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Mli Converter
Mli Converter
A. History
The roots of vectorial representation of three-phase systems
are presented in the research contributions of Park [1] and
Kron [2], but the decisive step on systematically using the
Space Vectors was done by Kovacs and Racz [3]. They
provided both mathematical treatment and a physical
description and understanding of the drive transients even in
the cases when machines are fed through electronic
converters.
In early seventies, Space Vector theory was already widely
used by industry and presented in numerous books. Stepina
[4] and Serrano-Iribarnegaray [5] suggested that the correct
designation for the analytical tool to analyzing electrical
machines has to be Space Phasor instead of Space
Vector. Space Phasor concept is nowadays mainly used
for current and flux in analysis of electrical machines.
B. Theory
Any three-phase system (defined by ax(t), ay(t) az(t)) can be
represented uniquely by a rotating vector aS:
2
a X (t ) + a aY (t ) + a 2 aZ (t )
3
j
1
2
3
2
1 a
X
2 a
Y
3
a
2 Z
[ ]
a X (t ) = Re a S + a 0 (t )
2
(3) where
aY (t ) = Re a a S + a 0 (t )
a (t ) = Re a a + a (t )
S
0
Z
1
a 0 (t ) = [a X (t ) + aY (t ) + a Z (t )] represents the homopolar
3
component.
It results an unique correspondence between a Space Vector
in the complex plane and a three-phase system. The main
advantages of this mathematical representation are:
AC/DC converters:
III.
VECTORIAL ANALYSIS OF THE THREE-PHASE
INVERTER
A. Theory
(2)
(1)
where a = e 3 and
a2 = e 3
Given a three-phase system, the vectorial representation is
achieved by the following 3/2 transformation:
A 2 1
=
A 3 0
aS =
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
vs = L
di s
dt
(4)
Vdc
V1
V2
V3
V4
V5
V6
V1
va
M
T/6
Va
Vb
IM
IM/2
Vc
ia
-I M/2
+-+
+--
++-
-+-
-++
--+
101
100
110
010
011
001
-I M
t1
t2
t3
t4
t5
t6
t7
va
vb
vc
1
2
Vd vc = Vd
3
3
V
i a (t ) = 0.5 I M + d t
3 L
V
i b (t ) = I M + d t
3 L
2 Vd
i c (t ) = 0.5 I M
t
3 L
va =
Fig.3 Output voltage waveforms and state coding for the case
without PWM
V4(0,1,0
)
V3(1,1,0)
1
Vd
3
2
va (t ) + a vb (t ) + a 2 vc (t )
3
2
i (t ) = ia (t ) + a ib (t ) + a 2 ic (t )
3
v (t ) =
v (t ) =
(8)
1
3
+ j
2
2
a2 =
1
3
j
2
2
(9)
2
Vd + j 0
3
(10)
and
3
1 V
3 Vd t
I
i (t ) = M + d t + j
IM +
(11)
3 L
2 L
2
2
V1(1,0,1)
(7)
V2(1,0,0)
V0(-,-,-)
V7(+,+,+)
V6(0,0,1)
(6)
a=
0
(5)
where
Vs(Vs,
)
V5(0,1,1)
vb =
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
IM =
2 T
Vd (12)
3L 6
I(t3)
IM/2
t
d
1
V = i R + L i with solution i (t ) = V C e (13)
dt
R
R
represents the
where C is a complex constant and =
L
V2
I(tx)
I(t2)
V1
j
i = I e 3 . Considering the limit conditions defines C:
3
t = I e 3 = V + C e 3t
R
3
C = I V
R
1
K i(t ) = V
3 1
3t
I e = R V + C e
t =0 I =
What concerns the current Space Vector i(t), the Real part is
varying linearly from 0.5IM to IM during the time interval [t3, t4]
of duration T/6. These two values of the Real part at the time
moments t3 and t4 are calculated by substituting on the left
term of the eq.(11), the time variable (t) with t3=0 and t4=T/6.
