Real-Time Digital Control of PWM Inverter with PI

Compensator for Uninterruptible Power Supply

Han-Ju Cha, Shin-Sup Kim, Min-Gu Kang and Yong-Ho Chung

GoldStar Industrial Systems Co., Ltd., Lucky-Goldstar R&D Complex

533, Hogae-Dong, Anyang-Shi. Kyongki-Do, 430-080, Korea

ABSTRACT
This paper proposes a new method for real-time digital control of
PWM inverter for U P S application. Using two state variables (output
voltage and load current) measured at every sampling time, the DSP
(digital signal processor) canies out the real-time calculation of the
inverter pulse-width for the next sampling time. Maximum pulse-width
and robustness to the system parameter variation are obtained by using
the next sampling pulse-width calculation and the PI compensation,
respectively. The proposed control scheme is verified through the
simulation and experiment in various cases such as the sudden load
change, the system parameter variation and the nonlinear load condition,
And provides excellent transient response and robustness for various load
conditions.
introduced with the load current prediction and the pulse-width compen-
sation for the computing delay. However, they have the following
problems.
1) Harmonic frequencies are spread over a wide range around the
average switching frequency [2].
2) The maximum pulse-width is limited by the computation time of
the microprocessor [3-71.
3) Because load components are resolved into the system matrix,
control algorithms are dependent on the load condition [3-61.
4) The controller performance is lowered by deviation of actual value
of filter element L, and C, from the designed value [3-61.
5 ) Parallel operation is not easy [l-51.

In this paper, a new PWM inverter control scheme based on

real-time digital control algorithm is proposed to solve these problems.
1. Introduction That is, the problem 1) is solved by the constant sampling frequency, the
problem 2) by the next sampling pulse-width calculation with prediction
The unintenuptible power supply (UPS) systems have been used to
method, the problem 3) by the new system modeling where load
provide the emergency power to the critical loads such as airline
component is disposed into disturbance, the problem 4) by the PI
computers and life support systems in hospitals in case of utility power
compensation for the output voltage error and the last problem by the
failure. In addition, the development of the fuel cell and the solar cell
fast compensation for the load disturbance, respectively. In section 2.1 of
power plants is remarkable in recent years, which could permit a number
this paper, a discrete state equation for PWM inverter circuit is derived.
of commercial installation sooner or later. The basic mechanism of these
In section 2.2, both next sampling pulse-width calculation and PI
applications is to convert the variable dc voltage to the constant voltage
compensation method are suggested. In section 2.3, flow chart of the
and the constant frequency (CVCF) AC output through the inverter-LC
proposed control algorithm is described. Section 3 gives the simulation
filter blocks. The performances in these applications are evaluated by the
and the experimental results for several cases such as parameter
total harmonic distortion(THD), the transient response and the efficiency.
variation, load change and nonlinear load, and section 4 concludes this
In general, as the inverter output voltage control methods, the
paper.
sinusoidal pulse-width modulation, the regular sampled PWM and the
optimal PWM methods have been widely used [l]. Though they have a
good steady state characteristics on linear load, they have many demerits
such as the poor transient response and the high THD for the nonlinear
load condition. To overcome such problems, another approaches using
real-time waveform feedback control such as the hysteresis control [21 or 2. System Modeling and Control Algorithm
the instantaneous state feedback or the deadbeat control were proposed 2.1. System model
[3-71. These techniques have very fast response for the load disturbance
and the nonlinear load condition. In 121, bang-bang control technique Fig.1 shows the circuit diagram of the single phase PWM inverter
allows the inverter output voltage to track a sinusoidal reference, by for UPS or the power plants. The power circuit consists of the single
adapting the hysteresis width to the instantaneous value of the reference phase full bridge inverter, L-C filter and load. Fig.2 shows the typical
voltage. In [4], a repetitive voltage waveform compensation technique is nonlinear load such as rectifier. If we define a state vector as x=[i,(rj
used to produce low distortion for a PWM inverter connected to the v0(r)lT, where i,(t) is the reactor current and v,(tj is the output voltage, the
cyclic fluctuating loads, and in 171, double deadbeat control algorithm is state equation (1) can be derived as follows.

