Modeling and Analysis of Three-phase Inverter

based on Generalized State Space Averaging Method

Zhao Lin, Hao Ma
College of Electrical Engineering, Zhejiang University, Hangzhou, China, 310027
E-mail: mahao@cee.zju.edu.cn
Abstract—Aiming at the deficiency of common methods in and experimental data and curves are shown in Section IV.
inverter modeling, the modeling of three-phase three-wire Finally, the conclusion is proposed in Section V.
inverter based on generalized state space averaging
method is presented in this paper, which also takes the II. GENERALIZED STATE SPACE AVERAGING METHOD
dead-time effect into consideration. By using the proposed
Generalized state space averaging method is based on
method, the calculating fundamental components of
Fourier transform. If time-domain periodic signal x(t) satisfies
voltages and currents are in accord with the simulation T

and experiment of actual devices considerably compared the following condition ∫0 x(t ) 2 dt < ∞ , it can be approximated
with conventional state-space averaging method. Besides, on the interval [t-T, t] to arbitrary accuracy with a Fourier
it provides effective means for precise closeloop controller series representation of the form
design. The simulations by means of Matlab are well ∞

developed to describe the proposed theoretical model. In x(t ) = ∑ x k (t )e jkωt (1)

k =−∞
addition, an experimental platform based on three-phase
three-wire inverters is built and shown to validate the where, ω=2π/T is fundamental angular frequency, and <x>k (t)
effectiveness of the mathematical results. are the k th Fourier coefficients, which are determined by
1 t
T ∫t −T
Keywords—Generalized state space averaging; three-phase x k (t ) = x (τ )e − jkωτ dτ (2)
three-wire inverter; dead-time effect; modeling; simulation and
experiment. If x(t) is real signal, it has
x = x
Re
+j x
Im
= x
*
= x
Re
−j x
Im
(3)
I. INTRODUCTION k k k −k −k −k

When studying the inverters and their dynamic Two important characteristics of Fourier transform will be
performance, precise switching models are established based utilized in the modeling of inverter in the next section, which
on the switching of switch state, which is feasible for a single are expressed by
inverter or small-scale inverter system. However, switching d d
models for middle-scale or large-scale inverter systems are x (t ) = x (t ) − jkω x k (t ) (4)
dt k dt k
complicated [1]-[2]. State-space averaging method is also
shown to be an effective method for analysis and controller ∞

design in inverters [3]-[5]. However, it is difficult to xy k

= ∑
i =−∞
x k −i
y i (5)
guarantee high accuracy of steady-state and large-signal
dynamic process.
III. MODELING OF INVERTER WITH DEAD-TIME EFFECT
Different from accurate switching model and state-space The circuit of three-phase three-wire voltage source
averaging method, generalized state space averaging model inverter is shown in Fig.1.
considers the average of the state variables as well as the
harmonics [6], and facilitates the calculation of fundamental idc
components of voltages and currents with a desired precision.
sap sbp scp
Besides, it conveniences the analysis of steady-state and
transient process. Although conventional switching models ia
L rL
A
and state-space averaging methods which take dead-time a
ib
va L rL vAB C C vCA B
effects into consideration have been applied successfully in vdc b Z load
vb ic L rL vBC C C
the inverters [7]-[8], the modeling of three-phase inverter with c
vc uoc
dead-time effects based on generalized state space averaging
method has not been investigated so far. san sbn scn

The basic principle of the generalized averaging technique

is introduced in Section II. Modeling of three-phase three- Fig. 1. Three-phase three-wire voltage source inverter
wire inverter with dead-time effect based on generalized
averaging method is presented in Section III. In order to
verify the correctness of the mathematical model, simulation

978-1-4799-0224-8/13/$31.00 ©2013 IEEE 1007

 The switching function is defined by ⎧ ⎡ π ⎤
⎪ ⎢ vdc cos(ωt − ϕa + 6 ) ⎥
⎧ 1 switch is closed ⎪ ⎡iab ⎤ ⎡iab ⎤ ⎡ v AB ⎤ ⎢ ⎥
sik = ⎨ (6) ⎪ d ⎢i ⎥ = − rL ⎢ i ⎥ − 1 ⎢v ⎥ + 3m ⎢ v cos(ωt − ϕ + π ) ⎥
⎩0 switch is opened ⎪ dt ⎢ ⎥ L ⎢ ⎥ 3L ⎢ ⎥ 6 L ⎢ 6 ⎥ (14)
bc bc BC dc b
⎪⎪ ⎣⎢ica ⎦⎥ ⎣⎢ ica ⎦⎥ ⎣⎢ vCA ⎦⎥ ⎢ ⎥
where, i∈{a,b,c} , k∈{p,n}, sip+sin=1. ⎨ ⎢ v cos(ωt − ϕ + ) ⎥π
⎪ ⎢
⎣
dc c
6 ⎥⎦
Especially, the following relationship is not hard to be ⎪
⎪ ⎡ v AB ⎤ ⎡ v AB ⎤ ⎡iab ⎤
attained ⎪ d ⎢ ⎥
v = −
1 ⎢ ⎥ 1⎢ ⎥
v + ibc
⎪ dt ⎢ ⎥ RC ⎢ ⎥ C ⎢ ⎥
BC BC

si = sip = 1 − sin (7) ⎩⎪ ⎢⎣ vCA ⎥⎦ ⎢⎣ vCA ⎥⎦ ⎢⎣ica ⎦⎥

Assuming that the loads are three-phase symmetrical The state variables of the above equation can be
resistive loads in delta connection, whose value are R, we approximated to the sum of their DC components and
obtain fundamental components

