EE8407

Power Converter Systems

Topic 9

PWM Current Source Inverters (CSI)

PWM CSI fed MV drive Courtesy of Rockwell Automation 1

Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM Current Source Inverters (CSI)

Lecture Topics
Single Bridge Inverter
Trapezoidal Modulation (TPWM) Selective Harmonic Elimination (SHE) Space Vector Modulation (SVM) Dual Bridge Inverter

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Single Bridge Inverter

Inverter Topology
S1 S3 S5

g1
A

g3

g5
iw

Symmetrical GCTs
is ic
O

Id
B

v AB

LOAD

S4

S6
g6 g2

S2

Cf

Cf

Cf

g4

Function of Cf : - Assist GCT commutation - Reduce harmonic distortion

Features: - Simple topology no antiparallel diodes - Reliable short circuit protection constant dc current - Very low dv/dt on motor terminals
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Single Bridge Inverter

DC Current Source Id
vas vbs vcs Ld

Id PWM Inverter

SCR or PWM Rectifier

M
C

Utility Supply

Cf

Controller
Id
* Id

Implementation of dc current source: - use a large size dc choke making Id smooth; - use dc current feed back control keeping Id constant
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Single Bridge Inverter

Modulation Techniques
P S1 S3 S5

g1

g3

g5
iw
A

Trapezoidal PWM (TPWM) Selective Harmonic Elimination (SHE) Space Vector Modulation (SVM)

Id B

C S4

Constraints on Switching Pattern Design - dc current Id cannot be interrupted - inverter output current waveform must be defined. At any time instant, only two switches are turned on, one connected to the positive dc bus, and the other to the negative dc bus.

S6 g6
N

S2 g2

g4

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Trapezoidal Modulation
Trapezoidal PWM (TPWM)
v cr vm
V m
0

V cr

2 3

v g1

vg2 vg3

t t t t t t

vg 4 vg5 vg6 iw
0

Id

2 3

Number of pulses per half cycle: Np = 7

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Trapezoidal Modulation
Harmonic Content (TPWM)
I wn I w1,max

Np = 15 Fundamental does not change much with ma

ma
I wn I w1,max

ma = 0.85

ma
Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Trapezoidal Modulation
Waveforms
(TPWM)
f1 = 13.8Hz, N p = 13, f sw = 180Hz

f5 = 5Hz, N p = 31, f sw = 155Hz

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Selective Harmonic Modulation

Selective Harmonic Elimination (SHE)
iw

1
2 3

Id

1 2
6

Not all the switching angles are independent. Only two harmonics can be eliminated with Np = 5. Number of harmonics to be eliminated: k = ( N p 1) / 2 No modulation index control the magnitude of inverter output current is controlled by Id

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Selective Harmonic Modulation

Fourier Analysis
iw (t ) = an sin(nt )
n=1

an =

iw (t ) sin(nt )d (t )

2 + + sin( n t ) d ( t ) ... 1 6k sin(nt )d (t ) + 3 k 1 + + sin( n t ) d ( t ) ... 321 sin(nt )d (t ) 4I dc 3 k an = k 2 sin(nt )d (t ) + ... + sin(nt )d (t ) + k 1 1 k 3 sin(nt )d (t ) + ... + 2 sin(nt )d (t ) 1 6 3

k = odd;

k = even.
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Selective Harmonic Modulation

Fourier Analysis
Expression for an

cos(n1 ) + cos[n( 3 1 )] cos(n 2 ) cos[n( 3 2 )] + ... + cos(n ) + cos[n( )] cos(n ) k = odd; k k 4I dc 3 6 an = n cos(n1 ) + cos[n( 1 )] cos(n 2 ) cos[n( 2 )] + ... 3 3 k = even. cos(n k ) cos[n( k )] + cos(n ) 3 6

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Selective Harmonic Modulation

Switching Angle Calculation
To Eliminate nth harmonic, set an = 0

Fi (1 , 2 , 3 , ..., k ) = 0

i = 1, 2, ..., k

For 5th, 7th and 11th harmonic elimination:

