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08 Chapter3
08 Chapter3
CHAPTER 3
3.1 INTRODUCTION
The conventional three phase three wire inverters are suitable for
supplying balanced three phase loads. But when the load is unbalanced, the
four wire inverters become the best choice as they provide a neutral
connection for a three phase unbalanced system using a fourth leg in the
inverter topology. Four wire inverter is a method of providing a neutral
connection for three phase four wire unbalanced systems using a four leg
inverter topology by tying the neutral in high power UPS applications. Four
leg inverter is able to provide a path for the neutral current, flexibility to
control the neutral voltage and hence produces balanced voltage across each
phase. In this section the four wire inverter for UPS system is simulated and
results are verified with experimental researches. The analysis is based on
power quality for linear and non linear loads particularly for rectifier loads.
in ON state at that time. When the supply is off, then the inverter will be
supplied by the battery.
Figure 3.1 Block Diagram of the Conventional FWI based UPS System
If the mains static switch is not available, the load will be isolated
from supply at times of UPS failure. Thus an inverter is always on and it takes
power from the input ac supply or battery. The voltage feedback is given to
the controller which produces the necessary gating signals to the four wire
inverter switches. Under any unbalanced or nonlinear load circumstances, the
four wire inverter is used to provide the balanced and undistorted voltage to
the load (Eyyup et al 2007).
In four leg inverters the load neutral wire is connected to the fourth
leg as shown in Figure 3.2. This makes the control of neutral voltage more
flexible and hence produces balanced voltage Vdc across each phase. The two
additional power switches in four wire system, double the number of inverter
output states from 8(=23) to 16(=24).The UPS requires sinusoidal output with
minimum total harmonic distortion. It is achieved by using space vector pulse
width modulation technique. By this technique, the load voltage is compared
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with a reference voltage and the difference in amplitude is used to control the
modulating signal in the control circuit of the inverter. The circuit diagram
giving the load neutral point voltage for the three phase four wire inverter is
illustrated in Figures 3.2(a) and (b).
Figure 3.2 (a) Circuit Diagram of Three Phase Four Wire Inverter with
Midpoint Capacitors
Figure 3.2 (b) Circuit Diagram of Three Phase Four Wire Inverter
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TS T T TS
1 1 1 1 2 1
Vref dt= Va dt+ Vb dt+ Vcdt (3.1)
TS 0 TS 0 TS T TS T +T
1 1 2
in which Da, Db and Dc are the duty cycles of vectors Va, Vb and Vc. In
3D-SVM algorithm, based on generating a zero-vector has been introduced.
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Still, the proposed algorithm has a drawback of stressing the Insulated Gate
Bipolar Transistors (IGBTs) unequally. In this work, another SVM algorithm
without using a zero-vector is launched. This algorithm based on vectors
compensation (compensated vectors approach) is more practical as it is not
only stressing the IGBTs equally but less as well. The proposed SVM
algorithm can be achieved through the following steps:
In a similar way to two level three phase inverters, there are eight
different switching combinations where the output terminals will be
connected to +1/2 or -1/2 of the input DC voltage. However, unlike two-level
three-leg inverters none of these switching combinations is generating zero
voltage at the output terminals, which make the implementation of SVM more
difficult. Table 3.1 presents the eight possible switching vectors and the
corresponding output voltages related to the DC-voltage as reference voltage.
The switching vectors can be represented in the -coordinates using
Clarke’s transformation. Table 3.1 also shows the normalized -values of
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The vectors are taking place in layers according to the value of their
component. Three vectors (V2, V4 and V6) are located at the layer
V =1/6(VDC). The vectors (V1, V3 and V5) are lying at the layer
V = -1/6(VDC). The vectors V7 and V0 are located at the axis at
V =1/2(VDC) and V =-1/2(VDC), respectively. The projection of the vectors in
the frame is shown in Figure 3.3 which is divided into six prisms. The six
prisms in the space are shown in Figure 3.4. Each prism is divided into
two tetrahedrons, upper and lower tetrahedron. Each tetrahedron is
characterized by three vectors.