⎡vab ⎤ ⎡ va − vb ⎤ ⎡ia − ib ⎤ ⎡ia − ib ⎤ ⎡ v AB ⎤ ⎧ iab ≈ iab −1

e − jωt + iab 0 + iab 1 e jωt
⎢ v ⎥ = ⎢ v − v ⎥ = L d ⎢i − i ⎥ + r ⎢i − i ⎥ + ⎢v ⎥ (8) ⎪
⎢ bc ⎥ ⎢ b c ⎥ ⎪ ibc ≈ ibc e − jωt + ibc 0 + ibc 1 e jωt
dt ⎢
b c⎥ L ⎢ b c⎥ ⎢ BC ⎥ −1
⎢⎣ vca ⎥⎦ ⎢⎣ vc − va ⎥⎦ ⎢⎣ic − ia ⎥⎦ ⎢⎣ic − ia ⎥⎦ ⎢⎣ vCA ⎥⎦ ⎪⎪ ica ≈ ica e − jωt + ica 0 + ica 1 e jωt
−1
⎨ (15)
⎡iab ⎤ ⎡ v AB ⎤ ⎡ v AB ⎤ ⎪ v AB ≈ v AB −1
e − jωt + v AB 0 + v AB 1 e jωt
⎢i ⎥ = C d ⎢v ⎥ + 1 ⎢v ⎥ (9) ⎪vBC ≈ vBC e − jωt + vBC 0 + vBC 1 e jωt
⎢ bc ⎥ dt ⎢ ⎥ R ⎢ ⎥
BC BC
⎪ −1
⎢⎣ica ⎥⎦ ⎢⎣ vCA ⎥⎦ ⎢⎣ vCA ⎥⎦ ⎪⎩ vCA ≈ vCA e − jωt + vCA + vCA 1 e jωt
−1 0

where, iab, ibc, ica are virtual line currents, which are calculated Combining equations (4), (14) and (15), generalized state
by space averaging model of three-phase three-wire inverter can
be expressed by
ia = iab − ica , ib = ibc − iab , ic = ica − ibc
⎧ ⎡ π ⎤
⎪ ⎢ vdc cos(ωt − ϕa + ) ⎥
1 1 1 ⎪ ⎡ ⎤ ⎡ iab ⎤ ⎡ v AB ⎤ ⎢ 6 1⎥ ⎡ iab ⎤
iab = (ia − ib ) , ibc = (ib − ic ) , ica = (ic − ia ) (10) ⎪d ⎢
iab 1
⎥ rL ⎢ 1
⎥ 1 ⎢
1
⎥ 3m ⎢ π ⎥ ⎢
1
⎥
3 3 3 ⎪ ⎢ ibc 1⎥
= −
L⎢
ibc 1⎥
−
3L ⎢
vBC 1⎥
+ ⎢ vdc cos(ωt − ϕb + ) ⎥ − jω ⎢ ibc 1⎥
⎪ dt ⎢ ica ⎥ ⎢ ica ⎥ ⎢ vCA ⎥
6L ⎢ 6 1⎥
⎢ ica ⎥
⎪ ⎣ 1⎦ ⎣ 1⎦ ⎣ 1⎦ ⎢ ⎥ ⎣ 1⎦
The following equation is not difficult to be built ⎪
π
⎢ vdc cos(ωt − ϕc + ) ⎥
⎪ ⎣⎢ 6 ⎥
1⎦
⎪
⎡vab ⎤ ⎡ va − vb ⎤ ⎡ sa − sb ⎤ ⎪ ⎡ v AB 1
⎤ ⎡ vAB 1
⎤ ⎡ iab 1
⎤ ⎡ vAB ⎤ 1
d ⎢ ⎥ 1 ⎢ ⎥ 1⎢ ⎥ ⎢ ⎥
⎢ v ⎥ = ⎢ v − v ⎥ = ⎢ s − s ⎥ iv (11)
⎪ vBC = − vBC + ibc − j ⎢ vBC
⎪ dt ⎢ 1⎥
RC ⎢ 1⎥
C⎢ 1⎥ 1⎥
⎢ bc ⎥ ⎢ b c ⎥ ⎢ b c ⎥ dc ⎪⎪ ⎢ vCA
⎣
⎥
1⎦
⎢ vCA
⎣
⎥
1⎦
⎢ ica
⎣
⎥
1⎦
⎢ vCA
⎣
⎥
1⎦
⎢⎣ vca ⎥⎦ ⎢⎣ vc − va ⎥⎦ ⎢⎣ sc − sa ⎥⎦ ⎨
⎪ ⎡ π ⎤
⎪ ⎢ vdc cos(ωt − ϕ a + ) ⎥
⎢ 6 ⎥
Thus, the conventional state equations of three-phase ⎪ ⎡ iab ⎤ ⎡ iab ⎤ ⎡ v AB ⎤ 0

