Drive for a Symmetrical Two-Phase Induction Machine Using Vector Modulation Denizar C. Martins Non-member Luis C. Tomaselli Non-member Telles B. Lazzarin Non-member Ivo Barbi Non-member Hk 18 7 AF te IEE] Trans, TA, Vol. 126, No. 7, 2006Drive for a Symmetrical Two-Phase Paper Induction Machine Using Vector Modulation Denizar C. Martins” Luis C. Tomaselli’ Telles B, Lazzarin® Tvo Barbi’ Non-member Non-member Non-member Non-member In this paper a drive for a symmettical two phase induction machine using vector modulation is studied. A com- parison is made among different types of space vector modulation (discontinuous and continuous) and # new one is proposed. The concepts of vector modulation are reviewed, Experimental results to validate the theoretical statements are shown, Keywords: space veetor modulation, two phase induction symmetrical motor, AC drive 1. Introduction Driving two-phase machines is of great interest to indus- ties due to their potential for residential applications (c pressors, fans, etc). One of the known methods of varying the speed of a single-phase induction motor with a perma- ‘ent capacitor (PSC motor) is to remove the capacitor from, the auxiliary winding and consider it to be a two-phase ma- chine!" Tn this way, the motor would be fed by a two: phase inverter. The problem is that the windings of the motor are not identical, which makes feeding the two phases with different voltages a necessity. This asymmetry is due to the presence of the capacitor, which forms a resonant circuit with the motor’s inductance and, consequently, raises the voltage across the auxiliary winding. ‘Thus, instead of designing a ‘two-phase inverter to feed the PSC motor without a capac itor, itis beter to redesign the motor so that it becomes a symmetrical two-phase machine. The advantage is that the ‘motor is now fed by balanced voltages and, therefore, makes better use of the voltage available at the DC bus. ‘This work focuses on the use of two-phase inverters em- ploying space vector modulation to drive symmetrical two- phase machines. There are three possibilities for the voltage inverter". The frst is a two phase H-bridge voltage inverter ‘composed of two legs and a mid-point obtained by means of capacitive divider (Fig. 1). This converter has the disadvan- tage of not fully using the DC bus, besides presenting volt- age balancing problems, especially at low frequencies. The small number of switches is an advantage: however, the vol- ume of the structure and consequently the cost increase due to the capacitors. The second possibility is the two-phase inverter with three legs, in which the mid-point is obtained through the appropriate control of the common leg (Fig. 2). In this case, common mode voltages or co sinusoidal func- tions with different phases can be used as long as cartier *UPSC-Feeral Univesity ofS INEP- Power Electronics Ini PO. Box 511988040970 Floianopalis, SC-Brarl i Cuaron HIRD, 1267 5, 2000 835 Signal modulations ure employed. Therefore, the linear op- crating region of the inverter is extended. The inverter also allows the use of the space vector modulation since it is now possible to use zero vectors. There is an increase in the num: ber of switches when compared to the previous solution. The last possible choice is the four legged inverter, one leg for each phase (Fig.3). This solution presents the largest linear ‘operation region. However, itis also the solution that presents the greatest number of switches which implies greater lasses and more command circuits, This work opted for the two Fig. wale ee ge “Two-phase H-bridge volage inverter ne | oh a | Fig.2. ‘Tworphase voltae inverter with tree lepsFig 3. Two-phase voltage inverter with four legs phase three-legged voltage inverter. The main idea of this work isto present a new discontinu- cuts space vector modulation steategy to minimize the losses of the two-phase voltage inverter with three leg 2. Space Vector Modulation Applied to the Two Phase Three-Legged Inverter Space vector modulation is characterized by not presenting, ‘carrier signal, One of the main advantages of this modula- tion is the degree of freedom in distributing the time associ- ated with the zero