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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:

ƒ IGBTs: SEMIKRON SKM 50 GB 123D, Max ratings: VCES = 600 V, IC = 80 A


ƒ DC- link voltage: Vdc = 400 V
ƒ Fundamental frequency: f = 60 Hz
ƒ PWM (carrier) frequency: fz = 3 kHz
ƒ Modulation index: m = 0.8
ƒ Output filter: Lf = 800 µH and Cf = 400 µF
ƒ Load: Lload = 2 mH and Rload = 5 Ω

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]).

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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:


ƒ When Vcontrol > Vtri, VA0 = Vdc/2
ƒ When Vcontrol < Vtri, VA0 = −Vdc/2

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Also, the inverter output voltage has the following features:
ƒ PWM frequency is the same as the frequency of Vtri
ƒ Amplitude is controlled by the peak value of Vcontrol
ƒ Fundamental frequency is controlled by the frequency of Vcontrol

Modulation index (m) is defined as:

vcontrol peak of (V A0 )1
∴m = = ,
vtri Vdc / 2
where, (VA0 )1 : fundamental frequecny component of VA0

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.

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Fig. 5 Waveforms of three-phase sine-∆ PWM inverter.

As described in Fig. 5, the frequency of Vtri and Vcontrol is:


ƒ Frequency of Vtri = fs
ƒ Frequency of Vcontrol = f1
where, fs = PWM frequency and f1 = Fundamental frequency

The inverter output voltages are determined as follows:


ƒ When Vcontrol > Vtri, VA0 = Vdc/2
ƒ When Vcontrol < Vtri, VA0 = −Vdc/2
where, VAB = VA0 – VB0, VBC = VB0 – VC0, VCA = VC0 – VA0

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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 Kirchoff’s current law to nodes a, b, and c, respectively, the following current
equations are derived:

c node “a”:

dV LCA dV LAB
iiA + ica = i ab + i LA ⇒ iiA + C f =Cf + i LA . (1)
dt dt

d node “b”:

dV LAB dV LBC
iiB + i ab = ibc + i LB ⇒ iiB + C f =Cf + i LB . (2)
dt dt

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e node “c”:

dV LBC dV LCA
iiC + ibc = ica + i LC ⇒ iiC + C f =Cf + i LC . (3)
dt dt
dVLAB dVLBC dVLCA
where, iab = C f , ibc = C f , ica = C f .
dt dt dt

Also, (1) to (3) can be rewritten as the following equations, respectively:

c subtracting (2) from (1):

⎛ dV dV ⎞ ⎛ dV dV ⎞
iiA − iiB + C f ⎜ LCA − LAB ⎟ = C f ⎜ LAB − LBC ⎟ + i LA − i LB
⎝ dt dt ⎠ ⎝ dt dt ⎠
. (4)
⎛ dV dV dV ⎞
⇒ C f ⎜ LCA + LBC − 2 ⋅ LAB ⎟ = −iiA + iiB + i LA − i LB
⎝ dt dt dt ⎠

d subtracting (3) from (2):

⎛ dV dV ⎞ ⎛ dV dV ⎞
iiB − iiC + C f ⎜ LAB − LBC ⎟ = C f ⎜ LBC − LCA ⎟ + i LB − i LC
⎝ dt dt ⎠ ⎝ dt dt ⎠
. (5)
⎛ dV dV dV ⎞
⇒ C f ⎜ LAB + LCA − 2 ⋅ LBC ⎟ = −iiB + iiC + i LB − i LC
⎝ dt dt dt ⎠

e subtracting (1) from (3):

⎛ dV dV ⎞ ⎛ dV dV ⎞
iiC − iiA + C f ⎜ LBC − LCA ⎟ = C f ⎜ LCA − LAB ⎟ + i LC − i LA
⎝ dt dt ⎠ ⎝ dt dt ⎠
. (6)
⎛ dV dV dV ⎞
⇒ C f ⎜ LAB + LBC − 2 ⋅ LCA ⎟ = −iiC + iiA + i LC − i LA
⎝ dt dt dt ⎠

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

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VLAB + VLBC + VLCA = 0. (7)

Based on (7), the (4) to (6) can be modified to a first-order differential equation, respectively:

⎧ dV LAB 1 1
⎪ = iiAB − (i LAB )
⎪ dt 3C f 3C f
⎪ dV LBC 1 1
⎨ = iiBC − (i LB C ) , (8)
⎪ dt 3C f 3C f
⎪ dV LCA 1 1
⎪ = iiCA − (i LCA )
⎩ dt 3C f 3C f

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

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

⎧ diiAB 1 1
⎪ =− V LAB + ViAB
⎪ dt Lf Lf
⎪ diiBC 1 1
⎨ =− V LBC + ViBC . (9)
⎪ dt Lf Lf
⎪ diiCA 1 1
⎪ dt = − L V LCA + L ViCA
⎩ f f

By applying Kirchoff’s voltage law on the load side, the following voltage equations can be
derived:

⎧ di LA di
⎪V LAB = Lload dt
+ Rload i LA − Lload LB − Rload i LB
dt

⎪ di LB di LC
⎨V LBC = Lload + Rload i LB − Lload − Rload i LC . (10)
⎪ dt dt
⎪ di LC di
⎪V LCA = Lload + Rload i LC − Lload LA − Rload i LA
⎩ dt dt

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Equation (10) can be rewritten as:

⎧ di LAB R 1
⎪ = − load i LAB + V LAB
⎪ dt Lload Lload
⎪⎪ di LBC R 1
⎨ = − load i LBC + V LBC . (11)
⎪ dt Lload Lload
⎪ di LCA R 1
⎪ = − load i LCA + V LCA
⎪⎩ dt Lload 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 1 1
=− VL + Vi , (12)
dt Lf Lf
dI L 1 R
= VL − load I L
dt Lload Lload

where, VL = [VLAB VLBC VLCA]T , Ii = [iiAB iiBC iiCA]T = [iiA-iiB iiB-iiC iiC-iiA]T , Vi = [ViAB ViBC ViCA]T ,
IL = = [iLAB iLBC iLCA]T = [iLA-iLB iLB-iLC iLC-iLA]T.

Finally, the given plant model (12) can be expressed as the following continuous-time state space
equation

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


X (13)

⎡ 1 1 ⎤
⎢ 0 3×3 I 3×3 − I 3×3 ⎥
3C f 3C f ⎡ 0 3×3 ⎤
⎡ L⎤
V ⎢ ⎥ ⎢ ⎥

where, X = I i ⎥ , A = ⎢⎢−
1 ⎥ , B = ⎢ 1 I 3×3 ⎥ , u = [V ] .
I 3×3 0 3×3 0 3×3 ⎥
⎢ ⎥ Lf ⎢Lf ⎥
i 3×1

⎣⎢ L ⎦⎥ 9×1
I ⎢ ⎥ ⎢0 ⎥
⎢ 1 Rload ⎥ ⎣ 3×3 ⎦ 9×3
⎢L I 3×3 0 3×3 − I 3×3 ⎥
⎣ load Lload ⎦ 9×9

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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


ƒ Generate carrier wave (Vtri) and control signal (Vcontrol) based on modulation index (m)
ƒ Compare Vtri to Vcontrol to get ViAn, ViBn, ViCn.
ƒ Generate the inverter output voltages (ViAB, ViBC, ViCA,) for control input (u)
ƒ Build state-space model
ƒ Send data to Workspace

3). Plot simulation results using Matlab

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5. Simulation results

Vtri and Vsin and ViAn

1 Vtri
Vtri, Vsin [V]

Vsin
0

-1

0.9 0.902 0.904 0.906 0.908 0.91 0.912 0.914 0.916 0.918 0.92
500
ViAn [V]

-500
0.9 0.902 0.904 0.906 0.908 0.91 0.912 0.914 0.916 0.918 0.92

1 Vtri
Vtri, Vsin [V]

Vsin
0

-1

0.9 0.901 0.902 0.903 0.904 0.905 0.906 0.907 0.908 0.909
500
ViAn [V]

-500
0.9 0.901 0.902 0.903 0.904 0.905 0.906 0.907 0.908 0.909
Time [Sec]

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)

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Inverter output line to line voltages (ViAB, ViBC, ViCA)
500
ViAB [V]

-500
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

500
ViBC [V]

-500
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

500
ViCA [V]

-500
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
Time [Sec]

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

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Inverter output currents (iiA, iiB, iiC)
100

50
iiA [A]

-50

-100
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

100

50
iiB [A]

-50

-100
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

100

50
iiC [A]

-50

-100
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
Time [Sec]

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

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Load line to line voltages (VLAB, VLBC, VLCA)
400

200
VLAB [V]

-200

-400
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

400

200
VLBC [V]

-200

-400
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

400

200
VLCA [V]

-200

-400
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
Time [Sec]

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

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Load phase currents (iLA, iLB, iLC)
50
iLA [A]

-50
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

50
iLB [A]

-50
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1

50
iLC [A]

-50
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
Time [Sec]

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

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500
ViAB [V]

-500
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
100
iiA, iiB, iiC [A]

iiA
iiB
0
iiC

-100
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
VLAB, VLBC, VLCA [V]

400
200 VLAB
VLBC
0
VLCA
-200
-400
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
50
iLA, iLB, iLC [A]

iLA
iLB
0
iLC

-50
0.9 0.91 0.92 0.93 0.94 0.95 0.96 0.97 0.98 0.99 1
Time [Sec]

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)

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Appendix

Matlab/Simulink Codes

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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)/(3*Cf) -eye(3)/(3*Cf)
-eye(3)/Lf zeros(3,3) zeros(3,3)
eye(3,3)/Lload zeros(3,3) -eye(3)*Rload/Lload]; % system matrix

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]

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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)')

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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)

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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])

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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

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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

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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

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A.3 Simulink Code

Simulink Model for Overall System

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Simulink Model for “Sine-PWM Generator”

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