Files

Theory and Practice of Power
Electronic Converter Control

Professor Grahame Holmes
Dr Brendan McGrath
Power & Energy Group
RMIT University
March 2011
Scope of Presentation
Output Harmonics of Voltage Source Inverters
Natural Balancing of Flying Capacitor Inverters
AC Current Regulation
Practical Systems
RMIT Power and Energy Group (PEG)
Advances in Power Electronics
Background
Power Electronic Theory has advanced over the last

few decades to a mature knowledge base that is
more than sufficient to design most types of power
electronic conversion systems.
SO WHAT IS THE CHALLENGE WITH PRODUCING
PRACTICAL DESIGNS ?
(i.e. what is not in the textbooks)
Background
25 kVA Inverter - Front View

Background
Power Electronics requires both breadth and depth of
knowledge
switched mode power
supplies
semiconductor devices
converter topologies
motor drive systems
electrical distribution
systems
control theory
electromagnetic field theory
electronic circuit design
computer and
microprocessor systems
mathematical modeling (for
simulation)
signal processing theory
fundamental circuit theory
Communications
Thermodynamics
laws of physics
The list goes on and on
Background
Modelling and Analysis in Power Electronics:
Control system synthesis
Evaluation of component rating
Compliance with standards (Harmonic Distortion and EMI)
Fundamental insight and understanding (Breakthroughs)
Compliment and support simulation
Switched nature of power electronic converters results in

complex (nonlinear) dynamic and spectral phenomena:
State variable and/or input constraints
Products involving state variables and inputs
Non-periodic nature of Pulse Width Modulation (PWM)
Practical effects (dead-time, device volt-drop, finite rise/fall time)
Background
Approximation techniques to simplify converter analysis :
State space averaged models
Circuit averaging (equivalent average switch elements)
Dynamic phasors and waveform envelope models
Alternative strategy : Models based on Fourier series

Instantaneous dynamic (transient) model of the converter
Substitute the Fourier representation of the converter gate signals
into the instantaneous dynamic model
Generally results in a simplified converter model defined in terms
of the converter modulation process
Practical Systems
VSI Harmonics
VSI output harmonics for different PWM methods
Phase "a"
Reference
sa(t)
sb(t)
VDC
sb(t)
Phase "c"
Reference
Triangular
Carrier
sc(t)
ia(t)
ib(t)
ic(t)
sa(t)
Phase "b"
Reference
sc(t)
+Vdc
va
-Vdc
+Vdc
vb
t
-Vdc
+Vdc
s x t 1, 0 for x a, b, c
vc
-Vdc
+2Vdc
-2Vdc
Phase Legs
Switching in
Response to
PWM
Comparison
vab
l-l output
voltage
Solution : Bennett (1933), Black (1953), Bowes (1975),

Holmes + Lipo (2003).
A non-periodic PWM waveform is separately periodic in the carrier
and fundamental phase spaces respectively
Double Fourier Series

Double Fourier series representation Decomposes PWM waveform into:
F t
A00
2
A0n cosn ot B0n sinn ot
Baseband Harmonics
Am0 cosm ct Bm0 sinm ct
Carrier Harmonics
Amn cosm ct n ot Bmn sinm ct n ot
Carrier Sideband Harmonics
DC Offset
n 1
m 1
m 1 n
n0
Must then represent the PWM waveform in

2D space solve Fourier Double Integral:
2 2
x c t , y o t
F x, y e j mx ny dxdy
Magnitude
Amn jBmn
F u n d a m e n ta l
C a r r ie r
C a r r ie r
S id e b a n d
H a r m o n ic s
B a se b a n d
H a r m o n ic s
F req ue nc y
10
VSI Harmonics Sine Triangle PWM

Example : Two Level Sine Triangle PWM Switching Function
f(x)
g(y)
+1
+M
+1
f(x) = -1 - x/2
0
-1
f(x) = -1 + x/2 x = ct
F(x,y)
x 0
0 x
x
x
M
cos
y
M cos y 1
DC
2
2
M cos y 1
x
x
M cos y 1
2
2
y = ot
g(y) = Mcos(y)
-M
-1
x = ct
F(x,y)
= 0
0
F(x,y)
- = 0
F(x,y) =
VDC
y=
ot
11
VSI Harmonics Sine Triangle PWM

Individual phase leg voltage harmonics:
1 M
2
cos o t oa
s a t
2 2
sin
m
n
J
m
M
n
2 2
m
n
cosm c t ca n o t oa

m 1
vab t sa t sb t VDC
va t sa t VDC
Naturally Sampled Phase Leg Spectrum
VSI Line to Line Voltage, m = 0.90
10
10
THD ( 60th harmonic) = 102.14 %