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1
E 71: V =0 (3.3)
3
E 1 2 :V - 3V +4V =0 (3.4)
3 1
E 27 : V - V =0 (3.5)
6 6
E 2 3 :- 2 V +2V =0 (3.6)
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3 1
E 37 : V + V =0 (3.7)
6 6
E 3 4 :V + 3V +4V =0 (3.8)
where
Once the target tetrahedron is defined the nearest three vectors are
chosen. By normalizing the standard vectors at the intermediate circuit
voltage, the duty cycles in matrix form can be written as follows
Da V
1 -1 -ref
Db = Va Vb Vc V -ref (3.11)
Vdc
Dc V -ref
1-(Da +D b )+D
D7 = D0 =D 7 -D (3.12)
2
1-(Da +D b )+D
D0 = D7 =D 0 -D (3.13)
2
Table 3.2 Vector Sequence for the Upper and Lower Tetrahedrons in
Each Prism
Prism Sequence
1 v0-v1-v2-v7-v7-v2-v1-v0
2 v0-v3-v2-v7-v7-v2-v3-v0
3 v0-v3-v4-v7-v7-v4-v3-v0
4 v0-v5-v4-v7-v7-v4-v5-v0
5 v0-v5-v6-v7-v7-v6-v5-v0
6 v0-v1-v6-v7-v7-v6-v1-v0
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3.5.4 Steps Six and Seven: Building Vector Sequence and Pulse
Pattern Computation
(a) (b)
Three phase four wire VSI is commonly used for three phase
voltage generation. It consists of eight switches Tap Txn and filters comprising of
inductors LA LX and capacitors CA CC, interfacing a dc source with three
phase ac loads. The switches operate at switching frequency to chop the dc
bus voltage E into high frequency chunks; the LC network filter out the
switching harmonics and pass the fundamental to output terminals. The VSI is
very well controlled and it is able to generate balanced high quality AC output
voltage irrespective of the loading conditions.
Figure 3.8 Active Voltage Vectors for Region (a) 0°-60°, (b) 120°-180°
and (c) 180°-240°
As shown in Figure 3.7, one line cycle is divided into six regions.
In region 0°-60°, 120°–180°and 240°-300°, the voltage waveforms as
depicted in Figure 3.8 follow the same pattern, i.e., one phase voltage is
always lower than the other two. The selection of actively controlled voltage
vectors is as follows. The lowest phase voltage is selected as the active phase
voltage under control (in 0°-60°, it is –VBO) and the line voltages between the
lowest phase voltage and the other two phases are selected as the active line
voltages under control (in 0 –60 , it is VAB and VCB).
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Switches
S1 S2 S3 S4 S5 S6 N1 N2
Intervals
-60 ON OFF OFF OFF OFF ON ON OFF
60 -120 ON ON OFF OFF OFF OFF OFF ON
120 -180 OFF ON ON OFF OFF OFF ON OFF
180 -240 OFF OFF ON ON OFF OFF OFF ON
240 -300 OFF OFF OFF ON ON OFF ON OFF
300 -360 OFF OFF OFF OFF ON ON OFF ON
Figure 3.9 Equivalent Circuit for Four Wire System during (a) 00-600
and (b) 60°-120°
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Figure 3.10 Active Voltage Vectors during (a) 60°-120°, (b) 180°- 240° and
(c) 300°-360°
1. The switch T in (a, b, c) for the phase with the lowest voltage is
always turned ONand the corresponding Tip for this phase is
always turned OFF.
2. The switches Tin and Tip for the other two phases are driven
complementarily, where the duty ratio of one Tip is defined by
Dp; the duty ratio of the other Tip is defined by dn.
3. The switches Txn and Txp for the neutral phase are driven
complementarily, where the duty ratio of Txp is defined by Dx.
With this treatment, Figure 3.2 becomes equivalent to Figure 3.9 (a)
in 0°–60° region, which can be further rearranged into Figure 3.9 (b).
The same equivalent circuit is also applicable to 120°-180° and 240°-300°
regions, where the selection of active phase/line voltages follows Figure 3.8.
