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Modulation for Static Power

Converters
Prof. Humberto Pinheiro, Ph.D.
GEPOC - UFSM



COBEP 2013
Summary
Introduction
Carrier Based Sinusoidal PWM
Geometric Approach
Space Vector Modulation
Other alternatives
Conclusions


Introduction

Developed society is hungry for energy
For energy transportation and distribution: Electricity
End use mismatch dilemma leads to conversion
Conversion must be efficient, low cost, small
Power semiconductors is the alternative

Adjustable Speed Drives
Low Voltage
Introduction

Modern Wind Turbines
Variable Speed
Grid Connected
Intensive use of power converters

Introduction

Adjustable Speed Drives
Medium Voltage
Introduction

Adjustable Speed Drives
Medium Voltage
Introduction

High Voltage Direct Current Transmission
Introduction

Introduction

Modulation techniques purposes
Syntheses of the desired output Voltages
Balance internal DC bus voltages
Balance temperature among switches
Equalize the currents among converters with legs



Introduction

Modulation techniques figure of merit
Total harmonic distortion
Harmonic Spectrum
Number of Commutation
Switching losses, switching losses distribution
Voltage syntheses capability
Equalize the currents among converters with legs
Implementation complexity, computational effort



Carrier Based Sinusoidal PWM
Widely used
Easy Implementation
Requires :
Carrier: Triangular, Sawtooth
Band limited modulating Signal
dc
V
C
L
Single Phase Half Bridge Inverter
Modulator
Reference
Generator
Carrier Based Sinusoidal PWM
Single Phase Half Bridge Inverter
Modulator
Reference
Generator
Carrier Based Sinusoidal PWM
dc
V
C
L
Vag
Natural Sampling
Reference Signal
Carrier Based Sinusoidal PWM
Carrier Based Sinusoidal PWM

< < +
< <
=
0 para
2
1
0 - para
2
1
t
t
t
t
v
c
c
c
c
tri
t
t
) cos(
0
*
u + e = t m v
o a ag
Carrier Based Sinusoidal PWM
vao = vag - 0.5
Carrier Based Sinusoidal PWM
Naturally Sampled PWM
Close for solutions for the spectral components of PWM signals
Motivation: Harmonic Cancelation
The Amplitude and phase of each harmonic must be known

Double Fourier Series of PWM Signals
Let us assume that:
Double Fourier Series of PWM Signals
) 2 , 2 ( ) , ( + + = y x f y x f
| | | |
| | ) sin( ) cos(
) sin( ) cos( ) sin( ) cos(
2
) , (
1 - m
0
1 1
0

=
+ + +
+ + + + + =
n
n
mn mn
m
mo mo
n
on n
oo
ny mx B ny mx A
mx B mx A ny B ny A
A
y x f
Double Fourier Series of PWM Signals
} }

+
= +
t
t
t
t
t
dxdy e y x f jB A
ny mx j
mn mn
) (
2
) , (
2
1
Double Fourier Series of PWM Signals

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
Spectrum of Naturally Sampled PWM

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
Spectrum of Naturally Sampled PWM
Spectrum of Naturally Sampled PWM

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
Spectrum of Naturally Sampled PWM
dc
V
C
L
Single Phase Full Bridge Inverter
Vag
Vbg
g
b
a
Modulator
Reference
Generator
SPWM
Full-Bridge Inverter
0 180 360
0.2
0.4
0.6
0.8
1
vag
vbg
triang
fo t 360
SPWM
Full-Bridge Inverter
v
ag
v
bg
v
ab
SPWM
Full-Bridge Inverter
v
ag
v
bg
v
ab

=

=

=
u + e + e t +
t
t
+
u + e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f ag
i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + u + e + e t +
t
t
+
u + e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f bg
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
Sinusoidal PWM
Full-Bridge Inverter

=

=

=
u + e + e t +
t
t
+
u + e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f ag
i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + u + e + e t +
t
t
+
u + e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f bg
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Full-Bridge Inverter
x
x

=

=

=
u + e + e t +
t
t
+
u + e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f ag
i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + u + e + e t +
t
t
+
u + e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f bg
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Full-Bridge Inverter

