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PROJECT #1 SINE- PWM INVERTER

JIN-WOO JUNG, PH.D STUDENT


E-mail: jung.103@osu.edu Tel.: (614) 292-3633

ADVISOR: PROF. ALI KEYHANI

DATE: FEBRUARY 20, 2005

MECHATRONIC SYSTEMS LABORATORY DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING THE OHIO STATE UNIVERSITY

1. Problem Description
In this simulation, we will study Sine- Pulse Width Modulation (PWM) technique. We will use the SEMIKRON IGBT Flexible Power Converter for this purpose. The system configuration is given below:

Fig. 1 Circuit model of three-phase PWM inverter with a center-taped grounded DC bus. The system parameters for this converter are as follows: IGBTs: SEMIKRON SKM 50 GB 123D, Max ratings: VCES = 600 V, IC = 80 A DC- link voltage: Vdc = 400 V Fundamental frequency: f = 60 Hz PWM (carrier) frequency: fz = 3 kHz Modulation index: m = 0.8 Output filter: Lf = 800 H and Cf = 400 F Load: Lload = 2 mH and Rload = 5 Using Matlab/Simulink, simulate the circuit model described in Fig. 1 and plot the waveforms of Vi (= [ViAB ViBC ViCA]), Ii (= [iiA iiB iiC]), VL (= [VLAB VLBC VLCA]), and IL (= [iLA iLB iLC]).

2. Sine- PWM
2.1 Principle of Pulse Width Modulation (PWM) Fig. 2 shows circuit model of a single-phase inverter with a center-taped grounded DC bus, and Fig 3 illustrates principle of pulse width modulation.

Fig. 2 Circuit model of a single-phase inverter.

Fig. 3 Pulse width modulation. As depicted in Fig. 3, the inverter output voltage is determined in the following: When Vcontrol > Vtri, VA0 = Vdc/2 When Vcontrol < Vtri, VA0 = Vdc/2

Also, the inverter output voltage has the following features: PWM frequency is the same as the frequency of Vtri Amplitude is controlled by the peak value of Vcontrol Fundamental frequency is controlled by the frequency of Vcontrol Modulation index (m) is defined as: peak of (V A0 )1

m= vcontrol vtri

Vdc / 2 VA0

where, (VA0 )1 : fundamental frequecny component of

2.2 Three-Phase Sine- PWM Inverter Fig. 4 shows circuit model of three-phase PWM inverter and Fig. 5 shows waveforms of carrier wave signal (Vtri) and control signal (Vcontrol), inverter output line to neutral voltage (VA0, VB0, VC0), inverter output line to line voltages (VAB, VBC, VCA), respectively.

Fig. 4 Three-phase PWM Inverter. 4

Fig. 5 Waveforms of three-phase sine- PWM inverter. As described in Fig. 5, the frequency of Vtri and Vcontrol is: Frequency of Vtri = fs Frequency of Vcontrol = f1 where, fs = PWM frequency and f1 = Fundamental frequency The inverter output voltages are determined as follows: When Vcontrol > Vtri, VA0 = Vdc/2 When Vcontrol < Vtri, VA0 = Vdc/2 where, VAB = VA0 VB0, VBC = VB0 VC0, VCA = VC0 VA0

3. State-Space Model
Fig. 6 shows L-C output filter to obtain current and voltage equations.

Fig. 6 L-C output filter for current/voltage equations. By applying Kirchoffs current law to nodes a, b, and c, respectively, the following current equations are derived: node a:
dVLCA dV iiA + C f = C f LAB + i LA . dt dt

iiA + ica = i ab + i LA

(1)

node b:

iiB + iab = ibc +

iiB + C f

dVLAB dt

=C

dVLBC dt

+ i LB .

(2)

i LB

node c:
dVLBC dV iiC + C f = C f LCA + i LC . dt dt

iiC + ibc = ica + i LC

(3)

where, iab = C f

dVLAB dt

, ibc = C f

dVLBC dt

, ica = C f

dVLCA dt

Also, (1) to (3) can be rewritten as the following equations, respectively: subtracting (2) from (1):
dV dV dV
LAB

i i

+C

LCA

LAB

= C

dVLBC + i i

iA

iB

dt dV +
LBC

dt

dt

dt
LA

LB

(4)

dV C
f LCA

dVLAB

= i + i

+i

dt

dt

dt
iA iB LA LB

subtracting (3) from (2):


dVLBC dV + C LAB = C
iC f

i i
iB

dVLCA dVLBC dt

+ i i

dt

dt

dt

LB

LC

(5)

dVLBC dV LAB dVLCA C + 2 = i + i + i


f

i
LC

dt

dt

dt

iB

iC

LB

subtracting (1) from (3):


dV dV LCA = LBC C +C
iA

i i

dV

LCA

dV

LAB

+ i i
LA LC

iC

dt dVLBC

dt

dt

dt

(6)

dV C
f

+
LAB

dV 2

+i +i i

LCA

i dt dt dt
iC iA LC LA

To simplify (4) to (6), we use the following relationship that an algebraic sum of line to line load voltages is equal to zero:

VLAB + VLBC + VLCA = 0. Based on (7), the (4) to (6) can be modified to a first-order differential equation, respectively:

(7)

dV 1 1 LAB iiAB = dt 3C f 3C f

(i LAB )

dVLBC 1 1 = iiBC dt 3C f 3C f

(iLB C ) ,

(8)

dVLCA 1 1 = iiCA dt 3C f 3C f

(i LCA )

where, iiAB = iiA iiB, iiBC = iiB iiC, iiCA = iiC iiA and iLAB = iLA iLB, iLBC = iLB iLC, iLCA = iLC iLA.

By applying Kirchoffs voltage law on the side of inverter output, the following voltage equations can be derived:

di iAB 1 1 ViAB = V LAB + Lf Lf dt diiBC 1 1 = V LBC + ViBC . Lf Lf dt diiCA 1 1 = V LCA + V Lf L f iCA dt

(9)

By applying Kirchoffs voltage law on the load side, the following voltage equations can be derived:

di LA di LB = V LAB Lload dt + Rload i LA Lload dt Rload di LC di LB i LB = V + Rload i LB Lload LBC Lload Rload i LC dt dt di LC di VLCA = Lload dt + Rload i LC Lload
LA

(10)

dt

Rload i LA

Equation (10) can be rewritten as:

di LAB dt =

Rload Lload i LAB

1 Lload 1 Lload 1 Lload VLCA V LAB

di LBC Rload i LBC + = dt Lload

V LBC .

(11)

di Rload LCA i LCA + = dt Lload

Therefore, we can rewrite (8), (9) and (11) into a matrix form, respectively: dVL 1 1 Ii = IL dt 3C f 3C f

dI i dt = 1 Lf

VL +

1 Vi Lf
L

(12)

dI L R 1 = VL load I dt Lload Lload

where, VL = [VLAB VLBC VLCA] , Ii = [iiAB iiBC iiCA] = [iiA-iiB iiB-iiC iiC-iiA] , Vi = [ViAB ViBC ViCA] , IL = = [iLAB iLBC iLCA] = [iLA-iLB iLB-iLC iLC-iLA] . Finally, the given plant model (12) can be expressed as the following continuous-time state space equation
T T

X& (t ) = AX(t ) + Bu(t ) ,

(13)

VL

0 33

1 1 I 33 I 33 3C f 3C f

0 33 1

1 where, X = I , A = I 33 i

0 33

0 33

L
f

,B=

I 33

, u = [Vi ]31 .

1 I 33 0 33 Rload L I
33

IL

91

L
load

L
33

93


load

99

Note that load line to line voltage VL, inverter output current Ii, and the load current IL are the state variables of the system, and the inverter output line-to-line voltage Vi is the control input (u).

4. Simulation Steps
1). Initialize system parameters using Matlab 2). Build Simulink Model Generate carrier wave (Vtri) and control signal (Vcontrol) based on modulation index (m) Compare Vtri to Vcontrol to get ViAn, ViBn, ViCn. Generate the inverter output voltages (ViAB, ViBC, ViCA,) for control input (u) Build state-space model Send data to Workspace 3). Plot simulation results using Matlab

5. Simulation results

V a V a V tri nd sin nd iAn 1 0 -1 0.9 02 0.9 04 0.906 0.9 08 0.91 0.9 12 0.9 14 0.9 16 0.9 18 0.9 2

ViAn [V]

Vtri, V sin [V]

V tri V sin

0.9 50 0 0 -5 0 0 0.9 Vtri, V sin [V] 1 0 -1

0.9 02

0.9 04

0.906

0.9 08

0.91

0.9 12

0.9 14

0.9 16

0.9 18 V tri V sin

0.9 2

0.9 50 0 ViAn [V] 0 -5 0 0 0.9

0.9 01

0.9 02

0.903

0.9 04

0.9 05

0.9 06

0.9 07

0.9 08

0.9 9 0

0.9 01

0.9 02

0.903

0.9 04 0.9 05 Time [Sec]

0.9 06

0.9 07

0.9 08

0.9 9 0

Fig. 7 Waveforms of carrier wave, control signal, and inverter output line to neutral voltage. (a) Carrier wave (Vtri) and control signal (Vsin) (b) Inverter output line to neutral voltage (ViAn) (c) Enlarged carrier wave (Vtri) and control signal (Vsin) (d) Enlarged inverter output line to neutral voltage (ViAn)