⎪ d ⎢ 0
⎥ rL ⎢
0
⎥ 1 ⎢
0
⎥ 3m ⎢ π ⎥
inverter are easily to be constructed ⎪ dt ⎢
ibc 0⎥=− L ⎢ ibc 0⎥ − 3L ⎢ vBC 0⎥
+
6L ⎢
v
⎢ dc cos(ω t − ϕ b +
6
) ⎥
0⎥
⎪ ⎢ ica ⎥ ⎢ ica ⎥ ⎢ vCA ⎥
⎪ ⎣ 0⎦ ⎣ 0⎦ ⎣ 0⎦ ⎢ π ⎥
⎧ ⎡iab ⎤ ⎡iab ⎤ ⎡ v AB ⎤ ⎡ sa − sb ⎤ ⎪ ⎢ vdc cos(ωt − ϕc + ) ⎥
(16)
⎪d ⎢ ⎥ rL ⎢ ⎥ 1 ⎢ ⎥ 1 ⎢ ⎣⎢ 6 ⎥
0⎦

sb − sc ⎥⎥ ivdc
⎪
i
⎪ dt ⎢ bc ⎥ = − i − v + ⎪
L ⎢ ⎥ 3L ⎢ ⎥ 3 L ⎢
bc BC ⎡ vAB ⎤ ⎡ v AB ⎤ ⎡ iab ⎤
⎪ d ⎢ 0
⎥ 1 ⎢ 0
⎥ 1⎢
0
⎥
⎪⎪ ⎣⎢ica ⎦⎥ ⎣⎢ica ⎦⎥ ⎣⎢ vCA ⎦⎥ ⎣⎢ sc − sa ⎦⎥ (12)
⎪
⎪ dt ⎢ vBC 0⎥
=−
RC ⎢ vBC 0⎥
+ ⎢ ibc
C 0⎥

⎨ ⎩⎪
⎢ vCA
⎣ 0⎦
⎥ ⎢ vCA
⎣ 0⎦
⎥ ⎢ ica
⎣ 0⎦
⎥
⎪ ⎡v AB ⎤ ⎡ v AB ⎤ ⎡iab ⎤
⎪ d ⎢ ⎥ 1 ⎢ ⎥ 1⎢ ⎥ The input DC voltage can be considered as a constant Vdc,
⎢ vBC ⎥ = − vBC + ibc
⎪ dt RC ⎢ ⎥ C ⎢ ⎥ thus it has
⎩⎪ ⎢ v
⎣ CA ⎦ ⎥ ⎢ v
⎣ CA ⎦ ⎥ ⎢
⎣ica ⎥⎦
vdc ±1
= 0 , vdc 0
= Vdc (17)
where L is filtering inductor, C is filtering capacitor, rL is the
ESR of inductor, iab, ibc, ica, vAB, vBC, vCA are the state variables. According to equation (3) and (5), the following equations
are not difficult to be acquired
If we use the SPWM technique, sk can be replaced by its
fundamental component dk π π
vdc cos(ωt − ϕ k + ) = vdc cos(ωt − ϕ k + )
1 v m 1
6 1
1
6 0 (18)
d k = (1 + m ) = cos(ωt − ϕk ) + (13) π π 1 π
− j (ϕ k − )
2 Vtri 2 2 + vdc cos(ωt − ϕ k + ) = vdc cos(ω t − ϕ k + ) = Vdc e 6
0 0
6 1 6 1 2
where, k=a,b,c, φa=φ0, φb=φ0+2π/3, φc=φ0-2π/3, φ0 is initial
phase angle, m is amplitude modulation ratio. π π π
vdc cos(ωt − ϕ k + ) = vdc 1
cos(ωt − ϕ k + ) + vdc 0
cos(ωt − ϕ k + ) (19)
6 0 6 −1 6 0

Combined by equation (13), equation (12) is rewritten as π π

+ vdc −1
cos(ω t − ϕk + ) = vdc 0
cos(ω t − ϕ k + ) =0
6 1 6 0

1008
 Assuming that Fig.3 dipicts us the dead time effect of the output voltage in
a fundamental period. Fig.3 (a) represents the ideal output
⎧ iab 1 = x1 + jx2 ibc 1
= x3 + jx4 ica 1
= x5 + jx6 waveform and its fundamental component, Fig.3 (b) shows us
⎪
⎪ v AB 1 = x7 + jx8 vBC 1
= x9 + jx10 vCA 1
= x11 + jx12 (20) the waveform of the output current, where, φ is the power
⎨
⎪ iab 0 = x13 ibc 0 = x14 ica 0 = x15 factor angle, the influences on output voltage caused by dead
⎪ vAB = x16 vBC = x17 vCA = x18 time can be seen in Fig.3(c), where, vd is the error of output
⎩ 0 0 0

voltage, vdo is its fundamental component.