=

=

=
u + e + e t +
t
t
+
u + e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f ag
i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + u + e + e t +
t
t
+
u + e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f bg
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Full-Bridge Inverter

=

=

=
u + e + e t +
t
t
+
u + e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f ag
i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + u + e + e t +
t
t
+
u + e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c c f bg
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Full-Bridge Inverter
x
x

=

=

=
e + e t +
t
t
+
e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
) cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c f ag
t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + e + e t +
t
t
+
e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
) cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c
j
i
c f bg
j t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Full-Bridge Inverter

=

=

=
e + e t +
t
t
+
e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
) cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c f ag
t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + e + e t +
t
t
+
e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
) cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c
j
i
c f bg
j t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
Sinusoidal PWM
Full-Bridge Inverter
Whenever i+j is even
0
0

=

=

=
e + e t +
t
t
+
e t
t
t
+ e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
) cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
c f c
j
i
c f ag
t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v

=

=

=
t + e + e t +
t
t
+
e t
t
t
+ t + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
) cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c
j
i
c f bg
j t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Full-Bridge Inverter
Whenever j is even
=
SPWM
Full-Bridge Inverter
v
ag
v
bg
v
ab
v
a1
v
a2
v
an
SPWM
Cascaded Single Phase Inverter
Modulator
Reference
Generator
0 8.3333 10
3
0.0167
2
3
8
PWMa1 PWMb1 PWMa2 PWMb2 ( ) +
PWMa1 PWMb1 3 +
PWMa1 6 +
t
SPWM
Cascaded Single Phase Inverter
v
an
v
a1
v
ag
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200
0.167
0.333
0.5
0.667
0.833
1
FPWMvag0
i
h
i
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200
0.167
0.333
0.5
0.667
0.833
1
FPWMvag1
i
h
i
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200
0.167
0.333
0.5
0.667
0.833
1
FPWMn
i
h
i
v
an
v
a1
v
ag
SPWM
Cascaded Single Phase Inverter
0 2.5 10
3
5 10
3

0.2
0.4
0.6
0.8
1
triang1
triang
vn
t
SPWM
Cascaded Single Phase Inverter
90
o
0 2.5 10
3
5 10
3

0.2
0.4
0.6
0.8
1
triang1
triang
vn
t
SPWM
Cascaded Single Phase Inverter
90
o

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
i=2
0 2.5 10
3
5 10
3

0.2
0.4
0.6
0.8
1
triang1
triang
vn
t
SPWM
Cascaded Single Phase Inverter
90
o

=

=

=
u + u + e + e t +
t
t
+
u + e t
t
t
+ u + e + =
1 1
1
0
) ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c f c
j
i
c c f f ag
j i t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
i=2
2
2
=
u A =
t
m
c
m
p
3| Load
SPWM
Three Phase Inverter

S S
5 5
V V
c cc c

+ +
S S
3 3
S S
1 1
S S
6 6
S S
4 4
S S
2 2
g
Modulator
Reference
Generator
c
b
a
SPWM
Three Phase Inverter
0 8.33 10
3
0.0167
3
6
PWMr
PWMs 2 +
PWMt 4 +
t
SPWM
Three Phase Inverter
v
ag
v
cg
v
bg
SPWM
Three Phase Inverter
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnr
i
h
i
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
0.167
0.333
0.5
0.667
0.833
1
FPWMns
i
h
i
0 4 8 12 16 20 24 28 32 36 40 44 48 52 56 60 64 68 72 76 80 84 88 92 96 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnrs
i
h
i
v
ag
v
ab
SPWM
Three Phase Inverter
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnr
i
h
i
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
0.167
0.333
0.5
0.667
0.833
1
FPWMns
i
h
i
0 4 8 12 16 20 24 28 32 36 40 44 48 52 56 60 64 68 72 76 80 84 88 92 96 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnrs
i
h
i
v
ag
v
ab

