1

A Vector Modulated Three-Phase Four-Quadrant Rectifier Application to a Dc Motor Drive

Matti Jussila, Mika Salo, Lauri Khknen, and Heikki Tuusa
AbstractThis paper introduces a theory for a space vector modulation of a three-phase four-quadrant PWM rectifier (FQR). The presented vector modulation method is simple to realize with a microcontroller and it replaces the conventional modulation methods based on the analog technology. The FQR may be used to supply directly a dc load, e.g. a dc machine. The vector modulated FQR is tested in simulations supplying a 4.5 kW dc motor. The simulations show the benefits of the vector modulated FQR against thyristor converters: the supply currents are sinusoidal and the displacement power factor of the supply can be controlled. Furthermore the load current is smooth. Index TermsPWM rectifier, dc motor drive, space vector modulation I. INTRODUCTION N recent years research on current source PWM rectifiers (CSR), presented in Fig. 1, has become popular [1], [2], [3]. The polarity of the output voltage of the CSR can be reversed but the direction of the output current cannot. Thus, it cannot act in all four quadrants when it is supplying a dc load without an additional converter bridge or mechanical systems. A four-quadrant operation can be achieved with a three-phase four-quadrant PWM rectifier (FQR) presented in Fig. 2. It is also possible to use the FQR as a line bridge of an indirect matrix converter (IMC) studied in [4], [5], [6], [7], [8]. Instead of using the FQR as a PWM rectifier the same topology may be also used as a three-to-single-phase matrix converter, when the dc motor in Fig. 2 can be replaced with a single-phase system as in [9]. Most research on FQR has been done using it as a rectifier stage of the IMC with triangular wave voltage command modulation [4], [5], which is suitable for analog technology but is complex when digital technology is used. With modern digital technology space vector modulation is a less complex and more effective method. In this paper, the space vector modulation method for the FQR is introduced. The possible application to the vector modulated FQR is a dc machine drive. When compared to the conventional solutions better efficiency, supply currents and controllable displacement power factor are achieved as presented in [3], where the CSR has been used. However, the CSR can produce only positive armature current. Thus it can operate with constant field excitation only in the first and the fourth quadrants if a freewheeling diode is not included. With
The authors are with the Institute of Power Electronics, Department of Electrical Engineering, Tampere University of Technology, P.O. Box 692, FIN-33101 Tampere FINLAND, Tel: +358-3-3115-4257, Fax: +358-33115-2088, e-mail: matti.jussila@tut.fi

freewheeling diode drive can operate only in the first quadrant as presented in [3]. In [3] the two-quadrant operation is achieved with four-quadrant dc-dc converter in field excitation circuit, which increases the complexity of the control system and also delays the control. With the FQR the four-quadrant operation of the dc drive is achieved using the vector modulation with a constant field excitation. Thus, the FQR is superior in dynamic response when compared to systems of thyristor bridges using field excitation or mechanical switches to achieve reverse rotational speed. The FQR is also a more supply friendly solution than a conventional combination of two antiparallel connected sixpulse converters and simpler than a four-quadrant dc-dc chopper needing a separate rectifier, both of which are presented in [10]. Furthermore, with the IGBTs with reverse voltage blocking capability presented in [11] the number of conducting semiconductor switches in series in the FQR is reduced to one.
idc p

a b c n
Fig. 1. Current source PWM rectifier.

vdc

idc

a b c

iia iib iic vdc M

n
Fig. 2. Four-quadrant PWM rectifier.

The theory for the space vector modulation of the FQR is presented in Section II, which is derived from the space vector modulation of the IMC, presented in [8], [12], and the space vector modulation of the CSR, presented in [1], [2]. The control system of a FQR supplied separately excited dc motor is presented in Section III and its simulation model and results in Section IV. Finally, conclusions are drawn in Section V. II. SPACE VECTOR MODULATION OF FOUR-QUADRANT PWM RECTIFIER Space vector modulation of the FQR can be derived from the modulation of the CSR [1], [2] or the modulation of the line bridge of the IMC [8], [12]. The space vector of the input current of the FQR ii may be defined [10]:
i i = (2 3) iia + aiib + a 2iic

i2(0,1,-1) i3(-1,1,0) III IV

V

i5(0,-1,1) i1(1,0,-1) i6(1,-1,0) III I IV

V

i4(-1,0,1) II 0 VI i3(-1,1,0) i2(0,1,-1) I d i

i d i ii,ref

II 0 VI i6(1,-1,0) i1(1,0,-1)

i4(-1,0,1) i5(0,-1,1) (a)

ix(swa,swb,swc)

(b)

(c)

Fig. 3. Input phase current sectors and current vectors of switching states of the vector modulation of the FQR (a) when idc > 0, and (b) when idc < 0; (c) forming a reference vector of input current.

the switching vectors are

T = mi sin i Ts 3

(8a)