Combining equations (15) and (20), the result is written as
uA
+V1
⎧ iab ≈ 2 x1 cos ω t + x13 − 2 x2 sin ω t
⎪ i ≈ 2 x cos ω t + x − 2 x sin ω t
⎪ bc 3 14 4
(a ) t
⎪⎪ ica ≈ 2 x5 cos ω t + x15 − 2 x6 sin ω t (21) vo
⎨
⎪ v AB ≈ 2 x7 cos ωt + x16 − 2 x8 sin ω t −V1
⎪ vBC ≈ 2 x9 cos ω t + x17 − 2 x10 sin ω t ϕ io
⎪ t
⎪⎩vCA ≈ 2 x11 cos ω t + x18 − 2 x12 sin ωt
(b)
Considering the above six equations, the final generalized
state space averaging model of three-phase three-wire inverter +2V1 vd
is determined by
(c ) t
⎡ rL
⎢− L ω 0 0 0 0 −
1
0 0 0 0 0 ⎥
⎤ ⎡ π ⎤
3mVdc cos(ϕa − ) ⎥ vdo
3L ⎢ 6
⎢ ⎥
⎢ rL 1 ⎥
⎢
⎢ 12 L
⎥
⎥ −2V1
⎡ xi ⎤ ⎢ −ω −
L
0 0 0 0 0 −
3L
0 0 0 0
⎥ ⎢ π ⎥
⎢ 1⎥ ⎢ ⎥ ⎢ 3mVdc sin(ϕa − ) ⎥
⎢ i ⎥ ⎢ 0 r 1 6
− L ω − 0 ⎥ ⎢− ⎥
⎢ x2 ⎥ ⎢
0
L
0 0 0 0
3L
0 0
⎥⎡x ⎤ ⎢ 12 L ⎥ Fig. 3. The dead time effect in a fundamental period
⎢ i ⎥ ⎢ ⎥⎢ ⎥ ⎢1
π
⎢ x3 ⎥ ⎢ 0 0 −ω −
rL
0 0 0 0 0 −
1
0 0 ⎥ ⎢ x2 ⎥ ⎢ 3mVdc cos(ϕb − ) ⎥⎥
6
⎢ i ⎥ ⎢
⎢ x4 ⎥ ⎢
L
rL
3L
1
⎥⎢x ⎥ ⎢
⎥ 3 ⎢ 12 L
⎥
⎥
From the above figure, we can easily learn that the voltage
⎢ i ⎥ ⎢ 0 0 0 0 − ω 0 0 0 0 − 0 ⎥ ⎢ x4 ⎥ ⎢ π
⎢ x5 ⎥ ⎢
⎢ i ⎥ ⎢
L
r
3L ⎥
⎢ ⎥
⎢
1 ⎥ ⎢⎢ x5 ⎥⎥ ⎢ −
3mVdc sin(ϕb − ) ⎥⎥
6
⎥
error is composed of pulse sequence, whose pulse width is
−ω
⎢x ⎥ ⎢ 0
⎢ 6⎥=⎢
0 0 0 − L
L
0 0 0 0 0 −
3 L ⎥ ⎢ x6 ⎥ ⎢
⎥⎢ ⎥+⎢
12 L
π
3mVdc cos(ϕc − ) ⎥⎥
⎥ dead time td. The pulse sequence in a fundamental period can
⎢ i ⎥ ⎢ 1 1 x
0 ⎥⎢ 7 ⎥ ⎢
⎢ x7 ⎥ ⎢ C
⎢ i ⎥ ⎢
0 0 0 0 0 −
RC
ω 0 0 0
⎥⎢x ⎥ ⎢
⎥⎢ 8 ⎥ ⎢ 12 L
6
⎥
⎥
(22) be equivalent to a square wave, whose amplitude is calculated
⎢ x8 ⎥ ⎢ 0
⎢ i ⎥ ⎢
1
C
0 0 0 0 −ω −
1
RC
0 0 0 0 ⎥ ⎢ x9 ⎥ ⎢
⎥ ⎢x ⎥ ⎢
π
3mVdc sin(ϕc − ) ⎥⎥
6
by
⎢ x9 ⎥ ⎢ ⎥ ⎢ 10 ⎥ ⎢ − ⎥
⎢ i ⎥ ⎢ 0 1 1 12 L
0 0 0 0 0 0 − ω 0 0 ⎥ ⎢ x11 ⎥ ⎢ ⎥
⎢ x10 ⎥ ⎢ C RC ⎥⎢ ⎥ ⎢ 0 ⎥ 1 fc
⎢ i ⎥ ⎢
⎢x ⎥ ⎢ 0 0 0
1
0 0 0 0 −ω −
1
0 0 ⎥
⎥ ⎣ x12 ⎦ ⎢
⎢
0 ⎥
⎥ U d = N itd i2V1 i = itd i2V1 i f = f c itd i2V1 (24)
⎢ 11 ⎥ ⎢
⎢ xi ⎥ ⎢
C RC ⎥
⎥
⎢ 0 ⎥ T f
⎣ 12 ⎦ ⎢ 0 1 1 ⎢ ⎥
0 0 0 0 0 0 0 0 − ω ⎥ ⎢ 0 ⎥
⎢ C RC ⎥ ⎢ ⎥
⎢ 0
⎣⎢
0 0 0 0
1
C
0 0 0 0 −ω −
1 ⎥
RC ⎦⎥
⎢
⎣
0
0
⎥
⎦
where, fc is switching frequency, T and f are fundamental
period and frequency separately, td is dead time, 2V1 is input
⎡ rL 1 ⎤ voltage.
⎢− 0 0 − 0 0 ⎥
⎡ i ⎤ ⎢ L 3L
⎥
⎢ x13 ⎥ ⎢ rL 1 In the three-phase half bridge inverter system, the
⎢ i ⎥ ⎢ 0 − 0 0 − 0 ⎥ ⎡ x13 ⎤
L 3L ⎥
⎢ x14 ⎥ ⎢
⎢ i ⎥ ⎢ 0 r
⎥⎢ ⎥
1 ⎥ ⎢ x14 ⎥ (23) fundamental component of the output voltage can be expressed
0 − L 0 0 −
⎢ x15 ⎥ ⎢ L 3L ⎥ ⎢ x15 ⎥ by
⎢ i ⎥=⎢ ⎥ ⎢x ⎥
⎢ x16 ⎥ ⎢ 1 −
1
0 ⎥ ⎢ 16 ⎥
⎢ i ⎥ ⎢ C
0 0
RC
0
⎥ ⎢ x17 ⎥ vo (t ) = mV1 sin ωt (25)
⎢x ⎥ ⎢ 1 1 ⎥⎢ ⎥
⎢ 17 ⎥ ⎢ 0 0 0 − 0 ⎥ ⎣⎢ x18 ⎦⎥
⎢ i ⎥ ⎢ C RC ⎥ i
⎣ x18 ⎦ ⎢ 1 1 ⎥ Vdo
⎢ 0 0 0 0 − ⎥ i
⎣ C RC ⎦ '
ϕ Vo
'
In order to prevent the two IGBTs in the same leg from i