=

=

=
t + e + e t +
t
t
+
e t
t
t
+ u + e + =
1 1
1
0
) 3 / 2 ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c
j
i
c f f ag
j t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
SPWM
Three Phase Inverter
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnr
i
h
i
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
0.167
0.333
0.5
0.667
0.833
1
FPWMns
i
h
i
0 4 8 12 16 20 24 28 32 36 40 44 48 52 56 60 64 68 72 76 80 84 88 92 96 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnrs
i
h
i
v
ag
v
ab

=

=

=
t + e + e t +
t
t
+
e t
t
t
+ u + e + =
1 1
1
0
) 3 / 2 ) cos(( ) 2 / ) sin((
) 2 / (
2
)) ( cos( ) 2 / sin(
) 2 / ( 2
) cos(
2 2
i j
f c
j
i
c f f ag
j t j i j i
i
iM J
V
t i i
i
iM J V
t
V
M
V
v
i=2 , j=3
Adjustable Speed Drives
Low Voltage
SPWM
SPWM 3
dr
Harmonic Injetion
Three Phase Inverter
Easy implementation
Challenge appears when it is desired to
Minimize output THD
Maximize the DC utilization
Minimize the Switching Losses
Balance the DC Capacitor Voltages
Deal with multiple legs Converters
Alternatives Modulations Methods
Geometric Approach Space Vector Modulation
Summary
Carrier Based Sinusoidal PWM
Carried Based Geometric Approach
Maps the Leg modulation space into the output
space
Make it possible to explorer the converter
degree-of-freedom
It is a carrier bases approaches
Easy implementation


Carried Based Geometric Approach
Carried Based Geometric Approach
Leg-voltage Space
Carried Based Geometric Approach
Carried Based Geometric Approach
Average Leg-voltage Space
Carried Based Geometric Approach
Carried Based Geometric Approach
Carried Based Geometric Approach
Carried Based Geometric Approach
TPER v
TPER v
bg
ag
s s
s s
*
*
0
0
Carried Based Geometric Approach
Carried Based Geometric Approach
E v v
E v v
o ab
o ab
s + s
s + s
5 . 0 0
5 . 0 0
Carried Based Geometric Approach
{ } { }

, min , max
4 3 2 1
c c v c c
o
s s
ab
ab
ab
ab
v E c
v E c
v c
v c
5 . 0
5 . 0
5 . 0
5 . 0
4
3
2
1
=
+ =
=
=
Carried Based Geometric Approach
) sin( 8 . 0 t E v
ab
e =
Carried Based Geometric Approach
) sin( t E v
ab
e =
0 0.01 0.02 0.03
20
40
60
80
100
min1
k
max1
k
t
k
Carried Based Geometric Approach
) sin( 1 . 1 t E v
ab
e =
0 0.01 0.02 0.03
20
40
60
80
100
min1
k
max1
k
t
k
2
) , min( ) , max(
4 3 2 1
c c c c
v
o
+
=
Carried Based Geometric Approach
) , max(
2 1
c c v
o
=

s
>
=
0 se ) , min(
0 se ) , max(
4 3
2 1
ab
ab
o
v c c
v c c
v
Carried Based Geometric Approach
2
) , min( ) , max(
4 3 2 1
c c c c
v
o
+
=
Carried Based Geometric Approach
) , max(
2 1
c c v
o
=
Carried Based Geometric Approach

s
>
=
0 se ) , min(
0 se ) , max(
4 3
2 1
ab
ab
o
v c c
v c c
v
Carried Based Geometric Approach
V
ag
E
V
bg
V
cg
0
1 1 0
0 1 1
1 1 1
ab ag
bc bg
cg
V V
V V
V V
(
( (
(
( (
=
(
( (
(
( (


Carried Based Geometric Approach
0
1 1 0
0 1 1
1 1 1
ab ag
bc bg
cg
V V
V V
V V
(
( (
(
( (
=
(
( (
(
( (