Inverter o ut line to line utp volta ges (V 50 0

,V
iAB

,V
iBC

)
iCA

ViAB [V]

-5 0 0 0.9 50 0

0.91

0.92

0.93

0.94

0.95

0.96

0.97

0.98

0.99

ViBC[V]

-5 0 0 0.9 50 0 ViC [V]

0.91

0.92

0.93

0.94

0.95

0.96

0.97

0.98

0.99

-5 0 0 0.9

0.91

0.92

0.93

0.94

0.95 Time [Sec]

0.96

0.97

0.98

0.99

Fig. 8 Simulation results of inverter output line to line voltages (ViAB, ViBC, ViCA)

Inverter o ut utp curre nts (i


iA

,i ,i )
iB iC

10 0 5 0 iiA [A] 0 -50 -1 0 0 0.9 10 0 5 0 iiB [A] 0 -50 -1 0 0 0.9 10 0 5 0 iiC [A] 0 -50 -1 0 0 0.9 0.91 0.92 0.93 0.94 0.95 Time [Sec] 0.96 0.97 0.98 0.99 1 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

Fig. 9 Simulation results of inverter output currents (iiA, iiB, iiC)

L a d line to line voltag s o e (V 40 0 20 0 0 -2 0 0 -4 0 0 0.9 40 0 VLBC[V] 20 0 0 -2 0 0 -4 0 0 0.9 40 0 VLC [V] 20 0 0 -2 0 0 -4 0 0 0.9 0.91 0.92 0.93 0.94 0.95 Time [Sec] 0.91 0.92 0.93 0.94 0.95 0.91 0.92 0.93 0.94 0.95

,V

,V
LBC

)
LCA

LAB

VLAB[V]

0.96

0.97

0.98

0.99

0.96

0.97

0.98

0.99

0.96

0.97

0.98

0.99

Fig. 10 Simulation results of load line to line voltages (VLAB, VLBC, VLCA)

L a d p a se curre o h nts (i
LA

,i ,i )
LB L C

5 0

iLA [A]

-50 0.9 5 0

0.91

0.92

0.93

0.94

0.95

0.96

0.97

0.98

0.99

iLB [A]

-50 0.9 5 0

0.91

0.92

0.93

0.94

0.95

0.96

0.97

0.98

0.99

iLC [A]

-50 0.9

0.91

0.92

0.93

0.94

0.95 Time [Sec]

0.96

0.97

0.98

0.99

Fig. 11 Simulation results of load phase currents (iLA, iLB, iLC)

50 0 ViAB [V] 0 -5 0 0 0.9 10 0 iiA , i iB, i iC[A] 0

0.91

0.92

0.93

0.94

0.95

0.96

0.97

0.98

0.99 i iA i iB i iC

-1 0 0 0.9 40 0 20 0 0 -2 0 0 -4 0 0 0.9 5 0 0

[V]

0.91

0.92

0.93

0.94

0.95

0.96

0.97

0.98

0.99 V
L A

VLAB V LBCV , ,

V LBC V 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 iA L iB L iC L 0.91 0.92 0.93 0.94 0.95 Time [Sec] 0.96 0.97 0.98 0.99 1 1

iLA , i LB, i

LC

[A]

LCA

-50 0.9

Fig. 12 Simulation waveforms. (a) Inverter output line to line voltage (ViAB) (b) Inverter output current (iiA) (c) Load line to line voltage (VLAB) (d) Load phase current (iLA)

Appendix
Matlab/Simulink Codes

A.1 Matlab Code for System Parameters % Written by Jin Woo Jung, Date: 02/20/05 % ECE743, Simulation Project #1 (Sine PWM Inverter) % Matlab program for Parameter Initialization clear all % clear workspace % Input data Vdc= 400; % DC-link voltage Lf= 800e-6;% Inductance for output filter Cf= 400e-6; % Capacitance for output filter Lload = 2e-3; %Load inductance Rload= 5; % Load resistance f= 60; % Fundamental frequency fz = 3e3; % Switching frequency m= 0.8; % Modulation index % Coefficients for State-Space Model A=[zeros(3,3) -eye(3)/Lf eye(3)/(3*Cf) zeros(3,3) -eye(3)/(3*Cf) zeros(3,3) -eye(3)*Rload/Lload]; % system matrix

eye(3,3)/Lload zeros(3,3) B=[zeros(3,3) eye(3)/Lf

zeros(3,3)]; % coefficient for the control variable u C=[eye(9)]; % coefficient for the output y D=[zeros(9,3)]; % coefficient for the output y Ks = 1/3*[-1 0 1; 1 -1 0; 0 1 -1]; % Conversion matrix to transform [iiAB iiBC iiCA] to [iiA iiB iiC]