shoot-through current, the dead time is indispensable. ϕ Vo

However, the dead time will reduce the output voltage and
current fundamental amplitude. i
Io
T1 D1 Fig. 4. The vectors diagram of dead time effect

V1 As is shown in Fig.4, v'o represents the actual output

A uA fundamental voltage. According to cosine theorem, v'o can be
O expressed by
io

V1
vo' 2 = vo2 + vdo
2
− 2vo vdo cos ϕ (26)
T2 D2 Then the following equation is obtained
Fig. 2. Phase leg of three-phase inverter vo' v v (27)
= 1 + ( do )2 − 2 do cos ϕ = 1 + ( K ) 2 − 2 K cos ϕ
vo vo vo
For the sake of analytical simplification, a phase leg of
three-phase leg is shown in the Fig.2, where Vdc=2V1. where, K is calculated by

1009
 K=
4U d mV1 4U d 8 f c td
= = (28) IV. SIMULATION AND EXPERIMENTAL VERIFICATION
2π 2 mV1 mπ
In order to validate the accuracy of modeling of three-
Because of the symmetry of each phase, the fundamental phase inverter based on the generalized state space averaging
amplitude of actual output line voltage v'AB and the ideal one method, the simulation was carried out by Matlab, and the
vAB also satisfy the following ratio experiment was proceed in a 3kW three-phase three-wire
inverter. The corresponding parameters are listed in Table I.
v 'AB
= 1 + K 2 − 2 K cos ϕ (29)
v AB
TABLE I PARAMETERS OF SIMULATION AND EXPERIMENT
Due to the constancy of load, the above equation is Symbol Description Value Unit
likewise suitable for the fundamental amplitude of virtual line Vdc Input voltage 200 V
current i'ab and the ideal one iab m Amplitude modulation ratio 0.9 -
f Fundamental frequency 50 Hz
iab' fc Switching frequency 20 kHz
= 1 + K 2 − 2 K cos ϕ (30)
iab td Dead time 2.0 μs
φ0 Initial phase angle 0 rad/s
Only resistive load is considered in the modeling, therefore, L Filtering inductor 3.4 mH
φ=0. Consequently, the above two equations is simplified by rL ESR of filtering inductor 0.2 Ω
C Filter capacitor 2.2 μF
v 'AB iab
'
R Loads resistor 140 Ω
= = 1− K (31)
v AB iab main parameters x 1' x 2'
iab'

ibc' virtual line currents and

rL L x 3' x 4'

Actually, thanks to the control of DC suppression, the DC Vdc x 5'

x 7'
x 6'
x 8'
ica'
'
v AB output line voltages
components of output voltages had been eliminated. The C R x 9' x 1' 0 '
v BC
input voltage x 1' 1 x 1' 2
equations about DC components in equation (16) can be
'
vCA

ignored. m ϕ0
Based on the above equations, the equation (16) is td fc
modified by control parameters

⎧ ⎡ π ⎤
⎪ ⎢ vdc cos(ωt − ϕa + ) ⎥
Fig. 5. Control block diagram of simulation model based on generalize
⎪ ⎡ iab ⎤ ⎡ iab ⎤ ⎡ v AB ⎤ 6 ⎡ iab ⎤ averaging method
' ' ' '
⎢ ⎥
⎪d ⎢
1⎥ ⎢ 1⎥ ⎢ 1⎥
⎢
1
⎥ ⎢ 1⎥ (32)
⎪ ⎢ ibc' ⎥ = − rL ⎢ i' ⎥ − 1 ⎢ v' ⎥ + 3m (1 − K ) ⎢ v cos(ωt − ϕ + π ) ⎢
⎥ − jω ibc
' ⎥
⎪ dt ⎢ 1⎥ ⎢ bc 1⎥
3L ⎢ 1⎥ ⎢ 1⎥
The control block diagram of simulation model based on
BC dc b
L 6L ⎢ 6 1⎥
⎪ ⎢ ica' ⎥ ⎢ i' ⎥ ⎢ v' ⎥ ⎢ ⎥ ⎢ i' ⎥
π
⎪ ⎣
⎨
1⎦ ⎣ ca 1⎦ ⎣ CA 1⎦
⎢ vdc cos(ωt − ϕc + ) ⎥ ⎣ ca 1⎦
generalized averaging method is shown in Fig. 5.
⎪ ⎣⎢ 6 ⎥
1⎦
⎪
⎪
⎡ v 'AB
⎢ 1
⎤
⎥
⎡ v 'AB
⎢ 1
⎤
⎥
⎡ iab'
⎢ 1
⎤
⎥
⎡ v 'AB
⎢
⎤
⎥
1 As is illustrated in Fig.5, m, φ0, td and fc are control
⎪ d ⎢ ' ⎥ = − 1 ⎢ v' ⎥ + 1 ⎢ i'
⎪
dt ⎢
vBC
1⎥ RC ⎢
BC 1⎥ C⎢
bc
⎥−
1⎥
j ⎢ vBC
⎢
' ⎥
⎥
1
parameters, rL, L, C and R are main parameters, whose values
⎪
⎩⎪
⎢ v'
⎣ CA
⎥
1⎦
⎢ v'
⎣ CA
⎥
1⎦
⎢ i'
⎣ ca
⎥
1⎦
⎢ v'
⎣ CA
⎥
1⎦
are given in Table I. Finally, we acquire the waveforms of
virtual line currents and output line voltages, which are
Assuming that
composed of state variables.
⎧ iab'
= x1' + jx2' ibc' = x3' + jx4' ibc' = x3' + jx4'
⎪ 1 1 1 (33) Analogously, the control block diagram of simulation
⎨ ' '
⎪⎩ v AB 1 = x7 + jx8
'
v '
BC 1
'
= x + jx
9
'
10 v '
CA 1 = x11' + jx12' model and experiment of actual devices is shown in Fig. 6.