087942-600-4/90/1100-1124$01.00 0 1990 JEEE

 2.2. Algorithm

Fig. 3 shows the fundamental configuration of the proposed output

where control variable u(t) can take three values, +V,, -V, or 0,and load
current io(f) is disposed into disturbance. Given sampling time of T, we
can obtain the sampled data state equation as follows.
~ ( +k1) = A ( T ). x ( k ) + B ( T ) .~ ( k+)F ( T ) .~ ( k ) (2)
where
voltage control scheme. This algorithm measures only the output voltage
v&) and the load current i&), while estimating the reactor current i,(f) at
each sampling time. The reason to measure the load current i,,(f) lies in
extending the proposed algorithm to the parallel operation of inverters
without additional measurement and obtaining a controller independent
on the load condition.
From equation (2), the sampled data equation of the reactor current and
the output voltage can be expressed as (3) and (4). respectively.

a=-
= 1

I&
r -1
-1 .
cos aT -sin sin aT Combining (3) and (4). replacing output voltages Vo(k+l)and V,(k+2) by
Lsa
A ( T )= reference voltages V,,,(k+l) and V,Jk+2) respectively, we can get the
[&sin sin aT cos aT equation ( 5 )

1 .
-sin aT

2sin -
Equation (5) shows that we can obtain the required control variable
U , ( k + l )if I,(k+l) and I,(k) are given. First, the load current I,(k+l) can
-sin aT
be obtained by using the 2nd order prediction method [7], namely,

Io&+ 1)=3Z0(k)-3I0(k- 1)+Zo(k-2). (6)

Second, the reactor current 18(k)can be estimated by using the measured
variables V O W Io(@ and the system variables. From Fig. 1, the circuit
equation (7) can be derived.

Fig. 1 Circuit diagram of the single phase inverter Ls

PWH INVERTER m

7 r L ? E k A
DEADBEAT w-q current
estimator

Is c a l c u l a t o r
1
+;
0. CONTROLLER

Fig2 Power circuit of nonlinear load (rectifier) Fig.3 Block diagram of the proposed output voltage control

1125
From equation (7), the sampled data expression for the reactor current
i,(r) can be approximated as
!bS / H *
MUX +AID
b S/H +
- GATE f i DSP
4- 4-
-
ARRAY
TNS320E 14
However, there exist errors between the actual reactor current l,(k) and Power 4 Base 4-
I/O
Nodule 4- D r i v e r -
the estimated current f , ( k ) . If equation (8) is used to obtain I,(k) without
compensation, the system may be unstable. Also, in obtaining Ui(k+I) by
equation (3,there exist errors if the system parameter is not exactly
4 4-
U
modeled. To solve such problems, a compensator is necessary for the Fig.5 Block diagram of the controller hardware
stable operation and the robustness to the parameter variation. As a
typical compensator, a PI controller is adopted as shown in Fig. 4 and
Step 4) Calculate l,’(k) from equation (9).
can be written as
Step 5) Calculate next interval control variable UJk+I) from
equation (10).
Step 6 ) Increment k and retum to step 1).
(9) This algorithm from step 1) to step 6) is carried out every 50 p e c , that
is, inverter switching frequency is 20 kHz.
2.4 Hardware implementation

Fig. 5 shows the block diagram of controller hardware using the 32 bit
DSP (TMS320E14) and the gate array (Gold Star GC53204). DSP
performs the real-time digital control and the PI compensation as well as
the data acquisition. Gate array performs the PWM generation, the alarm
function and the A D conversion with additional D/A converter and
comparator. Output voltage and load current are measured at every 50
pet. Also IGBT’s are used for switching devices of the inverter bridge
Figd PI compensator whereby the high frequency operation is possible.

Combining (S), (6) and (9). the required control variable U,(k+I ) on next
interval can be derived as equation (10)
3. Simulation and Experimental Results

The proposed control algorithm was simulated by the digital

computer using the Advanced Continuous Simulation Language (ACSL)
and was carried out to study the distortion content in the output voltage
v,(r) under the R-L load, the rectifier load and the system parameter
variations, respectively. Table-1 shows the circuit constants used for the
simulation.
Table-1. Circuit constant of the system

Equation (10) shows that the required control variable Ui(k+I) on next
interval k + l can be calculated from the measured quantities Ve(k) and
lo(k), the estimated quantity l,*(k) and the known quantities V,,,4k+2),
Maximum current Rated load
V,,/k+l), IJk-I), I,,(k-2) and Vo(k-I).
Filter inductance 2WpH Filter capacitance 10pF

2.3. Control procedures

The aforementioned control algorithm can be shown as follows.
Step 1) Output the calculated UJk)on interval k-I.
Step 2 ) Measure V,(k) and l,(k).
Step 3 ) Calculate VJk) = V,,,(k)-Vo(k).
Fig. 6 shows the simulation result for the output voltage and the load
current waveforms when the load is changed from the light load to the
rated load. It shows that there is very small transient interval and very
fast response is obtained. Fig. 7 and Fig. 8 show the simulation results
for the output voltage and the error voltage waveforms when the
parameters L, and C, are varied from the nominal values, respectively.

