Basic Three Phase Voltage Source

Inverter Topology
Two Simultaneous Switch Gating
Scheme
Two Switch Gating Scheme-Phase Voltage
M M
M1,M6 M1,M2 M3,M2 M3,M4 M5,M4 M5,M6 M1,M6 M1,M2 M3,M2 M3,M4 M5,M4 M5,M6
R1
R2
R3
100V
M1,M6
R1
R2
R3
M1,M2
100V
R1
R2
R3
M3,M2
100V
R1
R2
R3
M3,M4
100V
R1
R2
R3
M5,M4
100V
R1
R2
R3
M5,M6
100V
M1
D1
M4
D4
M3
D3
M5
D5
M6 M2
D2
R1 R2 R3
R Y B
N
100V
Two Switch Gating Scheme-Phase Voltage
Spectra
Two Switch Gating Scheme-Line Voltage
M
M1,M6 M1,M2 M3,M2 M3,M4 M5,M4 M5,M6 M1,M6 M1,M2 M3,M2 M3,M4 M5,M4 M5,M6
R1
R2
R3
100V
M1,M6
R1
R2
R3
M1,M2
100V
R1
R2
R3
M3,M2
100V
R1
R2
R3
M5,M4
100V
R1
R2
R3
M5,M6
100V
R1
R2
R3
M3,M4
100V
M1
D1
M4
D4
M3
D3
M5
D5
M6 M2
D2
R1 R2 R3
R Y B
N
100V
Two Switch Gating Scheme-Line Voltage
Spectra
Three Switch Gating Scheme
Three switch gating scheme- Phase voltage
M
M1,M6,M5 M1,M6,M2 M1,M3,M2 M4,M3,M2 M4,M3,M5 M4,M6,M5 M1,M6,M5 M1,M6,M2 M1,M3,M2 M4,M3,M2 M4,M3,M5 M4,M6,M5
R1
R2
R3
100V
M1,M6,M5
R1
R2
R3
M1,M6,M2
100V
R1
R2
R3
M1,M3,M2
100V
R1
R2
R3
M4,M3,M2
100V
R1
R2
R3
M4,M3,M5
100V
R1
R2
R3
M4,M6,M5
100V
M1
D1
M4
D4
M3
D3
M5
D5
M6 M2
D2
R1 R2 R3
R Y B
N
100V
Three switch gating scheme- Line voltage
M
M1,M6,M5 M1,M6,M2 M1,M3,M2 M4,M3,M2 M4,M3,M5 M4,M6,M5 M1,M6,M5 M1,M6,M2 M1,M3,M2 M4,M3,M2 M4,M3,M5 M4,M6,M5
R1
R2
R3
100V
M1,M6,M5
R1
R2
R3
M1,M6,M2
100V
R1
R2
R3
M1,M3,M2
100V
R1
R2
R3
M4,M3,M2
100V
R1
R2
R3
M4,M3,M5
100V
R1
R2
R3
M4,M6,M5
100V
M1
D1
M4
D4
M3
D3
M5
D5
M6 M2
D2
R1 R2 R3
R Y B
N
100V
Comparison of the two schemes
2 Switch Scheme

Six step L-L voltage Fourier Series:
( )

= ... 13 , 11 , 7 , 5 , 1
sin 3
n
d
n
t n
V
e
t


Quasi-square phase voltage Fourier Series:

=
)
`

|
.
|

\
|

... 13 , 11 , 7 , 5 , 1
3
sin
3
n
d
n
t n
V
t
e
t



3 Switch Scheme

Quasi-Square L-L voltage Fourier Series:
( ) { }

= ... 13 , 11 , 7 , 5 , 1
sin 3 2
n
d
n
t n
V
e
t


Six step phase voltage Fourier Series:

=
)
`

|
.
|

\
|

... 13 , 11 , 7 , 5 , 1
3
sin
2
n
d
n
t n
V
t
e
t

Comparison of the two schemes(2)

2 SWITCH OR 120
0

SCHEME
SIX STEP L-L VOLTAGE
3 SWITCH OR 180
0
SCHEME
SQUARE L-L VOLTAGE
PHASE VOLTAGES
(BALANCED LOAD)
QUASI-SQUARE SIX-STEP
L-L RMS VALUE
d
V
2
1
= 71 % of
d
V
d
V
3
2
= 82% of
d
V
L-L FUNDAMENTAL
AMPLITUDE
d
V
3
t
= 95% of
d
V
d
V
3 2
t
=110% of
d
V
RATIO OF m
th

HARMONIC
AMPLITUDE TO
FUNDAMENTAL

m
1


m
1


d
V = dc bus voltage. m (other than fundamental) = 6* any positive integer 1.

