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AC DC Mech.
Traction
DC motor Trans.
3~ AC
DC
DC
Battery Ultra
pack Capacitor
Figure 1: Configuration of electric vehicle [1]
i1
D1 S1
R a
b
Vin
V0
i2
D2 S2
Signal for S1
T1 T2
t
Signal for S 2
Vo t
Vin
2
Voltage across load R
V t
in
2
i1
Vin
2R
Current through S1
i2 t
Vin
2R
Current through S 2
t
0 t T1 T1 t T2
Figure 3: Current and voltage waveforms for DC-AC inverter
where (10)
n L
n tan 1
R
i1
C1 D1 S1 C1 D1 S1
b L a b L a
Vin Vin
V0 V0
i2
iL
C2 D2 S2 C2 D2 S2
Figure 4: DC-AC inverter with inductive load Figure 5: Load current in case 1
iL
vo iL Voltage (vo)
C1 D1 S1 Current (iL)
b L a
Vin
V0 t
C2 D2 S2
Figure 6: Load current in case 2 Figure 7: Instantaneous output voltage and load current through R-L
load
S1 S3
C1 D1 D3
i1 i3
R
Vin a b
v0 i2
S2 S4
C2 D4 D2
i2 i4
where (15)
n L
n tan 1
R
The current and voltage waveforms for R L load are shown in Figure 11.In this figure
the conduction is divided into 4 distinct zones. In Zone I the diode D1 and D2 conduct
until iL becomes zero. Once, iL equals zero, the switches S1 and S 2 conduct and it is
marked as Zone II. At time t T2 , the diodes D3 and D4 conduct and this is marked as
Zone III in Figure 11. Finally, in Zone IV the switches S3 and S 4 conduct.
Signal for S1
T1 T2
t
Signal for S 2
t
Signal for S3
t
Signal for S 4
Vo
t
Vin
i1
Vin
R
Current through S1
i2 t
Vin
R
Current through S 2
t
Vin
R
Current through S3
t
Vin
R
Current through S 4
t
0 t T1 T1 t T2
Figure 9: Instantaneous voltage and current waveforms for full bridge DC-AC inverter
S1 S3 S1 S3
D1 D3 C1 D1 D3
C1
L R Vin L R
Vin a b a b
i2
S2 S4 S2 S4
C2 D4 D2 C2 D4 D2
Figure 10a: Current flow in case 1 Figure 10b: Current flow in case 2
vo
t t
iL
I II III IV
References:
[1] M. Ehsani, Modern Electric, Hybrid Electric and Fuel Cell Vehicles: Fundamentals,
Theory and Design, CRC Press, 2005
Suggested Reading:
[1] M. H. Rashid, Power Electronics: Circuits, Devices and Applications, 3rd edition,
Pearson, 2004
[2] V. R. Moorthi, Power Electronics: Devices, Circuits and Industrial Applications,
Oxford University Press, 2007
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2
S4 D4 S6 D6 S2 D2
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2
S4 D4 S6 D6 S2 D2
Ra Rb Rc
n
Figure 2: Three-Phase DC-AC Inverter with star connect resistive load
Mode 1: In this mode the switches S5 , S6 and S1 are turned on for time interval 0 t .
3
As a result of this the terminals a and c are connected to the positive terminal of the input
DC source and the terminal b is connected to the negative terminal of the DC source. The
current flow through Ra , Rb and Rc is shown in Figure 3a and the equivalent circuit is
shown in Figure 3b. The equivalent resistance of the circuit shown in Figure 3b is
R 3R
Req R (1)
2 2
The current i delivered by the DC input source is
V 2 Vin
i in (2)
Req 3 R
The currents ia and ib are
1 Vin
ia ic (3)
3 R
Keeping the current convention in mind, the current ib is
2 Vin
ib i (4)
3 R
Having determined the currents through each branch, the voltage across each branch is
V 2V
van vcn ia R in ; vbn ib R in (5)
3 3
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2 ia ib ic
S4 D4 S6 D6 S2 D2
Ra Rb Rc
n
Figure 3a: Current through the load in Mode 1
a c
i
Ra ia ic Rc
Vin
n
ib Rb
b
Figure 3b: Equivalent circuit in Mode 1
Mode 2: In this mode the switches S6 , S1 and S 2 are turned on for time interval t 2 .