Weighted THD = 3.73 %
fo = 40.0Hz, fcarrier = 1000Hz
THD ( 60th harmonic) = 58.29 %

Weighted THD = 1.89 %
fo = 40.0Hz, fcarrier = 1000Hz
10
Harmonic Magnitude
Harmonic Magnitude
10
10
10
10
10
10
500
1000
Frequency (Hz)
1500
2000
10
500
1000
1500
2000
Frequency
12
Practical Systems
13
Flying Capacitor Converters

VDC
2
Sa,N-1(t)
vN-2(t)
VDC
2
CN-2
Sa,N-1(t)
Sa,2(t)
v2(t)
C2
v1(t)
Sa,2(t)
C1
Sa,1(t)
N-Level Flying Capacitor

Converter
ia(t)
va(t)
Sa,1(t)
ia(t)
VDC
2
va(t)
Za(j)
ib(t)
vb(t)
vc(t)
VDC
2
Flying Capacitor Phase Legs
Zb(j)
ic(t)
Zc(j)
Three Phase Load
vn(t)
Target blocking voltage

for each switch is :
VDC /(N-1)
Voltage of the kth flying
capacitor is:
kVDC /(N-1)
for
k = 1,,N-2
This voltage profile
evolves naturally under
open loop PWM
14
Natural Balance Phenomena

Requirement - Cell pulses are switched with approximately
equal duty cycles phase shifted by 2/(N-1)
This is typically achieved using Phase Shifted Carrier PWM:
C-Phase Ref.
B-Phase Ref.
1100
1000
Carrier #1
A-Phase Ref.
900
900
800
700
Cell #1
Cell #2
Cell #3
Cell #4
Van : Switched A-Phase Voltage
600
Mod Depth = 0.8

FC = 500Hz, F0 = 50Hz
500
400
300
200
0
100
200
300
400
Time (ms)
500
600
800
700
15
Transient Circuit Model

AIM : Quantify the variation and robustness of the natural balance
dynamics as a function of operating conditions
First obtain the transient circuit model Consider kth flying capacitor
within a phase leg:
When Sa,k 1 0 & Sa,k 1 ,
va(t) includes +va,k(t), and:
Ck
dva,k t
dt
ia t
va(t) includes va,k(t), and:

dva,k t
dt
ia t
Zb
5a,k
iak(t)
+k
ib(t)
ia(t)
va(t)
vak(t)
5a,k+1
When Sa,k 1 1 & Sa,k 0 ,
Ck
8,+
5a,k+1
vb(t)
5a,k
Za
vn(t)
Zc
ic(t)
vc(t)
When Sa,k1 Sa,k ,
va(t) does not include va,k(t), and

Ck
dva,k t
dt
0
16
Transient Circuit Model

This can be expressed in the compact form:
Ck
dvx,k t
dt
S x,k 1t S x,k t ix t
N 2
k 1, 2, , N 2
x a, b, c
V
vx t 2S x, N 1 t 1 DC
S x,k 1 t S x,k t vx,k t
2
k 1
Where vx,k(t) are state variables and VDC and Sx,k(t) are inputs
Non-linearity : product of system inputs and state variables
Must also incorporate a load model which introduces states ix(t):
ia t
iaa t iab t iac t
2 1 1 va t
1
Z p ib t Z p iba t ibb t ibc t 1 2 1 vb t
3
ic t
ica t icb t icc t
1 1 2 vc t
Z p R Lp
pd
dt
17
Analytic Voltage Balance Model

Use of the Double Fourier series, requires transformation
of the transient circuit model into the frequency domain
But! - Input-state product terms leads to convolution in the
frequency domain
However, the Double Fourier series produces a line
spectrum - infinite summation of delta functions
Therefore the convolution integral reduces to an infinite
summation series
Hence the analytic balance model is developed by
considering each Double Fourier harmonic in isolation,
and then the complete model is developed using superposition
18

For a single harmonic at mn = mc + no , the switching difference
expressions are:
Sx,k 1t S x,k t mn Amn cosmnt xm,k,n

2S x, N 1 t 1mn Bmn cosmnt xm,n
Where:
Bmn 2Cmn
xm,n mc,N 1 nx
Amn 2sinm N 1Cmn
xm,k,n nx m2k 1 N 1 2
Also, the load impedance can be written in phasor form as :