Conclusion: The 3 switch scheme gives higher fundamental component of line-line
voltage. Thus it is preferred for 3 phase motor drives. However with the two switch
scheme the chances of a shoot-through fault is largely eliminated.
Equivalent circuit of induction motors fed
from inverters
Harmonic supply voltage,
1
=

.
Harmonic synchronous speed,
1
=
1
.(Please refer to section 9.2 of the textbook).
(The negative sign because of reverse rotating magnetic field).

Harmonic slip,

1
=

1

1
=
1

1.
Examples: = 5,
5
=
51
5
= 1.2 ; = 7,
7
=
71
7
= 0.86; = 11,
11
=
111
11
= 1.091; =
13,
13
=
131
13
= 0.923.
Equivalent circuit of induction motors
fed from inverters(2)
The magnitude of harmonic magnetizing current is negligible as n
th
harmonic current though it is

1

2
of the fundamental current . Therefore, the magnetizing branch can be open circuited. As the
magnitude of
1
and
2

are much larger than

1
and
2

the resistors can be neglected and the

equivalent circuit reduces to the one shown above.
Now
1
=
1
;
2

=
2

.

The harmonic stator current is given by

1
=

1
(
1
+
2

)
=

1
+
2

Example using the two switch
conduction scheme
A 3 phase, 3 hp, 208 V, 1740 rpm, 60 Hz, 4 pole, Y connected, induction motor is supplied from
a constant 300 V dc bus 3 phase inverter in the six pulse mode (2 switches conducting
simultaneously). The motors equivalent circuit parameters are
1
=
2

= 0.5 ,
1
=
2

= 1 ,

= 35 . Find the 1
st
, 5
th
, and 7
th
harmonic line current, output power, torque of the motor
when it runs at 1740 rpm.
Solution:
For the 2 switch scheme, the Fourier series of the phase voltage is given by:

=
3

sin

=1,5,7.11.13
.
Thus the RMS value of the fundamental phase voltage is given by

1( )
=
3
2

=
3
2
300 = 117 V

5( )
=

1( )
5
=
117
5
= 23.4 V

7( )
=

1( )
7
=
117
7
= 16.7 V
Problem continued

V
1
=117<0
0
V
I
1
R
1
=0.5
jX
1
=j1 jX
2

=j1
R
2

=0.5

((1-s)/s)R
2

=14.5
jX
m
= j35
I
2

I
m
Slip corresponding to fundamental frequency

1
=

1
=
18001740
1800
= 0.033
The equivalent circuit for the fundamental voltage is as shown above.

1
= 0.5 + +
3515 +
15 +36
= 0.5 + +
15.033.81

3590

3967.38

= 0.5 + + 13.4926.43

= 0.5 + + 12.08 +6 = 14.429.09

.

1
=
1170

14.429.09

= 8.13 29.09 A.

2

=
1170

0.5+ 8.1329.09
15.033.81

=
1170

1.1263.438.1329.09
15.033.81

=
1170

9.1134.34

15.033.81

=
1177.525.13
15.033.81

=
109.62.68

15.033.81

= 7.29 6.49

A.
Problem continued(2)

1
= 3
2

= 3 7.29
2
14.5 = 2312

1
=

01

=
2312
2
1740
60

= 12.69Nm.
For 5
th
harmonic and 7
th
harmonic frequencies the equivalent circuit gets modified.
Slip corresponding to 5
th
harmonic

5
=

5
=
518001740
51800
= 1.2
Slip corresponding to 7
th
harmonic

7
=

7
=
718001740
71800
= 0.86
Solving the harmonic equivalent circuit,

5
=

1
+
2

=
117
25(2)
= 2.34 ;
5
= 3
5

1
5

5
= 3 2.34
2
0.5
11.2
1.2
= 1.37 W;

5
=
1.37
2
1740
60

= 0.071 Nm.

7
=

1
+
2

=
117
49(2)
= 1.194 ;
7
= 3
7

1
7

7
= 3 1.194
2
0.5
10.85
0.85
=
0.377 ;
7
=
0.377
2
1740
60

= 2.07 10
3
Nm.
Inverter Topologies For Induction Motor
Drives
Limitations of the Two Switch or Three
Switch Gating Schemes
With two switch or three switch gating schemes only frequency variation is possible
through the inverter.

Voltage variation has to be achieved through controlled rectifiers or choppers which
supplies the dc bus powering the inverter.

When fundamental frequency is low these switching schemes will introduce harmonics that
will cause considerable torque and speed ripple. For example if f
1
is 10 Hz, f
5
is 50 Hz,
f
7
is 70 Hz etc. All these 50 Hz, 70Hz, 110Hz, 130 Hz components can cause considerable
current in a 50 Hz or 60 Hz machine and hence torque and speed ripple.