3 3
The current flow and the equivalent circuits are shown in Figure 4a and Figure 4b
respectively. Following the reasoning given for mode 1, the currents through each branch
and the voltage drops are given by
1V 2V
ib ic in ; ia in (6)
3 R 3 R
V 2V
vbn vcn in ; van in (7)
3 3
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2 ia ib ic
S4 D4 S6 D6 S2 D2
Ra Rb Rc
n
Figure 4a: Current through the load in Mode 2
b c
Rb ib ic Rc
Vin
n
i
ia Ra
a
Figure 4b: Equivalent circuit in Mode 2
Mode 3: In this mode the switches S1 , S 2 and S3 are on for 2 t . The current flow
3
and the equivalent circuits are shown in Figure 5a and figure 5b respectively. The
magnitudes of currents and voltages are:
1V 2V
ia ib in ; ic in (8)
3 R 3 R
V 2V
van vbn in ; vcn in (9)
3 3
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2 ia ib ic
S4 D4 S6 D6 S2 D2
Ra Rb Rc
n
Figure 5a: Current through the load in Mode 32
a b
i
Ra ia ib Rb
Vin
n
ic Rc
c
Figure 5b: Equivalent circuit in Mode 3
For modes 4, 5 and 6 the equivalent circuits will be same as modes 1, 2 and 3
respectively. The voltages and currents for each mode are:
1 Vin 2 Vin
ia ic ; ib
3 R 3 R
for mode 4 (10)
Vin 2Vin
van vcn ;Vbn
3 3
1 Vin 2 Vin
ib ic ; ia
3 R 3 R
for mode5 (11)
Vin 2Vin
vbn vcn ;Van
3 3
1 Vin 2 Vin
ia ib ; ic
3 R 3 R
for mode 6 (12)
Vin 2Vin
van vbn ;Vcn
3 3
The plots of the phase voltages ( van , vbn and vcn ) and the currents ( ia , ib and ic ) are shown
in Figure 6. Having known the phase voltages, the line voltages can also be determined
as:
vab van vbn
vbc vbn vcn (13)
vca vcn van
The plots of line voltages are also shown in Figure 6 and the phase and line voltages can
be expressed in terms of Fourier series as:
4Vin n n
van
n 1,3,5,... 3n
1 sin 2 sin 6 sin nt
4Vin n n 2n
vbn
n 1,3,5,... 3n
1 sin 2 sin 6 sin nt 3
(14)
4Vin n n 4n
vcn
n 1,3,5,... 3n
1 sin 2 sin 6 sin nt 3
4Vin n n n
vab van vbn
n 1,3,5,... n
sin
2
sin
3
sin nt
6
4Vin n n n
vbc vbn vcn sin sin sin nt (15)
n 1,3,5,... n 2 3 2
4Vin n n 7n
vca vcn van
n 1,3,5,... n
sin
2
sin
3
sin nt
6
Signal for S1
2 3 4
t
Signal for S 2
t
3
Signal for S3
2 t
3
Signal for S 4
t
Signal for S5
t
Signal for S 6
2Vin / 3
Vin / 3
Voltage van
t
Vin / 3
2Vin / 3
2Vin / 3
Vin / 3
Voltage vbn
Vin / 3 t
2Vin / 3
2Vin / 3
Vin / 3
Voltage vcn
t
Vin / 3
2Vin / 3
Vin
Voltage vab
t
Vin
Vin
Voltage vbc
Vin
Vin
Voltage vca
Vin
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2 ia ib ic
S4 D4 S6 D6 S2 D2
Ra Rb Rc
La Lb Lc
n
Figure 7a: Current through the load in Mode 6
1 4Vin n n 2n
ib 3n 1 sin 2 sin 6 sin nt 3 n
R 2 n L
2
n 1,3,5,...