F1 = cos(51) + cos[5( 1)] cos(5 2 ) cos[5( 2 )] + 3 3 5 + cos(5 3 ) + cos[5( 3 )] cos( ) = 0 3 6 F2 = cos(71 ) + cos[7( 1 )] cos(7 2 ) cos[7( 2 )] 3 3 7 + cos(73 ) + cos[7( 3 )] cos( ) = 0 3 6 F3 = cos(11 1) + cos[11( 1 )] cos(11 2 ) cos[11( 2 )] 3 3 11 3 ) + cos[11( 3 )] cos( ) = 0 + cos(11 3 6
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Selective Harmonic Modulation

Switching Angles (SHE)
Harmonics Eliminated 5 7 11 13 5,7 5,11 5,13 7,11 7,13 7,17 11,13 11,17 11,19 13,17 13,19 5,7,11 5,7,13 5,7,17 5,11,13 5,11,17 5,13,17 7,11,13 Switching Angles Harmonics Eliminated 7,11,17 7,13,17 7,13,19 11,13,17 11,13,19 13,17,19 13,17,23 5,7,11,13 5,7,11,17 5,7,11,19 5,7,13,17 5,7,13,19 5,7,17,19 5,11,13,17 5,11,13,19 5,11,17,19 5,13,17,19 7,11,13,17 7,11,13,19 7,11,17,19 7,13,17,19 11,13,17,19 Switching Angles

1
11.70 12.69 13.49 14.55 15.24 17.08 18.03 0.00 0.07 1.11 1.50 2.56 4.59 4.16 5.13 6.93 7.80 5.42 6.35 8.07 8.88 10.39

4
20.26 21.80 23.60 21.12 22.33 20.55 22.04 22.72 22.77 23.25 22.17 22.74 22.93 23.22 23.60

18.00 21.43 24.55 25.38 7.93 12.96 14.48 15.23 16.58 18.49 19.00 20.51 21.10 21.19 21.71 2.24 4.21 6.91 7.81 10.16 11.24 9.51

13.75 19.14 21.12 19.37 20.79 23.08 21.74 23.14 23.75 23.45 23.94 5.60 8.04 11.96 11.03 14.02 14.92 11.64

21.26 22.45 25.57 22.13 23.34 22.98 23.27

14.12 14.97 15.94 15.97 16.71 18.23 19.22 1.60 2.63 4.01 4.14 5.57 7.96 6.07 7.26 9.15 9.82 6.65 7.69 9.44 10.12 11.14

24.17 24.16 24.53 25.06 25.32 25.84 26.16 15.14 16.57 18.26 16.40 17.82 17.17 16.79 17.57 17.85 18.01 18.03 18.67 19.09 19.35 20.56

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Selective Harmonic Modulation

Inverter Waveforms (SHE)
iw
Id
2 4 6

I wn I w1,max
3( N p 1) 1 3( N p 1) + 1

Harmonic eliminated: 5th, 7th and 11th;

fsw = 420Hz
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Selective Harmonic Modulation

Waveforms (SHE)

(a) f1 = 20Hz, N p = 7 I w5 = I w7 = I w11 = 0

(b) f1 = 35Hz, N p = 5 I w5 = I w7 = 0

(c) f1 = 60Hz, N p = 3 I w5 = 0

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Space Vector Modulation

Space Vector Modulation
j
SECTOR III

r I3

SECTOR II

r I4

r I ref

r I2

SECTOR IV

r I0

SECTOR I

r I5
SECTOR V

r I1 r I6
SECTOR VI

Six active current vectors and one zero vector Six sectors.
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Space Vector Modulation

Switching State

S1

S3

S5

Switching State [1] [-1] [0] [2]

Leg A

g1

g3
A

g5 iw ic io

S1
On Off Off On

S4
Off On Off On

Iw
Id Id

Id
B

LOAD

0 0
g4

S4

S6 g6 g2

S2

Cf

Cf
Z

Cf

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Space Vector Modulation

Switching States and Space Vectors
Space Vector Switching State [2 0 0] Zero Vector On-state Switch
S1 , S 4 S3 , S6

Vector Definition

r I0
r I1 r I2 r I3

[0 2 0] [0 0 2] [1 -1 0]

r I0 = 0
r 2 I1 = I d e j / 6 3

S5 , S 2
S 6 , S1

[1]: Upper switch on [-1]: Lower switch on [0]: None of the switches in a leg turned on [2]: Both switches in a leg turned on (bypass mode)