To overcome this (separate voltage and frequency control and increase of lower order
harmonics at lower fundamental frequency ) v/f control through the inverter gating
alone can be achieved through various sinusoidal pulse width modulation
(SPWM) techniques. Some of them are discussed next.
Sinusoidal PWM Inverters
The inverter topology is same as that of the six-step inverter (see figure, top left). However the
gating pattern is different.

For each phase, two synchronized sine and triangle (zero crossing of sine coincides with the zero
crossing or the peak of triangle) waveforms are compared (see figure, top right) to generate the
PWM output. This is called natural sampling.The sine is called the modulating wave and the
triangle is called the carrier wave. Free running sine and triangle waveforms give rise to sub
harmonics. However, the sine and the triangle can be free running only with low frequency of the
sine (about < 5 Hz) and high frequency of the triangle. As in the case of the utility supply, the
sine-waves of each phase are phase shifted by 120
0
from one another as well.

If

is the peak of the sine and

the peak of the triangle, then the modulation index (M)=

defined as

. Usually

is varied and

is kept fixed. Also 0 1.

M1
D1
M4
D4
M3
D3
M5
D5
M6 M2
D2
R1 R2 R3
A B C
N
Vd/2
Vd/2
O
Sinusoidal PWM Inverters(2)
If

is the frequency of the sine and

the frequency of the carrier, =

is called the carrier

ratio or the frequency ratio. For a three-phase sine-PWM inverter, = 9,15,21,27, 3, =
odd. This eliminates the even harmonics from the inverter voltage. Usually q is varied with

such that

is within a certain band. Normally

is around 4-5 kHz. This frequency is a good

compromise between stress level of motor insulation and THD of the motor current. The figure
below shows a typical

versus

relationship.
f
c
f
m
Three-phase PWM waveforms and
harmonic spectrum
Experimental line voltage (pink) and line current (black) for a 2 kW, 4
pole, 60 Hz induction motor running at 1330 rpm in a closed-loop
slip controlled drive using a PWM inverter
Top : No Load . Bottom: Full Load
Experimental line voltage (pink) and line current (black) waveform for a
2 kW, 4 pole, 60 Hz induction motor running at 1770 rpm in a closed-
loop slip controlled drive using a PWM inverter
Top : No Load . Bottom: Full Load
Sinusoidal PWM Inverters(3)
If the peak of the sine wave and the frequency of the sine wave are changed simultaneously such
that their ratio is maintained constant, the inverter output voltage/frequency ratio is also kept
constant as they change. Thus a single control signal that controls the amplitude and frequency of
the sine wave is sufficient to obtain v/f control of the induction motor.

The RMS line-line fundamental voltage
1
=
3
2

,
=
3
22

= 0.612

.
0 1. For RMS line-line voltages of other line harmonic components, the plot and the
table as shown in the next two slides, has to be used as the relationship is not linear as the
fundamental.
Plot of the normalized fundamental
and some higher harmonic components versus
modulation index (M)
q
k=2q 1
3q
Generalized harmonics of line-line for a
large q that is a multiple of 3



0.2

0.4

0.6

0.8

1.0

1

0.122

0.245

0.367

0.490

0.612

2

0.010

0.037

0.080

0.135

0.195

4



0.005

0.011

2 1

0.116

0.200

0.227

0.192

0.111

2 5



0.008

0.020

3 2

0.027

0.085

0.124

0.108

0.038

3 4



0.007

0.029

0.064

0.096

4 1

0.100

0.096

0.005

0.064

0.042

4 5



0.021

0.051

0.073

4 7

0.010

0.030

Example of PWM controlled induction motor drive
In a three-phase sine-PWM converter,

= 300 V, = 0.2, = 39,

1
= 12 Hz. a) Calculate
the RMS values of the fundamental-frequency voltage and some dominant harmonics in the line-
line voltages and the THD. b) Calculate next the harmonics in the phase current of an induction
motor connected in delta and the THD for a slip frequency of 2 Hz. The motors equivalent
circuit parameters are
1
=
2

= 0.5 ,
1
=
2

= 1 ,

= 35 at 60 Hz.
Harmonic Line-line voltage (V) Harmonic Frequency (Hz)
1 300*0.122=36.6 12
2 = 37 300*0.010=3 12*39= 444
+2 = 41 300*0.010=3 12*41= 492
2 1 = 77 300*0.116=34.8 12*77=924
2 + 1 = 79 300*0.116=34.8 12*79=948
3 2 = 115 300*0.027=8.1 12*115=1380
3 +2 = 119 300*0.027=8.1 12*119=1428
4 1 = 155 300*0.1=30 12*155=1860
4 +1 = 157 300*0.1=30 12*157=1884

a) From the earlier table the line-line voltages at fundamental and other higher frequencies can
be computed as follows using the values in the highlighted column corresponding to M=0.2
from the table in the previous slide.
Total Harmonic Distortion voltage =
2 3
2
+2 34.8
2
+2 8.1
2
+2 30
2
36.6
=
66.12
36.6
= 1.81 or 181%
b) =
2
12
=
1
6

