Tutorial - 3-Phase Inverter Control Loop Design PDF

3‐Phase Inverter Control Loop Design
SmartCtrl Tutorial
3‐Phase Grid‐Connected PV Inverter
Control Loop Design
‐ 1 ‐ Powersim Inc.
www.powersimtech.com
SmartCtrl1 is a general‐purpose controller design software specifically for power electronics applications.
This tutorial is intended to guide you, step by step, to design the inner control loop in dq axis of a 3‐
phase grid connected PV inverter from its imported frequency response. The outer control loop design
and the maximum power point tracking (MPPT) are not included in this tutorial.
The figure below shows the PV inverter system with the current feedback.
PWM Modulator
P* Id*
2 p ⋅ vd + q ⋅ v q d a
id = ⋅
PI
+
3 vd2 + vq2 - b
q
c
2 p ⋅ v q − q ⋅ vd
iq = ⋅ Iq*
Q* 3 vd2 + vq2 id a
PI d
+ - b
iq q
c
There are different ways to control such a system. One approach is to use the axis decoupling by means
of feedforward control as shown in the figure below.
K sc
iˆd _ REF εˆd Rid d̂ d

+ + VVG 1
iˆd
- - + L⋅s + r
K sc ⋅ iˆd 1 Lω -
K sc VG Lω
1 Lω Lω
K sc ⋅ iˆq K sc VG
-
- εˆq + d̂ q VVG 1
iˆq
iˆq _ REF Riq + L⋅s + r
+ +
K sc
Due to the axis decoupling, this approach requires large amount of computations. For low cost
applications (low cost µP, PIC, DSP or small FPGA), a simplified control strategy is needed, as shown in
the next figure. In the simplified approach, direct PI control (without feedforward paths for axis
decoupling) is used.
1
SmartCtrl is copyright in 2010 by Carlos III University of Madrid, GSEP Power Electronics Systems Group, Spain
*
Id +
-
d̂ d 0.5·VDC ·(L·s + r )
Iˆd
PI
(L·s + r )2 + (ωL )2 +
+
0.5·VDC ·ωL
(L·s + r )2 + (ωL )2
*
Iq d̂ q
PI
+
-
0.5·VDC ·(L·s + r )
(L·s + r )2 + (ωL )2
+ Iˆq
0.5·VDC ·ωL -
(L·s + r )2 + (ωL )2

The plant (grey colored area) can be rewritten as it is shown in the figure. The obtained transfer
functions can be classified as follows:
‐ Mutual transfer functions:
⎛ Iˆ ˆ ⎞
⎜ d and I q ⎟
⎜ dˆ dˆ d ⎟⎠
⎝ q
‐ Self transfer functions:
⎛ Iˆq ˆ ⎞
⎜ , and I d ⎟
⎜ dˆ dˆ d ⎟
⎝ q ⎠
Taking into account the symmetry of the balanced 3‐phase inverter system, two identical PI controllers
can be tuned. In order to design this PI compensator, there are two possibilities: the converter plant can
be either the mutual transfer function or the self transfer function. Due to the higher bandwidth and
better stability, it is preferable to use the self transfer function.
The first step will be to validate the theoretical self and mutual transfer functions by means of a PSIM AC
analysis of the 3‐phase grid connected inverter.
1. AC Analysis in PSIM
The frequency response of the plant is obtained from the average model of the 3‐phase inverter in dq
axis by means of the PSIM AC analysis, as shown below.
AC sweep AC source
control
The frequency response from the ac analysis is shown below:
Before proceeding with the control loop design, we would validate the ac sweep results. The figure
below shows the frequency response obtained with PSIM (green trace) and from theoretical
analysis (red trace). The comparison shows that the simulation result matches very well with the
theoretical result.
60
40
m1 ( Freci)
(dB)
ci)
20
− 20
3 4
10 100 1×10 1×10
Frecuency
Freci (Hz)
100
0
degrees
1 ( Freci)− 100
− 200
− 300
3 4
10 100 1×10 1×10
Frecuency
Freci (Hz)
Once the frequency response is obtained, in PSIM, go to Utilities ‐> Launch/Export to SmartCtrl (or
click on the icon Run and Export to SmartCtrl) to export the ac sweep result to SmartCtrl.
The loaded transfer function in SmartCtrl is shown below.
2. Control loop design with SmartCtrl
2.1 Select the sensor type:
The feedback current sensor type is selected from a pull‐down listbox as shown below.
In this case, the hall effect sensor is selected. Then define the sensor gain and the bandwidth (pole
frequency) of the Hall effect sensor.
Sensor
gain
Pole frequency
2.2 Select the regulator type
Select the regulator type of the regulator pull‐down listbox.
The PI regulator is selected in this case. The PI regulator specification window is shown below.
Modulator
gain
R11 value
For an equivalent analog implementation of the compensator, it is necessary to set the modulator
gain and the value of the resistance “R11”. In this case the resistance value is not important
because the PI regulator to be implemented in PSIM is given by the values of the proportional gain
and the time constant in s‐domain transfer function block diagram.
2.3 Select the crossover frequency and the phase margin
Once all the control loop transfer functions are defined, the crossover frequency and the phase
margin must be selected. Click on the "Set.." button and the solutions map will be displayed.
Now, select the crossover frequency and the phase margin of the loop just by clicking within the
white zone and click OK to continue. The selected pair (PM and fcross) will provided stable operation.
Optimization process could be carried out in the main SmartCtrl window.