Imag varies from 0.866IM to 0. The current Space Vector
will move continuously during the time interval [t3, t4]
starting from a position along the direction of V1 vector and
arriving to a position along the V2 vector. In conclusion,
applying the vector V3 on the load leads to a curent Space
Vector trajectory as presented in Fig.6a.
The vector
projection on the Real axis represents the value of the first
phase current.
During the next time interval [t4, t5], the voltage Space Vector
is identical with the switching vector V4 that is producing the
load voltages. The current Space Vector will move between
the position along the vector V3 (at t4) and the position along
with the vector V4 (at t5). This trajectory is also a straight
line as in previous case.
The same reasoning for all six intervals leads to the
conclusion that the voltage Space Vector has a discrete
movement in the complex plane between positions equally
partitioning 60 degrees sectors. It equals the switching
vector that was producing it. The current Space Vector is
describing a hexagonal trajectory in the complex plane as
presented by Fig.6b. The currents on the two other axes can
be defined by applying the graphical representation of the
Park transform that consists in projecting the current space
vector on axes at 120 and 240 degrees. By this, precise
IEEE Copyright 2001
1585
1
V + C
R
1
1 e 3t
where I = V
j
R
e 3 e 3t
t
t
1 e + I e
(15)
IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
= V dt
V( n )
n
n =5
100
HCF (%) =
V(1)
(9)
(16)
Vs
2
Vdc
3
DF =
I harm, rms
(10)
I harm,6 step
DF2 =
100
V1
( n 2n ) 2
(11)
n =5
(17)
THDV =
V L2 V L21
Fig.9 DF2 for regular SVM with different number of pulses on the fundamental
period
(6)
V L1
V. VECTORIAL PWM
I (n ) =
V(n )
(7)
2 n f LL
100
I (1)
I 2 ( n) =
n =5
K1
100
2 L L I (1) V(1)
V( n )
n
n= 5
A. Theory
The three-phase inverter presented in Fig.2 is herein
considered. Generally, the tip of the voltage Space Vector
should follow a circular locus. This cannot be achieved by a
= const. HCF switching power converter that is leading to discrete positions
of the voltage Space Vector. Each desired position on the
circular locus can be achieved by an average relationship
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
V4(0,1,0
)
V3(1,1,0)
Vs(Vs,
)
V5(0,1,1)
V2(1,0,0)
V0(-,-,-)
V7(+,+,+)
V1(1,0,1)
V6(0,0,1)
VS TS = Va ta + Vb tb + V0 t0
(10)
1 2
2
Vs cos Ts = Vd ta + Vd tb
3
2 3
Im:
Vs sin Ts = 0 +
3 2
Vd tb
2 3
t b=
(12)
3 Vs
3 Vs
1
TS (cos sin )=
TS sin( - ) (13)
3
2V d
Vd
3
3 Vs
Vd
TS sin
(14)
t 0 = TS t a t b
Ts =
1
(1 + cos( 6 ))
N f
(16)
(11)
ta =
(15)
Directly using the time allocated to states given for (ta, tb) is
sometimes not convenient for digital implementation. The
definition of the switching sequence would result to be
implemented in software only. It is more advantageous to
define a function called Switching reference function with
the same meaning as the reference used in sine-triangle
comparison based PWM methods. It represents the duty ratio
of each inverter leg or the conduction time normalized to the
sampling period for a given switch and it is a mathematical
function with variation between 0 and 1, centered around 0.5.
Mmax = (2/3Vdc)*cos30
300
2/3Vdc
Fig.11 Definition of the maximum modulation index
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
0.522
0%
ratio 100%
Modulation index 0.7; fsw/ffund=24
Fig.13 Effect of different sharing of the zero-states interval in
content of fundamental
0.09
v AB = v AM v BM 3 rd harmonic vanishes
0.042
(18)
Similar methods of injecting the third harmonic in the
reference waveform have been considered at sine-triangle
intersection based methods. Maximization of the fundamental
content led to a third harmonic of of cosine reference, while
the minimization of the HCF led to need of a third harmonic
of 1/6 of the fundamental. There are papers [25,26,27,28,29]
that analyzes this equivalence between regular sampled sinetriangle methods and SVM. They conclude that both methods
are analogous and that conventional digital PWM controllers
can be used for SVM generation in some cases.