0
2 1 1
1
1 1 1
3
1 2 1
ag ab
bg bc
V V
V V
V V
cg
(
( (
(
( (
=
(
( (
(
( (


Carried Based Geometric Approach
2 1 1
1
1 1 1
3
1 2 1


(
(

(
(

PER
T
E
PER
T
E
Carried Based Geometric Approach
Three-Phase Inverter
79
( )
0 1 2 3
3 min , , V E R R R = +
Carried Based Geometric Approach
80
( )
0 1 2 3
max , , V R R R =
Carried Based Geometric Approach
81
( ) ( )
1 2 3 1 2 3
0
3 min , , max , ,
2
V
E R R R R R R + +
=
Carried Based Geometric Approach
82
0 180 360
0.2
0.4
0.6
0.8
1
vag
vbg
vcg
triang
fo t 360
v
ag
*
v
bg
*

v
cg
*

Angle
( ) ( )
1 2 3 1 2 3
0
3 min , , max , ,
2
V
E R R R R R R + +
=
Carried Based Geometric Approach
83
0 8.33 10
3
0.0167
3
6
PWMr
PWMs 2 +
PWMt 4 +
t
50 Commutations
v
ag
v
bg
v
cg
Time
( ) ( )
1 2 3 1 2 3
0
3 min , , max , ,
2
V
E R R R R R R + +
=
Carried Based Geometric Approach
84
0 0.017 0.033
4
2.5
9
PWMr PWMs
PWMs PWMt 3 +
PWMt PWMr 6 +
t
v
ab
v
ca
v
bc
( ) ( )
1 2 3 1 2 3
0
3 min , , max , ,
2
V
E R R R R R R + +
=
Tempo
Carried Based Geometric Approach
0 4 8 12 16 20 24 28 32 36 40 44 48 52 56 60 64 68 72 76 80 84 88 92 96 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnrs
i
h
i
0.34
Harmonic Order
Geometric Average of
Harmonics in carrier side band
Carried Based Geometric Approach
86
0 0.01 0.02 0.03
0.5
1
1.5
2
2.5
Max
i
Vdc
3 Vdc ( ) Min
i
+

Vdc
vo
i
Vdc
t
i
( )
0 1 2 3
max , , V R R R =
Carried Based Geometric Approach
0 180 360
0.2
0.4
0.6
0.8
1
vag
vbg
vcg
triang
fo t 360
v
bg
*
v
ag
*
v
cg
*
Angle
( )
0 1 2 3
max , , V R R R =
Carried Based Geometric Approach
0 8.33 10
3
0.0167
3
6
PWMr
PWMs 2 +
PWMt 4 +
t
34 Commutations
( )
0 1 2 3
max , , V R R R =
v
ag
v
bg
v
cg
Time
Carried Based Geometric Approach
0 0.017 0.033
4
2.5
9
PWMr PWMs
PWMs PWMt 3 +
PWMt PWMr 6 +
t
v
ab

v
bc

v
ca

Time
( )
0 1 2 3
max , , V R R R =
Carried Based Geometric Approach
90
0 4 8 12 16 20 24 28 32 36 40 44 48 52 56 60 64 68 72 76 80 84 88 92 96 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnrs
i
h
i
v
ab

( )
0 1 2 3
max , , V R R R =
Ordem da Harmnica
Carried Based Geometric Approach
0 4 8 12 16 20 24 28 32 36 40 44 48 52 56 60 64 68 72 76 80 84 88 92 96 100
0.167
0.333
0.5
0.667
0.833
1
FPWMnrs
i
h
i
0.370
v
ab

Harmonic Order
Geometric Average of
Harmonics in carrier side band
Carried Based Geometric Approach
It makes possible to maximize the converter voltage
syntheses capability
It explores the degree of freedom of the converter
It is simple to implement
The methodology can be applied to other converters