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Figure 3.11 Equivalent Circuit for Four Wire System during (a) 00-600
and (b) 60°-120°
1) LA=LB=LC=LX=L
2) CA=CB=CC=C
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4) dp>dn>dx
Equivalent circuit for four wire system during (a) 00-600 and
(b) 600-1200 is shown in Figure 3.11. The first three assumptions usually
become true in three phase voltage generation application, while the last one
is made for the ease of analysis. Detailed analysis is performed in region 0°-
60° as illustrated in Figure 3.9 (b), while similar derivation can be extended to
all other regions. With output voltages VAB, VCB and VBO following their
respective reference voltages, Figure 3.9 (b) is redepicted with outputs
replaced by three voltage sources for the ease of analysis. Assuming
d >d >d , the equivalent circuit in one switching cycle is depicted. The
p n x
voltage applied on each inductor in one switching cycle is derived through the
application of superposition, i.e., combining the voltage drop from individual
voltage.
VˆCan
iˆc
Vinv* (S)
VC* ( S )
VˆC ( S )
Figure 3.13 depicts the block diagram of the UPS control system
which includes the control elements with their simplified S-domain
mathematical model. The UPS system control block diagram includes
measurement delay block, sampling delay block and PWM delay blocks.
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1
1 s measure
Iˆc(S) Ic(S)
1 1 1 IL(S) 1
1 s samp 1 s PWM Ls I L
*
V (S)
C
cs
VˆC ( S )
I0(S)
1 VC ( S )
1 s measure
Ic(S)
1 1 IL(S) 1
Gc ( s) Ls I L
*
V (S) 1 s T cs
C
VˆC (S )
I0(S)
VC (S )
Ic(S)
Gi ( s)
Gc ( s ) Gv (s)
VC*( S )
VˆC ( S )
1
G v (s)=
3 2
(3.14)
T L f Cf s +Cf (L f + T rL )s +[Cf (K ad +rL )+ T ]s+1
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where,
C(s) * D(s)
VC (s)= VC (s)+ I o (s) (3.16)
R(s) R(s)
2 2
C(s)=K ps +2Kim s+K p (m e ) (3.17)
2 2
D(s)=-(L f s+rL )(1+s T )(s +(m e ) ) (3.18)
5 4 3 2 5
R(s)=a 0 s +a1s +a 2 s +a 3s +a 0s +a 5 (3.19)
2
a 2 =C f (rL + T L f (m e) +K ad )+ T (3.21)
2
a 3 =Cf (m e) ( T rL +Lf )+K p +1 (3.22)
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2 2
a 4 =C f (m e) (rL +K ad )+K im + T (m e ) (3.23)
2
a 5 =(m e) (K p +1) (3.24)
The Routh-Hurwitz stability criterion states that the necessary (but not
sufficient) condition for stability is that all the coefficients of the
characteristic equation R(s) must be positive. Since for the system stability
negative feedback is employed, all the controller coefficients Kad, Kimand Kp
must be positive by definition. With this assumption, reviewing the above
coefficient equations, it can be clearly seen that all the coefficients are
positive for positive controller gains. Thus, the necessary condition for
stability is satisfied. The sufficient condition involves ordering the
coefficients according to the Routh-Hurwitz criterion ordering table shown in
Table 3.4 and then obtaining the additional coefficients b1, b2, c1, c2, d1, e1
defined in Equations (3.25) to (3.30). Using the values of coefficients from
the Table 3.4, stability analysis is done and shown in Figure3.17
S5 a0 a2 a4
S4 a1 a3 a5
S3 b1 b2 0
S2 c1 c2
S d1 0
e1
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2
a1a 2 -a 0 a 3 T rL - T K p Lf
b1 = =Cf (K ad +rL )+ (3.25)
a1 r +L f
T L
2
a1a 4 -a 0 a 5 2 K p (m e) Lf T
b2 = =K im +(K ad +rL )Cf (m e) - (3.26)
a1 T rL +L f
2
C f ( T rL +L f )Cf (m e) rL K
b1a 3 -b 2 a1 im
c1 = =K p +1- (3.27)
b1 Cf K ad - T K p
b1a 5 -b 3 a1 2
c2 = =(m e) K p +1 (3.28)
b1
c 1b 2 -b 1c 1
d1 = (3.29)
c1
d1c2 -c1d1
e1 = =(m e ) 2 (K p +1) (3.30)
d1
b1 Cf K ad - T K p (3.31)
Cf Lf K im
c1 K p +1- (3.33)
C f K ad - T K p
Figure 3.17 shows the bode plot of open loop controller for three
phase four wire inverter. From the Figure it is observed that the system is
stable for the input voltages of 180V to 270V.