Eqs.(13-15) do not provide a guide for sharing t0 among the
possible zero vector states. The initial SVM algorithm has
taken advantage of this degree of freedom to reduce the
number of switching processes by alternating the zero vector
states. Moreover, the sharing has been considered as halfhalf. The effect of considering different sharing ratio but the
same original method of alternating zero-state vectors is
shown by Figs.13 and 14 for a low number (=24) of intervals
over fundamental [22,28]. At larger ratios, the differences will
be smaller.
ta =
tb =
Sector 2
60..20 degrees
Sector 3
120..180
degrees
3 T
2 Vd
0. 225
0%
ratio 100%
Modulation index 0.3; fsw/ffund=24
(17)
rd
A 3 harmonic is present in the function but it is not present
in the output phase or line voltages. It only represents the
average of the A-M voltage from Fig.2.
Sector 1
0..60 degrees
1
v x
v y
3
HCF
HCF
0.05
0%
ratio
100%
Modulation index 0.3; fsw/ffund=24
These Figs. also show that the injection of the implicit third
harmonic in the half-half SVM algorithm is close but not
optimal for neither maximizing the fundamental content of
phase voltage nor for minimization of the HCF. Actually, the
amount of the third harmonic injected by SVM is about 0.22
(in between 1/4 and 1/6). For high-performance systems this
can be further improved by a different placement of the zerostates within the sampling interval.
C. Link to Vector Control
This Space Vector Modulation algorithm provides the
calculation of the pulse widths based on the polar coordinates (Vs,). This is not very convenient for the Vector
Control methods (both cases: drives and active filtering).
Sector 4
3T
1
v x +
v y
ta =
180..240
2 Vd
3
degrees
3 T
vy
Vd
Sector 5
240..300
degrees
( )
Sector 6
300..360
degrees
3 T
2 Vd
ta =
T 3
vy
Vd
tb =
3 T
v y 3 vx
2 Vd
0.033
0%
ratio
100%
Modulation index 0.7; fsw/ffund =24
1
v x
v y
3
3 T 1
3
vy
vx
tb =
2
Vd 2
ta =
0.8003
0.524
tb =
3 T
vy
Vd
ta =
3 T
vx 2vy
2 Vd
tb =
3 T
v y + vx
2 Vd
ta =
3 T
2 Vd
tb =
3 T
v y 3 vx
2 Vd
2 3
vx
vy
Table I
VI. SELECTION OF THE SWITCHING SEQUENCE
The averaging principle used herein does not provide any
requirement on zero vector generation during t0. Moreover,
the sequence of the active vectors within the sampling
period is not unique and these degrees of freedom make the
difference between Space Vector methods.
These eqs. are employed to redefine the eqs. for (ta,tb). The
time intervals allocated to the zero vectors remains
t 0 = TS t a t b
(32)
The methods to be presented in the followings are named in
different ways by different researchers. To simplify the
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
determine
110 111
va
000/111
100
110
S1
000
100
110
S1
111
S3
S5
switchings/
000
va
three
100
000/111
S3
S5
110
100
000
110
000/111
t0
t3
t2
t7
Ts
Ts
t0
t3 t7
t2
Ts
Ts
000
va
000
100
110
S1
111
S3
S5
t2
t3
110
100
000
Ts
110 110
111
100 000
S1
S3
S5
t0/2
t7
t2/2
t3/2
Ts
Ts
t3/2 t2/2 t0/2
[30-39]
for
va
t7
Ts
110 110
111
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
Method DD2
Method DD1
Fig.21 Pulse generation with Methods DD1 and DD2 for different
modulation indices
Impossible to
keep S1=1
V3(1,1,0)
V4(0,1,0)
OK for Keeping
S1=1
V0(-,-,-)
V7(+,+,+)
=50
0
V2(1,0,0)
Supposed 60-degrees
S1 No-switching
area
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
600
B.
No.
states
4
3
4
7
3
3
3
3
3
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IECON'01: The 27th Annual Conference of the IEEE Industrial Electronics Society
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