vectors. Using this fact appropriately itcan ‘minimize the switching losses. The main disadvantages of this type of modulation are: time precision, there is no mini mum time for pulse duration, it does not prevent notches, and itis not easy (o apply the overmodulation technique (due to the transition of the modulation function, which is continu- ‘94s. to a discontinuous function). Differently from the three-phase case (without 2 neutral ‘connection it is also possible to obtain a plane representation since one phase is linearly dependent) the six voltage vectors do not form a regular hexagon” (Fig. 4). From the figure, it is only possible to reproduce at the output a reference vee tor (Ug), which is contained inside the region outlined by the voltage vectors. The linear region is then defined as the re- gion in which the reference vector can be reproduced at the ‘output without distortions, Ug is then a vector that spins at a constant angular frequency and whose uajectory forms a circumference (because two sinusoids phase shifted ninety degrees from each other, are desired). The amplitude of the reference vector is the radius of this circumference. The lin- ear region is, therefore, defined by the maximum radius of this circumference, obtained from the tajcctory of the ref- rence veetar, circumscribed by the hexagon formed by the voltage vectors. From Fig.4 itis possible to determine the ‘maximum value of the radius for the trajectory of the vector in the linear operating region, which is 1/-V2 pu (normalized value as a function of the DC bus voltage). This is also the maximum value for the reference vector in the linear operat ing region (observe that this is a relative value). For larger values, the operating region is non-linear. It can be said that space vector modulation combines the different voltage vectors in order ‘0 obtain the desired refer- tence vector atthe output of the converter. This is achieved by equalling the average value of the instantaneous vectors dur ing one switching period to the value of the reference vector as is done in sinusoidal modulation, There axe many pos- sible combinations that satisfy this condition, however only the possibilities with the smallest number of switching cycles Fig 4. Hexagon withthe six voltage vectors characterizing the VST operation are used. It can be observed by connecting the vertexes of the hexagon that six right tangles are formed. ‘These trian- ‘gles define six operating regions or six sectors. ‘The adjacent sides and the bypotenuses form the basic vectors and these are adjacent to any reference vector inside the section. No tice that changing from one vector to another, inside the same section, involves only one switching cycle, in other words, only one of the legs switches. However, when analyzing vec- tot of different sections this is no longer true. Therefore, ‘one tries to build the reference vector using only the auja- ‘cent vectors of the sections. The adjacent vectors of each section are named U, and U2. ‘These names are preserved \when changing sections. In this maswer, upon defining Uy {8 the vector formed by combination 100, the next vecics Gn either direction, clockwise or counter clockwise) will be Uz ‘and, from there, consecutively, the vectors alternate between themselves until they complete the voltage vectors (Fig. 4) In the same way, the time spent on vector U> is called T> an 1, i the time associated with Uy. ‘Therefore, given a sefererce vector located within the sec~ tion defined by U; and Us (which are beth basic adjacent vectors), itis possible to establish the equation that defines the relationship between the times and vectors Towa Ty = T)-O} + Tz Th ay Expression (1) shows that the product of voltage and time ‘must be equal, that is. the product of the reference vector and the switching period must be equal to the sum of the prod ucts of the vectors and the their respective times. Ths, the average evolution within the period can be controlled. The sum of times 7; and 7; is not always equal to unity, there- fore itis necessary to spend the rest of the period on a zero vector. in ather words, a vector that does not modify the sum defined by equation (1). Since the