Summary
Carried Based Geometric Approach
93
Generalized pulse width modulation approach for DC capacitor voltage balancing in
diode-clamped multilevel converters
Carried Based Geometric Approach -
Diode-Clampled Converter
DC Voltage Unbalance
96
Carried Based Geometric Approach -
Diode-Clampled Converter
97
where
Carried Based Geometric Approach -
Diode-Clampled Converter
98
Carried Based Geometric Approach -
Diode-Clampled Converter
Phase Disposition PWM
100
Modulating signals decomposition
101
Constrains on the new modulating signal
To avoid internal overmodulation
where x=a,b,c
102
Constrains on the new modulating signal
To avoid dependence on the sign of the load currents
where x=a,b,c
103
Constrains on the new modulating signal
To define the average capacitor currents
104
Constrains on the new modulating signal
To define the average capacitor currents
105
Constrains on the new modulating signal
To define the average capacitor currents
106
107
Constrains on the new modulating signal
To define the average capacitor currents
108
Constrains on the new modulating signal
To define the average capacitor currents
109
Constrains on the new modulating signal
To define the average capacitor currents
110
Constrains on the new modulating signal
To define the average capacitor currents
111
Constrains on the new modulating signal
To define the average capacitor currents
112
Constrains on the new modulating signal
To define the average capacitor currents
113
0
if
Constrains on the new modulating signal
To define the average capacitor currents
114
Decomposed modulating signal
115
Constrains on the new modulating signal

116
117
Possible solution for the placeholder variables

118
Modulating Signals

zero zero
Control of the DC bus Capacitor Voltage

120
Control of the DC bus Capacitor Voltage

121
Control of the DC bus Capacitor Voltage

122
Control of the DC bus Capacitor Voltage

123
zero zero
Control of the DC bus Capacitor Voltage

124
Experimental Results

125
Experimental Results

126
Experimental Results

127
Experimental Results

128
Experimental Results

Generalized Carrier-Based Modulation Strategy for
Cascaded Multilevel Converters operating Under Fault
Conditions
Generalized Carrier-Based Modulation Strategy for
Cascaded Multilevel Converters operating Under Fault
Conditions
Neutral-Shift Method
Peak-Reduction Methods
Peak-Reduction Methods
Mapping of 3-DOF phase voltage space and
the 2-DOF output line-to-line
Mapping of 3-DOF phase voltage space and
the 2-DOF output line-to-line
Converter Status Matrix
Linear Operating Range
Linear Operating Range
Common mode Voltage
Common mode Voltage
Set of all possible solution of the
Common mode Voltage
Set of all possible solution of the
Common mode Voltage
Set of all possible solution of the
Common mode Voltage
Overmodulation
Experimental Results
Cascaded Multilevel Converter
Two Cells per Phase
Experimental Results
Cascaded Multilevel Converter
Two Cells per Phase
Three-leg inverters driving two-phase
asymmetric induction machine
Carried Based Geometric Approach
Three-leg inverters driving two-phase
asymmetric induction machine
Carried Based Geometric Approach
Three-leg inverters driving two-phase
asymmetric induction machine
Carried Based Geometric Approach
Three-leg inverters driving two-phase
asymmetric induction machine
Carried Based Geometric Approach
Three-leg inverters driving two-phase
asymmetric induction machine
Carried Based Geometric Approach
Carried Based Geometric Approach
Maps the Leg modulation space into the output
space
Make it possible to explorer the converter
degree-of-freedom
It is a carrier bases approaches
Easy implementation


Space Vector Modulation


Space Vector Modulation


General Analysis of Three-Phase Inverters
KALMAN R. JARDAN,
S. B. DEWAN, MEMBER, IEEE,
GORDON R. SLEMON, SENIOR MEMBER, IEEE

IEEE TRANSACTIONS ON INDUSTRY AND GENERAL
APPLICATIONS, 1969.


Space Vector Modulation
The modulation is developed in the output voltage
space
It make it possible to explorer the entire converter
voltage syntheses capability
It breaks the problem into sectors
Usually predefined switching sequences are defined
off-line each sector



Definition of all switching vectors
Mapping all switching vectors into the output
voltage space
Definition of the sector and of an algorithm for
sector identification
Determination of the vectors dwell times
Definition of a switching sequence

Space Vector Modulation
SVM - Three Phase NPC converter
PSV0
T
( )
0
( )
T
PSV0
T
( )
1
( )
T
, PSV0
T
( )
2
( )
T
,
|

\
|
|
.
Leg Voltage Switching Vectors
SVM - Three Phase NPC converter
PSV
T
( )
0
( )
T
PSV
T
( )
1
( )
T
, PSV
T
( )
2
( )
T
,
|