A.2 Matlab Code for Plotting the Simulation Results % Written by Jin Woo Jung % Date: 02/20/05 % ECE743, Simulation Project #1 (Sine-PWM) % Matlab program for plotting Simulation Results % using Simulink ViAB = Vi(:,1); ViBC = Vi(:,2); ViCA = Vi(:,3); VLAB= VL(:,1); VLBC= VL(:,2); VLCA= VL(:,3); iiA= IiABC(:,1); iiB= IiABC(:,2); iiC= IiABC(:,3); iLA= ILABC(:,1); iLB= ILABC(:,2); iLC= ILABC(:,3);

figure(1) subplot(3,1,1) plot(t,ViAB) axis([0.9 1 -500 500]) ylabel('V_i_A_B [V]') title('Inverter output line to line voltages (V_i_A_B, V_i_B_C, V_i_C_A)')

grid subplot(3,1,2) plot(t,ViBC) axis([0.9 1 -500 500]) ylabel('V_i_B_C [V]') grid subplot(3,1,3) plot(t,ViCA) axis([0.9 1 -500 500]) ylabel('V_i_C_A [V]') xlabel('Time [Sec]') grid

figure(2) subplot(3,1,1) plot(t,iiA) axis([0.9 1 -100 100]) ylabel('i_i_A [A]') title('Inverter output currents (i_i_A, i_i_B, i_i_C)') grid subplot(3,1,2) plot(t,iiB) axis([0.9 1 -100 100]) ylabel('i_i_B [A]') grid subplot(3,1,3)

plot(t,iiC) axis([0.9 1 -100 100]) ylabel('i_i_C [A]') xlabel('Time [Sec]') grid figure(3) subplot(3,1,1) plot(t,VLAB) axis([0.9 1 -400 400]) ylabel('V_L_A_B [V]') title('Load line to line voltages (V_L_A_B, V_L_B_C, V_L_C_A)') grid subplot(3,1,2) plot(t,VLBC) axis([0.9 1 -400 400]) ylabel('V_L_B_C [V]') grid subplot(3,1,3) plot(t,VLCA) axis([0.9 1 -400 400]) ylabel('V_L_C_A [V]') xlabel('Time [Sec]') grid figure(4) subplot(3,1,1) plot(t,iLA) axis([0.9 1 -50 50])

ylabel('i_L_A [A]') title('Load phase currents (i_L_A, i_L_B, i_L_C)') grid subplot(3,1,2) plot(t,iLB) axis([0.9 1 -50 50]) ylabel('i_L_B [A]') grid subplot(3,1,3) plot(t,iLC) axis([0.9 1 -50 50]) ylabel('i_L_C [A]') xlabel('Time [Sec]') grid figure(5) subplot(4,1,1) plot(t,ViAB) axis([0.9 1 -500 500]) ylabel('V_i_A_B [V]') grid subplot(4,1,2) plot(t,iiA,'-', t,iiB,'-.',t,iiC,':') axis([0.9 1 -100 100]) ylabel('i_i_A, i_i_B, i_i_C [A]') legend('i_i_A', 'i_i_B', 'i_i_C') grid

subplot(4,1,3) plot(t,VLAB,'-', t,VLBC,'-.',t,VLCA,':') axis([0.9 1 -400 400]) ylabel('V_L_A_B, V_L_B_C, V_L_C_A [V]') legend('V_L_A_B', 'V_L_B_C', 'V_L_C_A') grid subplot(4,1,4) plot(t,iLA,'-', t,iLB,'-.',t,iLC,':') axis([0.9 1 -50 50]) ylabel('i_L_A, i_L_B, i_L_C [A]') legend('i_L_A', 'i_L_B', 'i_L_C') xlabel('Time [Sec]') grid

%For only Sine PWM figure(6) subplot(4,1,1) plot(t,Vtri,'-', t,Vsin,'-.') axis([0.9 0.917 -1.5 1.5]) ylabel('V_t_r_i, V_s_i_n [V]') legend('V_t_r_i', 'V_s_i_n') title('V_t_r_i and V_s_i_n') grid subplot(4,1,2) plot(t,ViAn) axis([0.9 0.917 -500 500]) ylabel('V_i_A_n [V]') grid

subplot(4,1,3) plot(t,Vtri,'-', t,Vsin,'-.') axis([0.9 0.909 -1.5 1.5]) ylabel('V_t_r_i, V_s_i_n [V]') legend('V_t_r_i', 'V_s_i_n') grid subplot(4,1,4) plot(t,ViAn) axis([0.9 0.909 -500 500]) ylabel('V_i_A_n [V]') xlabel('Time [Sec]') grid

A.3 Simulink Code

Simulink Model for Overall System

Simulink Model for Sine-PWM Generator