Zmn Zmn e j mn
ia t iaa t iab t iac t

1
i t i t i t i t
bb
bc
b ba
Z mn e j mn
3
ic t ica t icb t icc t
2 1 1 va t
1 2 1 v t
b
1 1 2 vc t
19

Combining these terms with the transient expression for the load
current terms, and solving for the AC steady state solution gives:
t VDC Bmn cos mnt xm,n mn

3 Z mn
i xm, ,yn
t BmnVDC cos mnt ym,n mn

6 Z mn
N 2
ixm, ,xn
2 Amn
m, n
cos mnt x,k mn v x,k t
3
Z
mn
k 1
N 2
3AZ
k 1
mn
mn
cos mnt ym,k,n mn v y,k t
These results can be substituted into the capacitor voltage derivatives

to yield phase leg self and mutually coupled contributions
This results in a product of two sine-waves of the same frequency,
returning a DC term and a double frequency
Average value is of interest - extract the DC term only
20

Yields the following linear differential equations for the capacitor
voltages:
dvx,k
dt
dvx,k
dt
t
t
mn
xx
mn
j xmn
j xmn
j xmn j x ,k
N 2
,l
,k
1
e
e
e
Re
Re
A
B
V
A
v
t
mn mn
x,l
DC mn
Ck
Z
j
Z
j
mn
mn
mn
mn
l 1
mn
xy
j ymn j xmn
j ymn,l j xmn
N 2
,k
,k
1
e
e
e
e
VDC Amn Re
v y,l t
Amn Bmn Re
6Z mn jmn
Ck
12Z mn jmn
l 1
Accounting for all harmonics, and after considerable algebra we

obtain a linear state space model, with states vx,k(t), and input VDC:
t A V t BV
V
c
c
DC
Vc t va,1 t va, N 2 t vb,1 t vb, N 2 t vc,1 t vc, N 2 t

21

Where:
Aaa Aab Aac
A Aba Abb Abc
Aca Acb Acc
Baa Bab Bac

B Bba Bbb Bbc
Bca Bcb Bcc
1 mn * mn T
y
C x
A xy Re
j mn
6 Z mn e
m1 n
1 mn * mn
C x y
B xy Re
j mn
12
Z
e
m1 n
mn
mn
x
j xm,1,n
j xm, 2,n
j xm,N,n2
e
e
Amn e
1 mn * mn T
x
C x
A xx Re
j mn
3 Z mn e
m1 n
1 mn * mn
C x x
B xx Re
j mn
6
Z
e
m1 n
mn
xm,n
Bmne
j xm,n
C diagC1 CN 2
22
Simulation Results
Four Level Three Phase Flying Capacitor Converter DC Link
Transient
300
250
Simulated Response
VDC
200
Analytic Model
Single Phase
Analytic Model
VC2
150
Single Phase
Analytic Model
100
Three Phase
Analytic Model
VC1
50
Mod Depth = 0.8

FC = 2.0kHz, F0 = 50Hz
Three Phase
Analytic Model
0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
Time (s)
23
Analytic Root Loci

Three Level Three Phase Flying Capacitor Converter - System Poles
as a function of Load Inductance
0.5
0.4
0.3
0.2
M = 0.8,
fo = 50Hz,
fc = 2000Hz,
Ro = 22 ,
Ck = 30 F
Lo = 10mH
0.1
Lo = 1mH
Pole - Zero
Cancellation
0
-0.1
Lo = 1mH
Lo = 10mH
-0.2
Lo = 10mH
-0.3
-0.4
-0.5
-400
-350
-300
-250
-200
Real Axis
-150
-100
-50
24
Analytic Root Loci

Three Phase Flying Capacitor Converter - System Poles as a function
of Load Resistance
0.8
0.6
Ro = 10
0.4
Pole - Zero
Cancellation
0.2
Ro = 500
Ro = 500
0
Ro = 79
-0.2
-0.4
-0.6
-0.8
Pole - Zero
Cancellation
M = 0.8,
fo = 50Hz,
fc = 2000Hz,
Lo = 5.3 mH,
Ck = 30 F
-100
Ro = 10
Ro = 10
-80
-60
Real Axis
-40
-20
25
Experimental Validation
Single Phase 5-Level Flying Capacitor Converter DC Link Transient
300
250
Experimental Response
VDC
200
Analytic Model
VC3
150
VC2
Mod Depth = 0.8