sum of the times (7; and 7) is smaller than the switching period, 10 maintain the out: put voltage constant, zero vectors are weed during the rest of the period. So: Ty = Towa ~ Ti ~T3 2) By calculating the times, it is possible to generate the switching signals. There are many switching patterns that can bbe used io implement space veetor modulation, One possible sequence of commands is Ugo L0,—Ur—Us Ur Uj~Uowo and means that the outputs switch sequentially from Uso U,, Ua, Unt Urs Uy and return again to Vom each period. where U and Uz ate basie vectors that form the section in EE Tans, IR, YoL426, No7, 2008Table 1 Definitions for Vectors Uy and Us Ser [ 0 | [vv] 0, | 8, a 2 | Wor | Up | 1 | x2 [as 3 [Ve | 90 [Wye | Ur | 2 [1 as 180. [FSF eine [tye 2 225 20 Cc Fig 5, The times (normalized) associated with each ba sic vector as funtion of angle 6 ofthe reference veetor Which the reference vector finds itself. It can be said that from time distribution To, during a switching period between the zero vectors, the different space veetor modulations ap- peat. Establishing the notation forthe basie vectors vie 3 vet @ 6, and # can be defined for each see- tion. ‘The coumter clockwise direction is used t0 define the angles. Therefore Supposing that Up = Ve substituting (3) in (1), separat ing the real and imaginary pats, writing ia matrix notation and isolating Ty and 7 TH] ryyygf MESON) Vascos(en) |" [ Veosn | Tr] 'P*"T Vy, sin@s) Vo sins) | | V sind) | @ Therefore Ti__ Vin —6) Trem Vi sin(@ = 4) o T,_ WV. Sol~€) Tren ~ Va" sin(@e= 235 To, on the other hand, is defined by @). Vi, V3, 8, and 4, are defined as functions of the operating section. Expres- sions (2), (5), and (6) are represented graphically in Fig. 5 tor reference vector of amplitude |/y2pu and for a complete trajectory of the reference veetor. Independent of the space vector modulation used, these times are always constant and ‘only change ifthe amplicude of the reference voltage is mod- ified, 3. Proposed Discor lation uous Space Vector Modu- Icis interesting to observe that this modulation presents one REM 0, 125.879, 2008 897 Fig.6 Switching sequence foreach section of the hybrid discontinuous space vector modulation degre of freedom: time distribution Ty in both zevo vecton. “This degree is what originates the diferent types of modula- tions. In tnee-phase inverters, zero time distribution is used between zero vectors during a switching period to specify the type of space vector mulation applied. Zp, is defined for 2er0 vector 000 and To2 for zero vector III. A. variable is used to classify the diferent modulations, given by the fol- lowing expression”: Tow Toy + Tee ‘When assumes values between zero ad one, the mod lation is continous. When in certain sections equals the extremes (0 or 1), discontinuous modulation occas. Discon- "inuous modialation has the advantage of reducing the number of switching eyeles within a period ofthe reference signal be asc one legis always connccted to cithe the positive or the aground terminal ofthe DC bus ‘Thus, when To) = Tox, # = 0.5, continuous space vec- tor modulation (CSVPWM) oosurs. When Tor = Ty and Ti = 0.1 = 1. minimum discontimins space Vector mod- lion (DPWMMIN) occurs, However, when Tay ~ Oand Toa = Tacs = 0, maximum space vector modulation (DP: WMMAX) occurs. Discontinuous modulation is charter: ized by the fact that one of the legs isnot Switching. Ta the thrse-phase case, each leg remains inative daring 120 de- {grees Inthe two-phase case, the common leg reminsinae tive dusing 90 degrees while the other 1 legs ae inetive during 135 depres. Here, the thermal disequilibrium caused by improper curren asibacion among the switches (as de- scrihe! furher ahead) is abed to the effect of a switching frequency different fom that ofthe common leg in relation to the other legs. Furthermore, the common lez condets mee curent and, asa reminder, the switching losses are propor. tional to curenr and frequency. To avoid these probletas, this, work proposes a new technique. Axes of symmetry (shifted 45 degrees from the axes of plane DQ) are defined to divide the hexagon into two equal parts, one using DPWMMIN and the other using DPWMMAX. i other words, for 