1126
Fig.7 shows the case of L, variation, with inductance L, decreased 25% in
2nd period and inductance L, increased 25% in 3rd period. As shown in
Fig. 7, decreasing of L, has much influence than increasing. This means
that response of voltage caused by decreased L, is difficult to compensate
by the PI compensation. Fig.8 shows the case of C, variation, with
inductance C, decreased 25% in 2nd period and inductance C, increased
25% in 3rd period. As shown in Fig.8, the effect of C, variation is similar
to the L, variation. Fig. 9 shows the output voltage and the load current
waveforms in case of rectifier load condition. As shown in Fig.9, the
distortion of the output voltage is very small. As represented by
simulation results, the proposed control scheme provides excellent
transient response and robustness for various cases such as sudden load
change, system parameter variation and rectifier load.
Fig. 10 show the experimental results when the load is changed from
the light load to the rated load. Fig.11 shows the experimental results in
case of rectifier load condition. Compared to the simulation results of
Fig.6 and Fig.9, it is shown that the proposed control algorithm is well
operated as expected.

5
N
LORD CHRNGE

-
0

N o
D9
.O

QO

-
=-9
I
0

Y
0 0
ffl
0
I I I I I I
0 ffl
0
m
N

0 0

-
oo
0
WO
WO
w
>a
ffl
m
N
I N

m
0
0

L O . 00 1.00 2.00 3.00 4.00 5.00

L--L-L-u---l
Ln
L O . 00
1.00 2.uo 3.00 4.00 5.00
T *IO-2 r +10-2

Fig.6 Waveforms (Vo,la)under the load change Fig.8 Waveforms (Vo,V J under the parameter C, variation

8
N
LS CHANGE
0
0
...
-.
N
00

.O
o

-
00
=-O.
I

0 o

0 0
m
N
m
N
A A A
0 0
WO
w
WO ,.-.
oo
\ I \ I I \
0

m
N
I
\ I \ I \
?]iilil
m
0

d--4--L&--U
L O . 00 1.00 2.00 3.00 4.00 5.00 ' 3.20 4.16 5.12 6.08 7.04 8.00
T ID-^ 1' *10-2

Fig.7 Waveforms (Vo,V J under the parameter L, variation Fig.9 Waveforms (Vo,la)under the rectifier load

1127
 References
PGnel
[ l ] S . R. Bowes and M. J. Mount," Microprocessor control of P W
inverter ",Proc. IEE, Vol. 128, R B, No. 6, pp. 193 - 305,1981

[2] A. Kawamura and R. G. Hoft," Instantaneous feedback controlled

.
._. . .
. . . .....
..
~
-
,
.T
..
- . , . I~
,..I . - .. ! .. ... . -
. ~
-. --
PWM inverter with adaptive hysteresis ",IEEE Trans. Ind. Appl.,
Vol. IA-20, pp. 769-775, 1984
[3] K. P. Gokhale, A. Kawamura and R. G. Hoft," Deadbeat micropro-
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synthesis ",Proc. IEEE PESC, pp 28-36, 1985

-i,d:v
. [4] T. Haneyoshi, A. Kawamura and R. G. Hoft," Waveform compen-
XCW CPF Sas C h 2 2 I.' =
7riS 1.36 d i v + C%.:il 2= sation of PWM inverter with cyclic fluctuating loads ",IEEE Ind.
Fig.10 Experimental waveforms (V,,, IJ under the load change Appl. Annual Meeting, pp 744-751,1988
(upper trace: SOV/div, lower trace: lOA/div) [ 5 ] A. Kawamura, T. Haneyoshi and R. G. Hoft," Deadbeat controlled
PWM inverter with parameter estimation using only voltage sensor
'I, Proc. IEEE PESC, pp 576-583, 1986
[6] A. Kawamura, R. Churayapratip and T. Haneyoshi," Deadbeat
control of PWM inverter with modified pulse pattems for uninter-
ruptible power supply ", IEEE Trans. Ind. Elec., Vol. 35, No. 2,
May, pp 295-300,1988
[7] T. Kawabata, Y. Shikano and S. Higashino," Chargeless UPS using
multi-functional BIMOS inverter 'I,Conf. Record of 1988
IEEE-IAS Meeting, pp 513-520

4. Conclusions

In this paper, a new control scheme is developed for real-time

control of the single phase PWM inverter for UPS application. The
proposed next sampling pulse-width calculation is implemented to
eliminate the pulse width limitation by the computation time of the
microprocessor and PI compensation is used to compensate the real-time
digital controller for system parameter variation. Simulations and experi-
ments are performed for the various cases such as load change, system
parameter variations and rectifier load. Simulation and experimental
results show that the performance of the proposed scheme is excellent
for various cases. Also, this type of PWM inverter system is suitable to
the solar energy converters and expandable to utility interactive inverter
systems.

Acknowledgment
This work was supported in part by the Ministry of Energy and
Resources, Republic of Korea, and it is the result of development of high
efficiency inverter for photovoltaic and fuel cell generating system.
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