\
|
|
.
PSV1
T
( )
0
( )
T
PSV1
T
( )
1
( )
T
, PSV1
T
( )
2
( )
T
,
|

\
|
|
.
,
Line to Line Voltage Switching Vectors
2 1 0 1 2
2
1
1
2
Line-to-Line Switching Vectors in Alpha-Beta Coordinates
SVM - Three Phase NPC converter
Phase Voltage Switching Vectors
+++
--- 000
v
0
SVM - Three Phase NPC converter
Space Vector Modulation
Space Vector Modulation
Space Vector Diagram
Dwell time
Space Vector Diagram
Sector
Space Vector Diagram
Sector
2
then
if
7
37
7 3
7 3
7 7 3
37
v v
v
v v
v
3
3
+
=
A = A
A + A
A + A
=
t t
t t
t t
Virtual Vector
Space Vector Modulation
Switching Vectors
Output Equivalent Circuits
2
2 1 2 1 bg bg ag ag
eq
v v v v
v
+
=
4
2 1 2 1 bg bg ag ag
o
v v v v
v
+ + +
=
n
n-2
n
n-2
(


=
1 1 1 1
2 2 2 2
4
1
veq
F
Space Vector Modulation
dt
i i d
M L v v
a a
ag ag
) (
) (
2 1
2 1

+ =
dt
i i d
M L v v
b b
bg bg
) (
) (
2 1
2 1

+ =
dt
i i d
M L v v
a a
ag ag
) (
) (
2 1
2 1

+ =
dt
i i d
M L v v
b b
bg bg
) (
) (
2 1
2 1

+ =
| | | |
12 12
2 1 2 1
) ( ) (
b a bg bg ag ag
v v v v v v = =
c
v
Voltage Vector for current balance
n
n-2
(

=
1 1 0 0
0 0 1 1
c
F
Output voltages space vector diagram
Voltages for Current Balance Space
Vector Diagram
Voltages for Current balance space
vector diagram
Voltages for Current balance space
vector diagram
Voltages for Current balance space
vector diagram
Time varying virtual Voltages for
Current balance Space Vector diagram
8 8
_
4 4
_
6 6
_
2 2
_
c
c
v c
c
c
v c
c
b
v c
c
b
v c
v
T
t
v
v
T
t
v
v
T
t
v
v
T
t
v
A
=
A
=
A
=
A
=
Time Varying Virtual Voltages for
Current Balance Space Vector diagram
a


b

c
n
















v
1
v
3
v
7
v
9
v
14
v
12
v
8
v
6
1.8 0
1.8
0
1.8
-1.8
0
o
|
0
Time Varying Virtual Voltages for Current
Balance Space Vector diagram
Time Varying Virtual Voltages for Current
Balance Space Vector diagram
Time Varying Virtual Voltages for Current
Balance Space Vector diagram

>
=
otherwise
if
1 1
c
c c c
L
v
v v v
v
c
Dwell Time
(
(
(
(

A
A
A
A
(
(
(

=
(
(
(

A
A
8
6
4
2
8 6 4 2
0 0
0 0
1
c
c
c
c
c c c c
c
b
L
t
t
t
t
T T
T T
T
t
t
v v v v v
c
(
(
(
(

A
A
A
A
(
(
(


=
(
(
(

A
A
9
7
5
3
9 7 5 3
*
2
.
1
c
c
c
c
c c c c
z
a
c
t
t
t
t
T T T T
T T T T
T
t
t
v v v v v
a
c
c
c
c
t
t
t
t
t
A
(
(
(
(

s
(
(
(
(

A
A
A
A
s
(
(
(
(

1
1
1
1
0
0
0
0
9
7
5
3
) , , , min( ) , , , max(
8 7 6 5 4 3 2 1
c c c c t c c c c
z
s A s
Summary SVM
It make it possible to explorer the entire
converter capabilities
The selection of Switching Sequences still
a challenge
The development and implementation
can be more complex
Acknowledgment

To the students that were under my
supervision at UFSM



Thanks!

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