180 degrees = | andduring the other 180 dearees = 0. Tis is called hybrid eiscontinuoss space vector modulation (Fig. 6). Using this stategy, the common leg does not switch during 180 de~ res while the other legs are inactive during 90 degres (his is good because the common leg conducts the most current) Inthe same way, the disequilibrium between the switches of aegis eliminated. The behaviour ofthe duty eyces ofthe legs (upper switch) oangle 8 (degrees) Fig. 7. Duty cycle ofthe legs using standard space vector ‘padulation (CSVPWM) duty cde (0) ‘angle 8 (degrees) Fig.8. Duty cycle ofthe legs using maximum discontinuous space vector modulation (DPWMMIN) uty eke (0) angle 6 (degrees) Fig.9, Duty cycle of the logs using maximum discontinuous space vectoe modulation (DPWMMAX) uty cide ©) angle 0 (segrees) Fig. $0. Duty cycle of the ess using thrid discontinuous space Vector modulation (DPWMHIB) 4s presented in Figures 7, 8, 9, and 10 using the follow- ing modulations, respectively: CSVPWM, DPWMMIN, DP- WMMAX, and DPWMHIB, It is important to remember that continuous and hybrid space vector modulations present better current distribu- tion among the switches when compared to discontinnous modulations. In minimum and maximum discontinuous 838 ITO Fig. 11. Syimmetriea! continuous space vector modulation ‘ve signal (pub Fig. 12, Asymmetrical continous space veeor modulation modulations, either the top or bottom switches conduct longer. In terms of cunent distribution, continuous space vector modulation js better. The advantage of discontinuous space vector modulation resides in the fact that the switeh- ing losses are limited t0 one third of the switching losses of continuous space vector modulation, Hybrid discontinuous space vector modulation, ofall is the most similar to contin ‘uous space vector mostulation (when referring tothe distribu- ‘on of conduction losses ina leg. ‘There is still the possibility of using all of these module tions symmetrically (Fig. 11) and asymmetrically (Fig. 12), In symmetrical modulation there is symmetry at half the switching pesiod which does not occur in asymmetrical mod- ulation. A correlation between pulse width modulations, ob- tained from a triangular and a saw-tooth waveform, can be done, 4. Experimental Results A prototype (Fig. 13) was implemented to study this driv- ing. A two-phase symmetrical motor with TV poles and op- erating at 220 V, 60, and 350W of rated power was used, ‘The switching frequeney used was SkHz (a limitation in posed by the microcontroller). Figures 14, 15, and 16 present some experimental results (stator currents and the voltages across the legs in detail) EE Trans, 18, Vo.126, No, 2006Fig. 13, Photograph ofthe implemented prototype ‘stator current (A) ware) time (5) Scale: SOOmA/div, msi Fig 14, 60Hz stator curreas D phase current (A) aaraes Q phase current (A) Scale: SO0mA div. Fig. 15, 60H sator currents inthe DQ plane At low frequencies, the currents are deformed. This is due to the munner in which the modulation was implemented, Since the modulation index at low frequencies decreases, the times associated with the non-zero vectors are small. ap- proaching. in value, to the delay time of the program. There- fore, small times are limited 10 a specified rainimum value, This causes deformations in the current, Another important RPA, 126478, 70005 298, ‘Two-Phase Induction Machine Vector Modulation EE RTH ene time (8) Seale: 100V/div, time 100usiy Fig. 16. Voltages across the lees in detail Fig. 17. Experimentally obtained efficiency for the in- verter with a two phase load (RL type) versus the vara tion ofthe output power (normalized as a function of the rated value—250 W per phase) at 60 Fz Fig. 18, Experimentally obtained efficiency for the in verter witl a two phase Toad (RE type) versus the varia tion ofthe output power (normalized as a function of the ‘ated value—36 W per phase) at 1OHz point o be made is that the maching ‘currents are close to their rated value. All the modulations studied in this paper were imple- ‘mented and efficiency tesis were performed sing a 250.W ductive load per phase. Fig. 17 presents the results for op- eration at the nominal frequency while Fig. 18 shows