1 4Vin n n 4n
ic 3n 1 sin 2 sin 6 sin nt 3 n (16)
R 2 n L
2
n 1,3,5,...
where
n L
n tan 1
R
c
Rc
ic
Lc
Vin
n
Ra Rb
ia ib
La Lb
a b
S1 D1 S3 D3 S5 D5
C1
Vin a b c
C2 ia ib ic
S4 D4 S6 D6 S2 D2
Ra Rb Rc
La Lb Lc
n
Figure 7d: Current through the load during transition from Mode 6 to Mode 1
a c
Ra Rc
ia ic
Vin La Lc
Rb
ib
Lb
b
Figure 7e: Equivalent circuit during transition from Mode 6 to Mode 1
Suggested Reading:
[1] M. H. Rashid, Power Electronics: Circuits, Devices and Applications, 3rd edition,
Pearson, 2004
[2] V. R. Moorthi, Power Electronics: Devices, Circuits and Industrial Applications,
Oxford University Press, 2007
Torque
Powe r
Speed
Figure 1: Ideal performance characteristics for a traction motor
where (7)
L
n tan 1
R
The currents for both R and R-L loads are also shown in Figure 3.
By varying Ar from 0 to Ac , the pulse width can be modified from 0o to 180o and the rms
voltage Vo,rms from 0 to Vin . The harmonic content for different harmonics for different
modulation indices is shown in Figure 4.
S1 S3
C1 D1 D3
i1 i3
R
Vin a b
v0 i2
S4 S2
C2 D4 D2
i2 i4
Ac
Ar
t
t
Gating Signal for S1 , S2
2
2 2 2 2
t
Gating Signal for S3 , S4
Vin
iL
t
Current through R-L load
Figure 3: Currents and voltages in single phase DC-AC inverter for single PWM
1.4
1.2 1st Harmonic
Harmonic Magnitude
1 3rdHarmonic
0.8 5th Harmonic
0.6 7th Harmonic
0.4 8th harmonic
0.2
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Harmonic Number
Figure 4: Harmonic content for single pulse width modulation
where
Bn
2np
4Vin
sin
n
sin
n
sin nt n m
2n p 1 n
m 1 n 2 2 2
where
n p is number of pulses in the half cycle
M is modulation index
is width of each pulse
is the angle of left most pulse
M
180
np
180(1 M )
2n p
m 2m 1 m 1 (9)
where
An
2np
4Vin 1
sin
n
sin
n
sin nt n m
2n p 1 n
(10)
m 1 n Z n
n
2 2 2
where
Z n R 2 n L
2
n L
n tan 1
R
The rms value of the output voltage is
1/2
/2
2n p 2
n p
Vin d (t ) Vin (11)
2
Vo,rms
2
/2
2
Ac
Ar
t
2 t
Gating Signal for S1 , S2
t
Gating Signal for S3 , S4
Vin
iL
t
Current through R-L load
Figure 5: Currents and voltages in single phase DC-AC inverter for Multi-PWM
t
1 2
2 t
Gating Signal for S1 , S2
1
2
1 2
1 t
Gating Signal for S3 , S4
2
vo Vin
m 1
(15)
L
n tan 1
R
Table 1: The starting angle and pulse width for Sine PWM with 6 pulses per half cycle
Pulse Number Starting angle [ ]
o
Pulse Width [ ] o
1 12.98 4.04
2 39.30 11.40
3 66.73 16.54
4 96.05 17.90
5 127.90 14.20
6 162.26 5.49
vo
iL
t
Figure 7: Voltage and Current waveforms for Sinusoidal PWM with 6 pulses per half cycle
The output voltage is generated by eliminating the condition that two switching devices
in the same arm cannot conduct at the same time.
Ac
Ar
t
2 t
Gating Signal for S1
t
Gating Signal for S3
Figure 8: Voltage and Current waveforms for three phase Sinusoidal PWM
Suggested Reading:
[1] M. H. Rashid, Power Electronics: Circuits, Devices and Applications, 3rd edition,
Pearson, 2004
[2] V. R. Moorthi, Power Electronics: Devices, Circuits and Industrial Applications,
Oxford University Press, 2007