Likewise, the modified generalized state space averaging 3 p IGBT / DIODE Bridge LC Filter Loads
model of three-phase three-wire inverter which takes dead- R
L rL v AB
time effect into account can be expressed by Vdc C
R vBC
R vCA
⎡ rL 1 ⎤ ⎡ π ⎤
⎢− L ω 0 0 0 0 −
3L
0 0 0 0 0 ⎥
⎢ 3mVdc (1 − K ) cos(ϕ a − ) ⎥
6 input voltage
⎢ ⎥ ⎢ ⎥
⎡ ' ⎤ ⎢ −ω
i

⎢ x1 ⎥ ⎢
r
− L 0 0 0 0 0 −
1
0 0 0 0 ⎥
⎥
⎢ 12 L
π ⎥
⎥ iab
L 3L ⎢
⎢ i' ⎥ ⎢ ⎥ ⎢ 3mVdc (1 − K ) sin(ϕa − ) ⎥
⎢ x2 ⎥ ⎢ 0 0 −
rL
ω 0 0 0 0 −
1
0 0 0 ⎥ ⎢−
12 L
6
⎥ ibc
⎢ i ⎥ ⎢ L 3L ⎥ ⎡ x' ⎤ ⎢ ⎥
⎢ x3' ⎥ ⎢
⎢ i ⎥ ⎢ 0 0 −ω −
rL
0 0 0 0 0 −
1
0
⎥⎢ 1 ⎥ ⎢
0 ⎥ ⎢ x2' ⎥ ⎢
π
3mVdc (1 − K ) cos(ϕb − ) ⎥⎥ m td fc ica
⎢ ' ⎥ ⎢ L 3L ⎥⎢ ' ⎥ ⎢ 6
⎥
⎢ x4 ⎥ ⎢ rL 1 ⎥ x3 ⎢ 12 L ⎥ control parameters
⎢ i' ⎥ ⎢ 0 0 0 0 − ω 0 0 0 0 − 0 ⎥ ⎢ x' ⎥ ⎢ π
⎢ x5 ⎥ ⎢ L 3L ⎢ 4⎥
⎥⎢ ' ⎥ ⎢ 3mVdc (1 − K ) sin(ϕb − ) ⎥⎥
⎢ i ⎥ ⎢
⎢ x6' ⎥ ⎢ 0 0 0 0 −ω
r
− L 0 0 0 0 0 −
1 ⎥ ⎢ x5 ⎥ ⎢ −
12 L
6
⎥ Fig. 6. Control block diagram of simulation model of actual devices
3L ⎥ ⎢ x6 ⎥ ⎢ ⎥
'
L
⎢ i ⎥=⎢ ⎥⎢ ' ⎥+⎢ π
3mVdc (1 − K ) cos(ϕc − ) ⎥⎥
⎢ x' ⎥ ⎢ 1
⎢ 7⎥ ⎢ C
0 0 0 0 0 −
1
RC
ω 0 0 0
x
0 ⎥ ⎢ 7' ⎥ ⎢
⎥⎢x ⎥ ⎢ 6
⎥
(34) In Fig.6, 3p Invert Bridge consists of six IGBTs with an
⎢ i' ⎥ ⎢ ⎥ ⎢ 8' ⎥ ⎢ 12 L ⎥
⎢ x8 ⎥ ⎢ 0
⎢ i ⎥ ⎢
1
C
0 0 0 0 −ω −
1
RC
0 0 0 0 ⎥ ⎢ x9 ⎥ ⎢
⎥ ⎢ x' ⎥ ⎢
π
3mVdc (1 − K ) sin(ϕc − ) ⎥⎥
6
antiparallel diode separately. In addition, m, td, fc are control
⎢ x9' ⎥ ⎢ ⎥ ⎢ 10 ⎥ ⎢ − ⎥
⎢ i ⎥ ⎢ 0
⎢ x' ⎥ ⎢
0
1
C
0 0 0 0 0 −
1
RC
ω 0 0 ⎥ ⎢ x11' ⎥ ⎢
⎥⎢ ' ⎥ ⎢
12 L
0
⎥
⎥
parameters. Three-phase symmetrical resistors in delta
⎥ ⎣ x12 ⎦ ⎢
⎢ 10 ⎥ ⎢
⎢ i' ⎥ ⎢ 0
⎢ x11 ⎥ ⎢
0 0
1
C
0 0 0 0 −ω −
1
RC
0 0 ⎥
⎥
⎢
0 ⎥
⎥ connection make up of the loads.
⎢ 0 ⎥
⎢ i' ⎥ ⎢ 1 1 ⎥ ⎢ ⎥
0 0 0 0 0 0 0 0 0 − ω ⎥ 0
⎣⎢ x12 ⎦⎥ ⎢
⎢
⎢ 0
C
1
RC
1 ⎥
⎥
⎢
⎢ 0
⎥
⎥ In order to validate the precision of generalized averaging
−ω ⎢ ⎥
⎣⎢
0 0 0 0
C
0 0 0 0 −
RC ⎦⎥ ⎣ 0 ⎦ method more efficaciously, simulation model based on
where amplitude modulation ratio m, initial phase angle φ0, generalized averaging method, simulation model of actual
dead time td and switching frequency fc are control parameters. devices and experiment were proceeded with various dead

