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Abstract: A novel pulse width modulation (PWM) scheme for a multilevel AC/DC/AC converter is
proposed. A power factor corrector using the hysteresis current control technique is presented to
improve the power quality at the rectifier side. The circuit configuration of the adopted five-level
rectifier has two AC power switches and one diode bridge. The proposed control scheme of the five-
level rectifier is based on a look-up table that is implemented by programmable array logic (PAL).
According to the proposed control method, the line current will follow the reference current with
unity power factor. The reference supply current is derived from a DC link voltage regulator and an
output power estimator. A three-level diode clamped voltage source inverter is used to reduce the
output voltage harmonics and blocking voltage of each power device in each leg. The high power
factor and low current distortion at the input of the rectifier and the low total harmonic distortion at
the output of the inverter are verified by the experimental results.
398 IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999
2 System configuration
k1 k2 k3 k4 (S1, S2)
0 0 0 0 (1, 1)
1 (1, 0)
1 0 (1, 1)
1 (0, 1)
1 0 0 (1, 0)
1 (0, 0)
1 0 (0, 1)
1 (0, 0)
1 0 0 0 (0, 1)
1 (0, 0)
1 0 (1, 0)
1 (0, 0) Fig.7 Control blocks of the single-phase five-level PWM rectifier
1 0 0 (1, 1)
1 (0, 1) mains current (k1), the output of the hysteresis current
1 0 (1, 1) comparator (k2), the output of the voltage comparator of
two split capacitors (k3), and the comparison of source
1 (1, 0)
voltage and minimum voltage of 1 and 2 (k4). For exam-
ple, if the source current is positive (k1 = 1), the capacitor
Table 2: Truth table of three-level PWM rectifier
voltage 1 is larger than 2 (k3 = 1), the instantaneous sup-
(k3, k4) ply voltage is less than the minimum voltage of 1 and 2
(k4 = 0), and the output of the hysteresis current compara-
00 01 11 10 tor is low (k2 = 0), then one should decrease the line cur-
(k1, k2) 00 11 10 01 11 rent since is* is < h. One way to decrease the line current
01 10 00 00 01 and charge the capacitor C2 is to set the two AC power
switches (S1, S2) = (1, 0) and ab = 2. For the case of sim-
11 11 01 10 11
ilar digital control signals (k1 = 1, k2 = 0, k3 = 0, and k4 =
10 01 00 00 10 0), two AC power switches (S1, S2) can be assigned to be
Table entries are values for (S1, S2) (0, 1) to force ab = 1. For this case, the supply current is
400 IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999
decreasing and the capacitor C1 is charging. The switching
table (Table 1) can be further rewritten as a truth table
(Table 2). The relations between the states of the two AC
power switches S1 ~ S2 and four digital signals k1 ~ k4 can
be expressed by the sum of products as follows.
Fig.8 Switching states where x = a, b, c. The three reference modulating waves are
a Three-phase two-level inverter
b Three-phase three-level inverter related by a phase shift of 120 with the same amplitude.
Two carrier waves are in phase each other with a DC volt-
4 Control algorithm of the three-level inverter age offset. There are three equivalent circuits, according to
the states of the power switches Ta1 ~ Ta4, of the diode
A three-level diode clamped inverter for an AC motor drive clamped inverter in one leg shown in Fig. 10. Two impor-
is shown in the right half of Fig. 1. There are two fast tant parameters of the design process are the amplitude
recovery diodes, four power switch devices and four free- modulation index ma = Ar/Ac, where Ar is the amplitude of
wheeling diodes in each leg of the three-phase voltage the reference modulating signal and Ac is the amplitude of
source inverter. In the conventional three-phase two-level
the carrier wave, and the frequency modulation index mf =
voltage source inverter, there are 8 switching states, as
fc/fr, where fc is the frequency of the carrier wave and fr is
shown in Fig. 8a. However, there are 27 switching states,
shown in Fig. 8b, in the three-level inverter. Several PWM the frequency of the reference modulating signal. A voltage
methods such as the sine-carrier PWM method [11], hyster- space vector V can be used to represent the output voltages
esis comparator [12], sigma-delta scheme [13], or space vec- of the three-phase inverter in vector form:
tor PWM scheme [14] are proposed to generate the three-
level PWM patterns. The sine-carrier PWM patterns are
usually generated by comparing the three reference modu-
lating waves with two triangular carrier waves. The switch-
IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999 401
method, the voltage space vector is obtained by transform-
ing the output voltages of the three-phase inverter accord-
ing to eqn. 11. If the reference voltage space vector V* falls
in a small triangular region, shown in Fig. 11, where is
between 0 and /3, three adjacent voltage vectors VT1, VT2
and VT3 are selected for the space vector PWM control
scheme. These selected voltage vectors are dependent on
the angle and the amplitude of the reference voltage vector
V*. The time interval of each voltage vector can be
obtained by the time-averaging principle:
Fig.11 Reference voltage vector V* in the first sector (0 < < /3)
where i = 1, 2, ..., 6. The vector control scheme is the most
common way to control the magnitude and frequency of
The space vector representation of output voltages of the the stator voltage for an induction motor drive. The system
three-phase three-level inverter in the two-axis coordinate inputs are flux and torque references which are used to
system is shown in Fig. 8b. According to the angle and determine the corresponding current values of ids and iqs. A
magnitude of the reference voltage space vectors V*, the mathematical description of the induction motor can be
possible switching states, shown in Fig. 11, in the first sec- more comprehensive when expressed by vectors in the syn-
tor 0 < < /3 can be classified into four groups: large chronous reference frame. The dynamic properties of an
voltage vectors such as V2 and V5, middle voltage vectors induction motor can be described by a set of nonlinear dif-
such as V4, small voltage vectors such as V1 and V3, and ferential equations. The vector equations based on the syn-
zero voltage vectors such as V0. For the space vector PWM chronous reference flame can be written in matrix form as
402 IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999
induction motor drives based on the rotor flux oriented
control approach. The instantaneous value of the angular
rotor speed r is measured and compared with the com-
mand value of the rotor speed r*. The resulting error is
supplied to the input of the speed controller. The output of
the speed controller is the reference value of the torque pro-
ducing current iqs*. The flux producing current ids* is
obtained from the output of the flux controller. The stator
voltages in the synchronous dq frame are converted into
the stator oriented frame by application of the trans-
formation eje, where e is the synchronous angle of the
rotor magnetising current based on the rotor flux model.