FC = 2.8kHz, F0 = 50Hz
100
VC1
50
Initial Dip
0
0
0.5
1.0
Time (s)
1.5
2.0
2.5
26
Frequency dependence of the load resistance
3
Resistance (Ohms)
10
10
10
2
10
10
Frequency (Hz)
10
27
Single Phase 5-Level Flying Capacitor Converter DC Link Transient
including the variable load resistance
300
250
Experimental Response
VDC
200
Analytic Model
VC3
150
VC2
Mod Depth = 0.8

FC = 2.8kHz, F0 = 50Hz
100
VC1
50
Initial Dip
0
0
0.5
1.0
Time (s)
1.5
2.0
2.5
28
Practical Systems
29
AC Induction Motor Principles

I1
R1
coil bs
coil ar
coilbr
r
coil cr
V1
coil as
I2
I
jX1
R0
'
aR22R
2
jX0
jXja2 'X2
2
R ' 1 S
a22R2(1-s)
sS
Eg
p 3 ' 2 R2 '
I2
e
S
2 s
slip S
s r
s
p 3V12
SR2 '
e
2 s SR cR ' 2 S 2 X cX '
1
2
1
2
Fixed Frequency Supply
coil cs
s r R2 '
p 3V12
e
2
2 s 2
r R cR ' 2 L cL '
s
s
r
1
2
1
2
Variable Voltage
Variable Frequency Supply
30
AC Induction
Motor
Principles
I
I
2
R1
jX1=jXs-jXo
V1
Io
jX0
jX2=jXr-jXo
R2/s
jX2=jb2 Xr-jbXo
b2R2/s
Eg
Pr 3 I 2
R2
S
r
2 1 S R2
3 I2
s
S
poles Pmech poles Pr
Te
2
r
2 s
Pmech Pr
I1
R1
jX1=jXs-jbXo
V1
jbX0
Eg
X o 2 R2
Pr 3 I q
X r2 S
2
2 X o R2
p 1
Te 3
Iq
2 s
Xr2 S
2
I1
R1 jX1=jXs-jXo2/X r
V1
Iq
Iq j
Xr
Id
R2
s
Id
Xo2/Xr2. R2/s
jXo2/Xr
Eg
Xo
Xr
p 1 X o2
3
Iq Id
2 s X r
Alternative AC Induction Motor Equivalent Circuits

31
AC Induction Motor Principles

I1
Iq
Id
R1 jX1=jXs-jXo2/X r
V1
jXo2/Xr
2
r .
Xo /X R2/s
Eg
p 1 X o2
Te 3
Iq Id
2 s X r
Xo
Xr
X
Iq j r Id
R2
S
R2 I q
S
X r Id
Slip relationship
Potential for
independent
flux and torque
control
Challenges
How to separate I1 into Id and Iq
How to control Id and Iq
Transient torque response
32
Principles of Field Oriented Control

Summary
3 poles Lm
Te
dr iqs
2 2 Lr
i
ds
1 Lr rr p
Lm
1 r p
dr
Lm
Flux
i*ds
i*qs
Torque
se r
Transformation of stationary
frame measured currents to
synchronous frame
equivalents
dr
ids cos se

iqs sin se
*
i
qs
Lm
*dr
sin se
e
cos s
dt
1
3
0 i
as

2
3 ibs
33
AC Induction Motor Variable Speed Drive

*
iqs
s k p 1 1
s r
*
r s r s
*
s 1 r s
ids
Torque Controller
*dr s
Lm
Flux Controller
34
AC Current Regulated VSI
Three phase Voltage Source Inverter (VSI) connected to a back EMF load through
a series R-L impedance
35
Average model of Three Phase VSI

Substituting voltage constraints into KVL loops gives:
Va s ea s
ia s
R sL
Vb s eb s
ib s
R sL
Vc s ec s
ic s
R sL
For an isolated three phase system
ia s ib s ic s 0
Thus only two currents need to be controlled for a three
phase system, each regulated only by their individual phase
voltages
Modulate third phase according to:
Vc s Va s Vb s
Wang Yui Kong
wang.kong@eng.monash.edu.au
36
36
Stationary Frame PI Current Regulator

I s
Vs s EMF s
R sL
1 1
GP s
R 1 sTP
Single phase average model block diagram
TP
L
R
Forward path transfer function with PI regulator :
k pVDC 1 1 s i
GC s VDC GP s
R 1 sT p s i
I * s EMF s GP s
I s
1 GC s VDC GP s
Larger PI gains make I(s)0

System is unconditionally stable irrespective of PI gains because forward path phase is
always < 1800
37
AC Current Regulation Strategies