Once the crossover frequency and the phase margin have been selected, the solution map will be
shown on the right side of the input data window. If, at any time, these two design parameters
need to be changed, just click on the shown solution map (See next figure).
Now accept the selected configuration and confirm the design, the program will automatically
show the performance of the system in terms of frequency response, etc.
The regulator components to be used in PSIM are the Kp and Kint values.
Regulator
components
3. Closed loop performance
In order to check the closed loop performance of the regulator designed in SmartCtrl, a closed loop
simulation with PSIM will be carried out. Both the simulation schematic circuit and the simulation
results are shown below.
AIcc_pwm V Va
V Vb
IGBT1 IGBT2 IGBT3
VVAB_pwm 100m V Vc
1 1m
1
6.2831 V wt VA_pwm
50 1
K
wt 500V
T a
IGBT4 IGBT5 IGBT6 Ia
gnd Ib b
Ic
c
0.3183m. 1.
0.3183m. 1. Id_fil
0.3183m. 1.
V Id_fil
Vmod_a Ia_fil a d Iq_fil
Vge1
V Ib_fil b q K
Vmod_a V
Ic_fil c o -1 ac
Vmod_b Vge2 V
wt Iq_fil
V
Vmod_b V
Vmod_c Vd
Vge3
V a V
Vmod_c V
a d vd*
b q K
b
Vtri V c o -1 vq*
1500Hz c
wt
V Vq
PI components
calculated by
P P_ref Id_ref
SmartCtrl 5k V
vd*
2/3 V
1.89538m K Id*
8.24078m
Id* PI d a Vmod_a vq*
15k abs
K q b Vmod_b 165m
Q_ref V
1.89538m
Id_fil 8.24078m o c
-1 Vmod_c Iq_ref
PI 15k vq*
wt 300m 2/3 V
Iq_fil K Iq*
Direct PI control vd*
abs
Iq*
Power References Generation
V
1.5 V p_dq 1.5 V q_dq
vd* abs
vd* K vq* K
Id_fil Id_fil vq*
vq* vd*
Iq_fil Iq_fil

Ia_fil Ib_fil Ic_fil
100.00
50.00
0.0
-50.00
-100.00
p_dq P_ref
30.00K
20.00K
10.00K
0.0K Active Power Step
-10.00K
-20.00K
q_dq Q_ref
20.00K
15.00K
10.00K
5.00K
0.0K
Reactive Power Step
-5.00K
Va Ia_fil
200.00
100.00
0.0
-100.00
-200.00
0.0 0.10 0.20 0.30 0.40
Time (s)

As it can be seen from the simulation results, the control loop, designed in SmartCtrl and validated
in PSIM, provides a good performance to the 3‐phase PV inverter system without the use of
feedforward decoupling loops.
This example shows that, SmartCtrl in combination with PSIM, with the capability to import
frequency response results from PSIM, provide a fast and powerful platform for control loop design
and optimization of any power converter systems.

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3‐Phase Inverter Control Loop Design

iˆd _ REF εˆd Rid d̂ d

Id_fil Id_fil vq*

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