The reference stator voltages * and * in the stator refer-
ence frame are used to obtain the time intervals, T1 ~ T3,
of the output voltage vectors, VT1 ~ VT3, according to
The electromagnetic torque, which is developed by the eqn. 16.
interaction of the air gap flux and rotor MMF, and the
motor angular speed variation are expressed as 5 Experimental verification
Fig.12 Proposed block of three-level induction motor drives based on vector control approach
IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999 403
voltage is about 200V. A constructed 2 HP three-phase
inverter drive was carried out to drive a 1kW induction
motor from Nikki Denso Inc. The vector control based on
a rotor flux oriented induction drive is adopted to produce
a three-phase controlled voltage for variable speed applica-
tions. The space vector PWM scheme is adopted to obtain
a three-level PWM pattern. Fig. 13 gives the measured
waveforms of the supply voltage, line current and AC side
voltage of the adopted single-phase five-level PWM recti-
fier. The power factor and total harmonic distortion of the
single-phase five-level rectifier are 0.99 and 6%, respectively,
at the rated power based on the proposed switching
scheme. To verify the dynamic response of the five-level
rectifier, the measured waveforms of the load variation
Fig.16 Experimental line voltage waveforms of the three-level inverter for
induction motor drives
200V/div; 10ms/div
Fig.14 Dynamic response of the five-level rectifier due to load variation from
400W to 800W
10A/div; 100V/div; 0.2s/div
Fig.18 Measured waveforms of reference rotor speed and actual rotor speed
due to speed change (0 rpm 1200 rpm 1200 rpm)
100rpm/div; 0.5s/div
8 Appendix
or
6 Conclusions
Mode 2: (S1 = 1, S2 = 0):
A new control scheme of the AC/DC/AC converter with
multilevel PWM technique has been proposed in this
paper. A look-up table with hysteresis current control strat-
egy is used to draw a nearly sinusoidal wave with unity
power factor from the supply line. The power factor, cur-
rent harmonics, and inverter output voltage waveforms or
have been improved from the experimental results. The DC
link voltage balance problem which is inherent in the multi-
level system can be improved by using the adopted control
algorithm of the five-level PWM rectifier. The vector con-
trol of the induction motor with a three-level inverter drive
is implemented in this paper to reduce the stress of the Mode 3: (S1 = 0, S2 = 1):
power device and improve the stator current harmonics.
The experimental results show a good supply current wave-
form with nearly unity power factor and good output line
voltages with less harmonic content.
7 References or
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5 ZARGARI, N.R., and JOOS, G.: A three-phase current-source type
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PESC-94, 1994, pp. 363368
6 VELAERTS, B., MATHYS, P., TATAKIS, E., and BINGEN, G.:
A novel approach to the generation and optimization of three-level According to the switching states of the two power switches
pwm waveforms. Proceedings of IEEE power electronics specialists (S1 and S2), the voltage ab can be expressed as follows,
conference, PESC-88, 1988, pp. 12551262 and is shown in Table 4:
7 MARCHESONI, M., MAZZUXXHELLI, M., and TENCONI, S.:
A nonconventional power converter for plasma stabilization, IEEE
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10 GEGNER, J.P., HUNG, C.Y., and LEE, C.Q.: High power factor where Si = 1 (close) or 0 (open), i = 1 or 2. The differential
ac-to-dc converter using a reactive shunt regulator. Proceedings of
IEEE power electronics specialists conference, PESC-94, 1994, pp. equations of the adopted five-level rectifier, shown in
349355 Figs. 25, can be further described as follows according to
11 RUFER, A.: An aid in the teaching of multilevel inverters for high
power applications. Proceedings of IEEE power electronics specialists the states of power switches and the sign of the supply cur-
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IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999 405
where sgn(is) = 1 if is > 0 or sgn(is) = 1 if is < 0.
is (S1, S2) ab
+ (0, 0) 1 + 2
(0, 1) 1
(1, 0) 2
(1, 1) 0
(0, 0) (1 + 2)
(0, 1) 2
(1, 0) 1
(1, 1) 0
406 IEE Proc.-Electr. Power Appl., Vol. 146, No. 4, July 1999