[1 0 -1]

S1 , S 2

r 2 I2 = I d e j / 6 3 r 2 I2 = I d e j 3 / 6 3 r 2 I4 = I d e j 5 / 6 3 r 2 I5 = I d e j 7 / 6 3 r 2 I6 = I d e j9 / 6 3

[0 1 -1]

S2 , S3

Active Vector

r I4 r I5 r I6

[-1 1 0]

S3 , S4 S4 , S5 S5 , S6

[-1 0 1]

[0 -1 1]

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Space Vector Modulation

Dwell Time Calculation
Following the same principle of SVM for the NPC inverter
T2 r I2 Ts
r I ref
r I2

r r r r I ref Ts = I1 T1 + I 2 T2 + I 0 T0 Ts = T1 + T2 + T0

T1 r I1 Ts

Re : I ref (cos ) Ts = I d (T1 + T2 ) 1 Im : I ref (sin ) Ts = 3 I d (T1 + T2 )

r I1

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Space Vector Modulation

Dwell Time Calculation
I ref T1 = I sin ( 6 ) Ts d I ref sin ( + ) Ts T2 = Id 6 T0 = Ts T1 T2

I ref Id w1 I Id

T1 = ma sin ( 6 ) Ts T = m sin ( + ) T a s 2 6 T = T T T 0 s 1 2

ma =

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 9 PWM CSI

Space Vector Modulation

Switching Sequence
r I1
S 6 , S1
v g1 vg 2

r I2 S1 , S 2

r I0
S1 , S 4

r I1
S6 , S1

r I2
S1 , S 2

r I0
S1 , S 4

vg 3

vg 4

vg 5 vg 6
T1
Ts

T2

T0 Ts

Requirements: 1) Transition from one switching state to the next involves only two switches 2) At any time only two switches are on.
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Space Vector Modulation

Switching Sequence (Over one cycle)
Sector r I 1,2,3...
VI I II III IV V
6 r 106 1 0 1 201 2 0 2 302 3 0 ( I6 )

v g1 vg 2
vg 3
Ts Ts

vg 4

vg 5 vg 6
iw
0

Id

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 9 PWM CSI

Space Vector Modulation

Inverter Output Waveforms (SVM)
iw
2 4

is

v AB
2 4

f1 = 60Hz, fsw = 540Hz, Np = 9 and ma = 1

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Space Vector Modulation

Harmonic Spectrum (SVM)
I wn / I w1,max

I sn / I s1,max

V ABn / V AB1,max

f1 = 60Hz, fsw = 540Hz, Np = 9 and ma = 1

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 9 PWM CSI

Space Vector Modulation

Harmonic Content (SVM)

(a) f sw = 540Hz, N p = 9
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Dual Bridge Inverter

Converter Configuration

L1

i1
S1 S3 S5

L2

i3
S1 S3 S5

iw vd

is

S4

S6

S2

S4

S6

S2

Cf

i2

i4

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Dual Bridge Inverter

Space Vector Diagram
r I3 r I9 r I4 r I16 r I10 r I17 r I5 r I11 r I6 r I0

r I8 r I15 r I14 r I2
r I ref

r I13

r I7 r I1

r I18 r I12

19 vectors and 51 switching states

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Dual Bridge Inverter

DC Current Balance Control
i3
L1

i1

S1

S3

S5

L2

S1

S3

S5

vd
S4 S6 S2

S4

S6

S2

i2

i4

Current paths with switching state [16;56]

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Dual Bridge Inverter

DC Current Balance Control

Current paths with switching state [16;56]

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM CSI

Dual Bridge Inverter

Space Vector Diagram

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 9 PWM CSI

Summary
PWM Scheme Comparison
Item DC Current Utilization I w1,max / I d Dynamic performance Digital Implementation Harmonic Performance dc Current Bypass Operation SVM 0.707 High Real time Adequate Yes TPWM 0.74 Medium Real time or look-up table Good No SHE 0.73 to 0.78 Low Look-up table Best Optional

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 9 PWM Current Source Inverters (CSI)

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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