With this value of slip and inverter frequency of 12 Hz the motor equivalent circuit can be
redrawn as:
V
1
=36.6<0
0
V
I
1
R
1
=0.5
jX
1
=j0.2

jX
2

=j0.2
R
2

=0.5
((1-s)/s)R
2

=2.5
jX
m
= j7
I
2

I
m

1
=
1
+
1
+

+
2

+(

+
2

)
= 0.5 + 0.2 +
7 (3 +0.2)
3 +(7 + 0.2)
= 0.5 +0.2 +
21.0593.81

7.867.38

= 0.5 +0.2 + 2.726.43

= 0.5 +0.2 + 2.42 +1.2 = 2.92 +1.4 = 3.2425.62

1
=

1
=
36.60

3.2425.62

= 11.3 25.62

A

1
= 11.3 A.
Example of PWM controlled induction motor drive (2)
Example of PWM controlled induction motor drive (3)


Using the harmonic equivalent circuit as shown above the harmonic currents can be computed as

37
=
3
2 0.2 37
= 0.2 A

39
=
3
2 0.2 39
= 0.18 A

77
=
34.8
2 0.2 77
= 1.13 A

79
=
34.8
2 0.2 79
= 1.10 A

115
=
8.1
2 0.2 115
= 0.176 A

117
=
8.1
2 0.2 117
= 0.170 A

155
=
30
2 0.2 155
= 0.484 A

157
=
30
2 0.2 157
= 0.478 A

Total Harmonic Distortion current
=
0.2
2
+ 0.18
2
+ 1.13
2
+ 1.1
2
+ 0.176
2
+ 0.17
2
+ 0.484
2
+ 0.478
2
11.3
=
1.756
11.3
= 0.1554 or 15.54%
Overmodulation (M>1)
V
d
Normalized RMS value of the
Fundamental line-line voltage
(with respect to V
d
, the dc bus
voltage), versus modulation
index M.

Overmodulation: M =1.55.

Pulse dropping due to
overmodulation.

For values of M > 1, the relationship between M and the fundamental value of the RMS voltage
becomes nonlinear (Figure above, left). This is caused as V
m
, the sine peak becomes higher
than V
c
, the triangle peak (Figure above, middle). This also causes progressively narrowing
pulses and notches with increasing M. Eventually because of dead time requirement of the
switches they are eliminated by the control circuit (Figure above, right). Overmodulation finally
leads to a quasi-square line-line voltage (like the three switch scheme earlier) once M= 3.24.
Sinusoidal Modulation With Regular Sampling
In this scheme a sampled version of the original sinusoidal reference in used. If the sampling is
done only at the positive peaks of the triangle it is called symmetrical sampling (Fig. a above).
If the sampling is done at both positive and negative peaks of the triangle it is called
asymmetrical sampling (Fig. b above). The PWM pattern can then be stored for different
values of modulating index M in a non-volatile memory. This scheme requires much
less memory compared to naturally sampled PWM scheme when implemented using a
microcontroller. It also solves parameter drift, dc offset etc. associated with analog electronics.
Optimal Pulse-width Modulation
(Programmed Harmonic Elimination)
Pre-determined notches are introduced in the switching patterns to eliminate certain harmonics
like 5,7,11,13 etc. in the inverter output voltage. The notches are introduced in such a way that the
quarter-wave symmetry is preserved. Because of the quarter-wave symmetry all cosine terms in
the Fourier series will be absent.
For example, if we want to eliminate the 5
th
and the 7
th
harmonic and keep the fundamental at a
certain value , then from the definition of Fourier series

=
4

sin

2
0
.
One needs to introduce three notches in the quarter cycle to write the following three equations:
=
1
=
4

sin

1
0

sin +

1
4

sin
4

sin

2

=
4

cos
1
+ 1 cos
1
+ cos
2
cos
3
+ cos
2
cos
3

=
4

1 2cos
1
+ 2 cos
2
2cos
3

0 =
5
=
4
5

1 2cos 5
1
+ 2 cos 5
2
2cos 5
3

0 =
7
=
4
7

1 2cos 7
1
+ 2 cos 7
2
2cos 7
3

Solving the three equations will yield
1
,
2
,
3
.
Programmed Harmonic Elimination (2)

M1
D1
M4
D4
M3
D3
M5
D5
M6 M2
D2
R1 R2 R3
A
B C
N
Vd/2
Vd/2
O
If such a gating signal is applied to the inverter in the figure above (left)the normalize voltage

with respect to

2
will look like the figure above (right)
Programmed Harmonic Elimination (3)

1
,
2
,
3
can be pre-computed as a function of percentage of the maximum fundamental voltage
and stored in the memory as a look-up table. The figure above shows a plot using the data from
the table.