2 2
6 mmax ND
 2  1.15
3 3
43
 3D Analysis and Representation

vi  Di  (1  Di ) 1  2 Di  1 , i  a, b, c
If fswitch>>ffund then vi  vi
44
 3D Analysis and Representation

45
 3D Analysis and Representation
Sector I Sector II Sector III
T7 T6 T4 T0 T7 T6 T 2 T0 T7 T 3 T2 T0

Qa Qb Qb

Qb Qa Qc

Qc Qc Qa

T7  DminTs
T  (1  D )T
 0 max s

Ti  ( Dmax  Dmed )Ts , (i  1, 2, 4)
T j  ( Dmed  Dmin )Ts , (j  3, 5, 6)

46
 Analysis of SVM (1)
T7=T0 Dmin=1-Dmax

vmax +vmin=0

S is sector e (t )  e (t )  1 v (t )
0 0 3 med
dependent 2
(considering e0-H(t)=0)

SVM tends to approximate the trajectory of a

square wave, but adds 3rd harmonic and
higher order triplen harmonics
No difference in sequence compared to other schemes
47
 Analysis of SVM (2)

t t

Fundamental and Modulating signals

zero-sequence
signal

48
 Analysis of SVM (3)

Control Time Space Vector Output Time

Domain Domain Domain

Digital implementation related to sampling method

selected, not to the modulation function used.
1
ei 0 (t )   cos(3t ) vs. SVM
6

2
mmax   1.15
3
49