(1)

where a = e j2/3. When each common-emitter connected IGBT pair in Fig. 2 is treated as a single bidirectional switch, the values of phase switching functions (swa, swb, swc) can be defined to be 1, 0 or 1, denoting the on-state of the upper switch, the off-state of both switches and the on-state of the lower switch in one phase leg respectively. Because only one input phase may be connected to each bar at a time, it is possible to write: (2) swa + swb + swc = 0 Phase currents in (1) can be presented with the help of switching functions and dc current:
i i = (2 3) swa idc + aswb idc + a 2 swc idc = sw i idc

and
T = mi sin(i )Ts ,

(8b)

where the modulation index mi = |ii,ref | / |idc|. Then the duration of a zero vector is T0 = Ts T T. (8c)

(3)

Equations (8) are identical to those presented in [2], but the difference is that now the link current is allowed to be positive or negative. The ratio between the output dc voltage and the input ac voltage of the FQR may be derived as follows: If the power losses in the converter are neglected it can be assumed the ac and dc powers of the converter are equal [10]:
p = (3 2 ) Re{v i i * } = vdc idc , i

(9)

where swi is the space vector of switching functions of input current:

sw i = (2 3) swa + asw b + a 2 swc .

(4)

Substituting permissible value combinations of swa, swb, and swc into swi it is possible to derive the input current vectors, which are presented in Fig. 3(a) when idc > 0 and in Fig. 3(b) when idc < 0. The ix(swa,swb,swc) denotes current vectors produced by permissible switching states. E.g. for current vector i1 swa = 1, swb = 0, and swc = 1, when ia = idc, ib = 0, and ic = idc, i.e. phase a is connected to the p-bar and phase c to the n-bar. As presented in Fig. 3(c) it is possible to produce an input current reference vector ii,ref in one switching period as a sum of two weighted current vectors [12]: ii,ref = di + di (5)

where vi is the space vector of the input phase voltages and the superscript (*) denotes a complex conjugate. Substituting first (3) to (9) and then dividing by idc the dc voltage is found to be
v dc = (3 2 ) Re{v i sw * }. i

(10)

When the angle of vi is t the angle of ii is t if, which is the same as the angle of swi. Thus, by (10) the instant link voltage vdc in polar coordinates is found to be
vdc = (3 2) Re | v i | e j(t if ) | swi | e jt

= (3 2 ) | v i | | sw i | Re e j( t t if ) .

(11)

According to (3) |swi| = |ii,ref|/|idc| = mi and (11) can be written as

vdc = mi (3 2) | v i | cos( if ) .

(12)

where e.g. i = i6 and i = i1 when ii,ref lies in sector I and idc > 0. In (5) the weighting coefficients d and d are the relative durations of current vectors:
d = | i i,ref | idc
| i i,ref | idc

sin i , 3
sin ( i ) .

(6)

From (12) it is possible to solve the voltage ratio of the FQR: vdc (13) = mi (3 2 ) cos(if ) | vi | The maximum current ratio mi in (13) is unity in linear modulation. Thus, the maxima of the ratio vdc/ |vi| are 3/2, which are achieved when if = 0 and if = . Thus, |vdc|/ |vi,line-to-line| 3 / 2 and the FQR is a buck converter, which can produce average voltage up to 487 V when the rms value of the line-to-line supply voltage is 400 V.

and
d =

(7)

If the switching period is marked with Ts the durations of

III. CONTROL SYSTEM OF DC MACHINE DRIVE As presented in Fig. 2 the FQR may supply the dc machine directly. The block diagram of the control system of the FQR supplied dc motor drive is presented in Fig. 4. Its outer control loop is speed control and its inner loop is armature current control. The feedback signals for the controllers are the angular rotor speed r and the armature current iAr. The speed control of the motor is based on [10]. It produces the reference value of the armature current iAr,ref and it is executed every 800 s. The current control of the FQR is based on [2]. The current control and modulator are executed every 100 s in a 200 s switching period, i.e. the switching frequency is 5 kHz. Both the current and the speed controllers are discrete time anti-windup PI controllers. The current controller produces the reference value of the dc voltage of the FQR vdc,ref from which the value of the real component of the input current iix,ref in a supply voltage oriented reference frame is generated using (9) when vi = vix + jviy and ii* = iix jiiy:
p = (3 2 ) Re (vix + jviy ) (iix jiiy ) .

antiparallel diodes of the IGBTs. In steady state operation it means overlapping in switchings may be used in the same way as in the CSR. When the dc current reference value is reversed and the dc current is reaching a zero value, the modulation is stopped. After a short dead time period the modulation of the IGBTs conducting to the reverse direction when compared to the previous steady state is started and the switchings are performed again using overlapping. The result of this method is equal to the two-step commutation used in matrix converters [13]. IV. SIMULATIONS The simulations were performed with Matlab Simulink software. A selected dc machine in simulations is a 4.5 kW separately excited dc motor, whose parameters are presented in Table I. The model of the separately excited dc motor is based on the equations:
v Ar = RAr iAr + LAr diAr + c r , dt