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Bode Diagram
Gm = 246 dB (at 5.77e+005 rad/sec) , Pm = -180 deg (at 0 rad/sec)
-50
-100
-150
-45
-90
-135
-180
-225
-4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10
Frequency (rad/sec)
The proposed three phase four wire inverter with controller is tested
with online UPS system and it is simulated on Matlab/Simulink. The AC
output voltage is generated by the four wire inverter with filter and without
filter condition. To validate the simulation results 3kVA, 1200V, 10A, 50HZ
prototype four wire inverter is fabricated in the laboratory.
voltages of four wire inverter. It shows the neutral voltage during balanced
condition. Figure 3.19 shows the line and phase voltages during unbalanced
conditions. Figure 3.20 shows the simulated line current waveforms with filter
circuit. Figure 3.21 shows the simulated waveform of four wire inverter with
controller. The controller provides constant terminal voltage during sag conditions.
Figure 3.18 Simulation Result for Output Line Voltage after Filter
Figure 3.19 Simulation Result for Output Line Voltage before Filter
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0.5
0
0 2 4 6 8 10 12 14 16 18 20
Harmonic order
Figure 3.22 THD for the Terminal Voltage of Four Wire Inverter With
Filter
15
10
0
0 2 4 6 8 10 12 14 16 18 20
Harmonic order
Figure 3.23 THD for the Terminal Voltage of Four Wire Inverter
Without Filter
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Figure 3.27 shows the line to line voltages of FWI with filter. From the Figure it is
observed that the voltage spikes are present in some of the lines where the
magnitude of voltage is around 270 V. This may damage the switches during the
active mode of operation.
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Figures 3.28 to 3.30 show the gating pulses for the three legs of the inverter.
Each figure shows two pulses that are complementary in operation .i.e.
whenever upper switch is on, lower switch is off. Table 3.5 shows the line
voltages of four wire inverter across the phases with filter at switching
frequency of 300 Hz.
Figure 3.28 Gating Pulses for Upper and Lower Switches of A Phase
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Figure 3.29 Gating Pulses for Upper and Lower Switches of B Phase
Figure 3.30 Gating Pulses for Upper and Lower Switches of C Phase
Table 3.5 gives the variation of output voltage THD for two
different value of switching frequency in FWI. From the table it is observed
that the % of THD of output voltage is around 80% higher than the % THD
with filter. The lower value of switching frequency introduced more
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Results taken are for two different switching frequencies i.e. 300Hz
and 1200Hz. First the experiment was performed for 300Hz. Later the number
of samples was increased to 24. PIC has following advantages like low cost,
wide availability, extensive collection of application notes, availability of low
cost or free development tools etc. PIC 16f877A is a low end processor and
hence it has limitations in terms of processing speed where a lot of online
mathematical calculation is involved. Probably it won’t be a problem with
high level processors like DSPIC, DSP, FPGA etc. Considering the accuracy
of time calculation, one should use float numbers in order to obtain accurate
time variables. All embedded C program is converted to assembly level
before compiling and time consumption for processing float variables is more
in assembly language. Rounding up the time values to nearest integer by
means of some offline calculations, it was possible to get the fundamental
frequency of 50Hz.Results were taken for two sets of sampling frequency i.e.
300Hz and 1200Hz .As the Sampling frequency increases, THD decreases.
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3.10 SUMMARY