1010
time td, amplitude modulation ratio m and switching frequency The data in the tables have shown us that with the same
fc. With the same simulation parameters, required simulation circuit parameters, generalized averaging model coincides
time of switching model is almost twice as long as that of with the simulation and experiment of actual devices
generalized averaging model. commendably, with desired relative errors within 2%. In
addition, Table II and Table III show us the fundamental
According to the data of simulation and experiments, the components of virtual line currents and output line voltages
peak-to-peak values of fundamental components of output almost decrease linearly with the increase of dead time and
line voltages and virtual line currents are listed in the switch frequency. In contrast, it is easily learned from Table
following tables. IV that with the enhancement of amplitude modulation ratio,
the fundamental components of virtual line currents and
TABLE II PEAK-TO-PEAK VALUE ( f c = 20kHz , m = 0.9 ) output line voltages nearly increase linearly.
td /μs 2 2.2 2.4 2.6 2.8 3
TABLE V PARAMETERS OF EXPERIMENT
Generalized iab/A 1.979 1.954 1.929 1.903 1.878 1.853
averaging Symbol Description Value Unit
vAB/V 275.8 272.2 268.8 265.1 261.7 258.3
method Vdc Input voltage 250 V
Simulation of iab/A 1.975 1.956 1.933 1.907 1.87 1.851 Vref Amplitude of reference voltage 150 V
actual device f Fundamental frequency 50 Hz
vAB/V 275.4 272.6 269.5 265.7 260.6 257.9
fc Switching frequency 20 kHz
Experiment iab/A 1.947 1.92 1.907 1.88 1.853 1.84 td Dead time 2.0 μs
results L Filtering inductor 3.4 mH
vAB/V 272 268 265 262 258 255
rL ESR of filtering inductor 0.2 Ω
Generalized iab/% 0.20 0.1 0.21 0.21 0.43 0.11 C Filter capacitor 2.2 μF
method vs R Loads resistor 70/140 Ω
vAB/% 0.14 0.15 0.26 0.22 0.42 0.16
switch model Cnon Capacitor of nonlinear loads 2200 μF
Generalized iab/% 1.6 1.8 1.2 1.2 1.3 0.71 Rnon Resistor of nonlinear loads 160 Ω
method vs Kvp Proportion parameter of voltage loop 0.01 -
vAB/% 1.4 1.6 1.4 1.2 1.4 1.3
experiment Kvi Integration parameter of voltage loop 54 -
Kip Proportion parameter of current loop 0.2 -
TABLE III PEAK-TO-PEAK VALUES ( td = 2 μ s , m = 0.9 ) Kii Integration parameter of current loop 10 -
Based on the proposed generalized averaging method, PI
fc /kHz 5 10 15 20 25 30 controllers including outer loop of voltage and inner loop of
Generalized iab/A 2.17 2.105 2.042 1.979 1.916 1.853 current are designed accordingly. The corresponding
averaging
vAB/V 302.3 293.3 284.6 275.8 267 258.3 parameters are illustrated in Table V.
method
Simulation of iab/A 2.173 2.11 2.046 1.975 1.902 1.856 The following experimental waveforms are obtained on
actual device
vAB/V 302.5 294.1 285.1 275.4 264 258.7
the basis of the above parameters.
Experiment iab/A 2.153 2.107 2.023 1.957 1.907 1.84
results vAB :100V / div
vAB/V 300 292 283 272 263 254 vAB
ia : 2 A / div
Generalized iab/% 0.14 0.24 0.20 0.20 0.74 0.16 t : 20ms / div
method vs
vAB/% 0.07 0.27 0.18 0.14 1.1 0.15
switch model
Generalized iab/% 0.79 0.24 0.94 1.1 0.47 0.71
ia
method vs
vAB/% 0.77 0.44 0.56 1.4 1.5 1.7
experiment

TABLE IV PEAK-TO-PEAK VALUES ( f c = 20kHz , td = 2 μ s )