(18) (19)

t = c iAr, and
t = t load + J d r dt

(14)

(20)

In the supply voltage based reference frame the real axis is tied to the supply voltage vector, thus viy = 0 [2]:
p = (3 2 ) vix iix = vdcidc ,

(15)

from which we get for reference values:

iix, ref = 2 v dc,ref idc = kvdc,ref idc . 3vix

(16)

The imaginary component iiy,ref of the input current in the input-voltage-oriented reference frame may be generated from the definition of the reactive power as presented in [2]:
q = (3 2) Im v i i * = (3 2) vix iiy , i

{ }

(17)

i.e. iiy,ref may be used to control the reactive power of the input. In this study it is set at zero, i.e. if = 0, and by (13) the maximum dc voltage vdc may be achieved. The modulation of the FQR may be performed as presented in Section II. In practice switchings of the FQR should be performed such that a dc current path is not cut and the supply is not shorted. This can be done when the FQR is considered to consist of two CSRs connected antiparallel, which series diodes are at the same time the
idc= iAr va vb vc LCfilter FQR vdc = vAr iAr M

where c is a constant when excitation current iexcitation and excitation inductance are constants. In simulations the control system of the drive was based on the block diagram presented in Fig. 4. The modulation of the FQR was performed as presented in Section II with ideal switches, i.e. the commutation method presented in Section III is not needed. The supply voltage (400 V, 50 Hz) waveform in simulations was purely sinusoidal and the LC filter type supply filter consisted of 2.3 mH inductors and Yconnected 10 F capacitors, so the resonance frequency of the filter was 1049 Hz. The simulation results at nominal speed with load torque step from nominal value to negative nominal value and back are presented in Fig. 5, i.e. the working of the motor drive in the first and the second quadrants is proved. The dc current sign is reversed very fast, which leads to 180 phase change of input currents. It produces together with current reference oscillation small non-sinusoidal periods to the load steps. The oscillation of the dc current reference is caused by speed controller, which is tuned concerning mainly on transients situation of speed reference.
TABLE I DC MOTOR PARAMETERS

r
+

Nominal shaft power, Pn

r,ref

4.5 kW 1000 rpm 42.6 Nm 440 V 13.7 A 1.33 A 121 mH 9.5

Nominal rotational speed, nn Nominal torque, Tn Nominal armature voltage, VAr,n Nominal armature current, IAr,n Nominal excitation current Iexcitation,n Armature inductance, LAr Armature resistance, RAr

Modulator iiD,ref x,y -> D,Q iiy,ref iix,ref k Dc current vdc,ref controller iiQ,ref

Speed controller

iAr,ref

Fig. 4. Separately excited dc motor drive supplied by vector modulated four-quadrant rectifier.

The speed reversal with constant load torque is presented in Fig. 6, thus the working of the FQR drive in the fourth quadrant is also proved. As can be seen from the presented waveforms the FQR drive can operate both with positive and negative dc current and voltage producing sinusoidal input current during the transients as well.

Steady state waveforms of the supply and load currents and voltages with the supply current spectrum are presented in Fig. 7. The total harmonic distortion (THD) of the supply current includes harmonics up to 2 kHz. As can be seen from the presented waveforms the FQR produces sinusoidal supply currents and a smooth armature current.

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

(e) Fig. 5. Simulation results of load torque steps when nn = 1000 rpm: (a) mechanical speed n; (b) electrical torque T; (c) armature current iAr (black) and its reference (red) ; (d) armature voltage vAr; (e) supply current ia.

(e) Fig. 6. Simulation results of speed steps when T = 42 Nm: (a) mechanical speed n; (b) electrical torque T; (c) armature current iAr (black) and its reference (red) ; (d) armature voltage vAr; (e) supply current ia.

V. CONCLUSION In this paper the novel modulation method for the direct four-quadrant PWM rectifier (FQR) has been introduced. The vector modulated FQR supplying a dc motor was tested in simulations. The simulation results show that the vector modulated FQR can supply a dc machine. The FQR produces sinusoidal supply currents with low distortion and offer an opportunity to control input power factor. In addition the load current of the FQR is smooth. Thus, the FQR may be used when dc drive with sinusoidal supply currents is required. Especially the FQR is a suitable solution when an integration of a converter on a dc machine is desired. REFERENCES
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(e)

(f) Fig. 7. Simulation results of the FQR drive in steady state, when T = 42 Nm, nr,n = 1000 rpm: (a) supply voltage va; (b) supply current ia; (c) armature current iAr; (d) armature voltage vAr; (e) more detailed iAr; (f) spectrum of supply current (f1=50 Hz).