the re- sults at I0Hz. As observed, the discontinuous modulations presented the best performance, mainly at low frequencies, elf saturates when the‘The discontinuous vector modulation proposes is the best so lution among the analyzed modulations. Besides reducing the number of commutations, the distribution of conduction ‘tosses is better in this ease, Due to the non regular hexagon, the number af commu: tations for each leg is not the same in discontinuous vector modulation. In this manner, the common leg was chosen to ‘present the least number of commutations since it conducts the highest curment in amplitude 8 Conclusions ‘An important point to be made is that the rwo-phase mo- tor, when compared to the PSC motor, presets an improved torque characteristic and uses the voltage available atthe DC bus in a more efficient manner. ‘The three-phase inverter is used in order to obtain the phase vollages and due to the fact that a capucitive divider, which presents cengin inconvenien- cies at low frequencies Voltage unbalance), is not necessary Space vector modulation is used since it allows greater de- sign freedom: so much, infact, that four madalation (sym- metrical and asymmetrical sypes ae presented. Hylbrid dis- US space vector modulation was chasen. This rood lation technique was chosen due to its small number of switching eyeles and since it allows beter current distribution among the legs. AnothesSnnpoetant detail is thatthe common leg conducts larger load current and, therefore, is subject 10 greater losses, thus, the choice of hybrid discontinuous space ‘eetor modulation (Manuscript received May 6, 2005, revised Feb. 13, 2006) This paper was proses at PEC-Niigata 2005, and approved for publication inthe IBEY Transactions on Industry Applications Soei+ ey References (Fat F Hangeans, Shine, ard A. Abghe ‘ale Spades or Sai Pa Indi Moto”, Orbe? septate 200 1G. Haines ad A Kop: “We Speed Ctl of Sage ant “Tuo Pe Incoe Noe Un 8 Tees Phas Yge Soc" Creer ce Reda Indy Appts Sein, pp3 618193) 3) MA Later AML Klunbailoe, PY. Zag. “OSP Bin pce Yor PWM Deve for ns Poser persion To Ps Ida Me” he 2 am Cre aN ns Sy SS. Welton BN. Chausar, SX:Dhoi, sal EK Shams “A Low ow nee ite oe 2 Phe ean Boe Prsesing Pe leew Be Saver, WLU A243 09) 40 15) AM Hoa RU Keke and TAL Nea oy Care PHI IEEE te. Nel pp. 61 109991), MAR Conta CA Dacohinn, AMEN, Lina anfERC da iba "A The a og Sure ner fr Te Phne AC tr Dive Sys Tes conPower lectin, NOL? No. pps? $21 20028) ‘ER. ove nT Lipo “ped PWM Malton for «Pea Sp Captor Mitr Cine Record of th Caco, NAA, No.9. 2008-2010 30.10) ipl Anttie ibid DDeniaar Cruz Martins (Non-member) was born in Suv Paulo, SP, Beal. on April 24. 1995, Re reales ihe BS. and MS. degres in electrical engineering fo the Fd eral Unersity of Sama Catarina, Florianéplis. SC Candide Tomaseli (Non-member) ws bor intima, Brit tn Match 28, 1975. He peived a PAD degre in Brain 1978 and 1981, respecsvey, and to PAD, lectcal egiveering fa Fedral Universi trom ‘elles Brunelli Lazzarin (Now member) was hor in rina Sas ease i clerical engineering from the Polytechnic ‘Santa Catainan 2008. He hts worked cn analysis of ‘Catrina Ste, Broa o August 16, 1979, He re National Institue of Toulouse. Toukse, Famer ie 1986 He is eeserty Tile Professor he Depart meat of Etectrieal Engincering at Federal University Single and te pase indtos. unos, vector mod silation and dig conrad of converters. Member ot the Beaton Power Electonis Soca ceived a BSe.degee fn eesticl engineering fae ‘he Federal Universi of Santa Catrina, Flasanopa- 1s, Bra in 2ODK. He ig preseoly a MS. stent in of Santa Caan, Bra. lesrclenpineering a te same uve vo Barbi (Now-member) was born Gasp, Sata Catarina, Bra in 1549. He received she B.S. and MS. degrees i ‘leceal engineering from the Federal University of Suma Casi, Feranopois, Broil, in 1973 ant 976, reapestvely, and the PhD. degre from the Polytech National Ite of Touosse, Tse, Fapee, in 1979. He founded the Belian Powe lectonis Society the Pome Electonenstite the Federal University of Sats Catarina and ealot the Gearlun Power Eletenics Conference. Cur ren, hes Professor ofthe Poser Blectroncs Ist, Federal Uses of Santa Catrina IEEI Tans. 14, Vol. 126, NO, 2008