Fig. 7. The transient process of output line voltage and inductor current from
full loads(70Ω) to half loads(140Ω)
m 0.4 0.5 0.6 0.7 0.8 0.9
Generalized iab/A 0.739 0.987 1.229 1.483 1.731 1.979
averaging vAB :100V / div
vAB/V 103 137.6 171.1 206.7 241.3 275.8 vAB
method ia : 2 A / div
Simulation of iab/A 0.754 0.983 1.214 1.497 1.741 1.975 t : 20ms / div
actual device
vAB/V 105 137 168.7 208.8 242.7 275.4
ia
Experiment iab/A 0.75 0.97 1.206 1.48 1.72 1.947
results
vAB/V 102 135 168 206 242 272
Generalized iab/% 2.0 0.41 1.2 0.94 0.57 0.20
method vs Fig. 8. The transient process of output line voltage and inductor current from
vAB/% 1.9 1.8 2.0 1.0 0.58 0.14
switch model half loads(140Ω) to full loads(70Ω)
Generalized iab/% 1.5 0.44 1.4 0.20 0.64 1.6
method vs As is shown in Fig.7 and Fig.8, the closeloop controlled
vAB/% 0.98 0.92 1.8 0.34 0.29 1.4 parameters calculated by the proposed model provides
experiment

1011
 powerful means for fast and precise steady-state and transient Besides, the proposed method is further used in the closeloop
analysis.The calculated control parameters are in accordance controller design for the single inverter. The experimental
with the actual control parameters commendably. waveforms demonstrate the veracity of the proposed model all
the more. It is conceivable that the proposed method can be
vAB vBC v AB :100V / div ulteriorly utilized in the controller design of parallel
vBC :100V / div
connection of several inverters or circumfluence calculation
ib : 5 A / div
ic : 5 A / div
and elimination among different inverters.
ib t : 20ms / div
ACKNOWLEDGEMENT
ic
This project is supported by National Natural Science
Foundation of China (51177149), and Zhejiang Key Science
and Technology Innovation Group Program (2010R50021).
Fig. 9. The transient process of output line voltages and inductor currents
from half loads(70Ω,140Ω,140Ω) to full loads(35Ω,70Ω,70Ω)
REFERENCES
vAB vBC [1] Byoung-Kuk Lee, Mehrdad Ehsani, “A Simplified Functional
v AB :100V / div
vBC :100V / div
Simulation Model for Three-Phase Voltage-Source Inverter Using
Switching Function Concept,” IEEE Transactions on Industrial
ib : 5 A / div
Electronics, vol.48, no.2, pp. 309-321, April 2001.
ib ic : 5 A / div
[2] Xupeng Fang, “Modeling of Voltage-fed Z-source Inverter by
t : 20ms / div Switching Functions,” IEEE International Conference on Industrial
Technology, pp. 1-6, April 2008.
ic [3] Runxin Wang, Jinjun Liu, “Redefining a New-Formed Average Model
for Three-Phase Boost Rectifiers/Voltage Source Inverters,” The 24th
Applied Power Electronics Conference and Exposition, pp. 1680-1686,
February 2009.
Fig. 10. The transient process of output line voltages and inductor currents [4] M. Davari, A. R. Pourshoghi, I.Salabeigi, G. B.Gharehpetian and
from half loads(35Ω,70Ω,70Ω) to full loads(70Ω,140Ω,140Ω) S.H.Fathi, “A New Nonlinear Controller Design Using Average State
Space Model of the Inverter-Based Distributed Generation to Mitigate
vAB vBC
vAB :100V / div
Power Quality Problems,” International Conference on Electronic
vBC :100V / div
Machines and Systems, pp. 1-5, November 2009.
ib : 5 A / div [5] N. Kroutikova, C.A.Hernandez-Aramburo and T.C. Green, “State-space
ic : 5 A / div model of grid-connected inverters under current control mode,” The
ib t : 20ms / div Institution of Engineering and Technology, 2007, vol.1, no.3, pp. 329-
338.
ic
[6] Seth R. Sanders, J. Mark Noworolski, Xiaojun Z. Liu, and George C.
Verghese, “Generalized averaging method for power conversion
circuits,” IEEE Transactions on Power Electronics, vol.6, no.2, pp.
251-259, April 1991.
Fig. 11. The transient process of output line voltages and inductor currents [7] Toni Itkonen, Julius Luukko, “Switching-Function-Based Simulation
from mixed loads to nonlinear loads Model for Three-Phase Voltage Source Inverter Taking Dead-Time
Effects into Account,” The 34th IEEE Annual Conference on Industrial
In order to further prove the accuracy and validity of PI Electronics, pp. 992-997, November 2008.
controllers based on the proposed generalized averaging [8] S. Ahmed, Z. Shen, P. Mattavelli, D. Boroyevich, M. Jaksic, K. Kamiar
method , added experiments were proceeded with other types and J. Fu, “Small-Signal Model of a Voltage Source Inverter(VSI)
of loads, which are illustrated in Fig.9, Fig.10 and Fig.11. Considering the Dead-Time Effect and Space Vector Modulation
Besides, nonlinear loads in Fig.11 is composed of three-phase Types,” The 26th Applied Power Electronics Conference and
Exposition, pp. 685-690, March 2011.
rectifier bridge in parallel with a capacitor and a resistor,
whose values are 2200μF and 160Ω respectively. Moreover,
mixed loads consist nonlinear loads in parallel with
unbalanced loads (70Ω, 140Ω, 140Ω).

V. CONCLUSION
In this paper, the modeling of three-phase three-wire
inverter based on generalized averaging method , which takes
dead-time effect into consideration , is illustrated in detail.
The simulation and experiment of actual inverter validate the
correctness and efficiency of the proposed model, regarding
the influence of different parameters such as amplitude
modulation ratio, dead time and switching frequency. The
proposed model can greatly guarantee the accuracy of
fundamental components of voltages and currents and
improve the calculation efficiency in simulation of inverters.

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