It is standard knowledge that AC motor current
regulators MUST be either
synchronous frame controllers, or
PR resonant equivalent stationary form
to adequately eliminate steady state error
This knowledge raises two questions

1.
WHY ?? (what are the limiting factors)
2.
How to set the maximum possible PI gains
38
Stationary Frame PI with Back EMF Compensation
*
va* s
1 a s ia s
k pi 1
s *
v * s
ri
i
s
i
s
b
b
b
39
Stationary Frame Proportional + Resonance

*dr
1r p
r*
id*
ia*
va*
se
vc*
iq*
vb*
ib*
va* ( s )
s
* k pi 1
2
2
(
)
v
s
s
s
b
ri
rc
e
i * ( s ) i ( s )
a
a*
ib ( s ) ib ( s )
40
Synchronous Frame Proportional + Integral

*dr
vd*
id*
se
1r p
r*
se
vq*
iq*
vd*
1
* k pi 1
vq
s ri
va* 1

v* 1
b 2
id* ( s ) id ( s )
*
iq ( s ) iq ( s )
0 cos e
s
3
e
sin
2
s
sin se
cos se
vd*

v*
q
41
Response of ideal Average model system

Circuit Parameter
Value
Resistive load
(R) ()
Inductive load
(L) (mH)
20
Switching Freq.
(fs) (kHz)
5.0
(2VDC) (V)
400
Back EMF volt. (VEMF) (VRMS)
80
Back EMF freq.
50
DC Bus volt.
Sampling period
(Hz)
10-4
(T) (sec)
Test circuit parameters
Simulated response of ideal

average value model AC current
regulator with high PI gains
42
AC Current Regulation Strategies
For all linear current regulation strategies, the question is
HOW TO SET THE GAINS ????
WHY NOT ARBITRARILY LARGE ???
43
Transport and PWM Delays

Control loop delays :
Regulator computation time

introduces at least half carrier
delay
Regular sampled PWM

introduces a minimum quarter
carrier delay
Total delay = 0.75 carrier period

Transport and Sampling Delay caused
by PWM process and digital
controller sampling/computation
44
Transport and PWM Delays
PI Regulator with sampling and transport delay
Bode plot of open loop forward path gain for ideal and non-ideal regulators
45
Maximum Achievable Stationary Frame PI Controller Gains

Maximum possible kp is for a given c is:
R i
kp
c
VDC
1
1
L
V
Tp 2
2 2
c i
DC
Integral time constant i can be determined by making
tan 1 c i / 2
i 10/ c
These gains are independent of the plant time constant, and are
determined only by m Td VDC and L
For any given system with regulator delay Td , these are the
maximum possible PI gains for a phase margin of m
46
Gains matched for Linear Current Regulation

Strategies
CONCLUSION: Gains can be set to same maximum gains irrespective of

current regulation strategy sampling and transport delay are always
the limiting factors
47
Simulation System
PSIM 7 with Motor Drive module was used to simulate all the vector control systems.
A combination of components and C-script blocks were used to emulate the functionality of
a 3 phase inverter and microcontroller.
Component parameters were set to match the experimental rig.
48
Experimental System
49
Experimental Results - PIstat

Stationary Frame PI
400
200
ABC Current (A)
Speed (RPM)
600
0
0.5
1.5
2.5
Time (s)
3.5
4.5
0.01
0.02
0.03
0.04
0.06
0.07
0.08
0.09
0.1
0.5
1.5
0.05
Time (s)
2.5
3.5
4.5
5
0
-5
10
DQ Current (A)
2
0
-2
0
-4
0
0.5
1.5
2.5
Time (ms)
3.5
4.5
50
Experimental Results - PRstat

Stationary Frame PR
400
200
ABC Current (A)
Speed (RPM)
600
0
0.5
1.5
2.5
Time (s)
3.5
4.5
0.01
0.02
0.03
0.04
0.06
0.07
0.08
0.09
0.1
0.5
1.5
0.05
Time (s)
2.5
3.5
4.5
5
0
-5
10
DQ Current (A)
2
0
-2
0
-4
0
0.5
1.5
2.5
Time (ms)
3.5
4.5
51
Experimental Results - PIsync

Synchronous Frame PI
400
200
ABC Current (A)
Speed (RPM)
600
0
0.5
1.5
2.5
Time (s)
3.5
4.5
0.01
0.02
0.03
0.04
0.06
0.07
0.08
0.09
0.1
0.5
1.5
0.05
Time (s)
2.5
3.5
4.5
5
0
-5
10
DQ Current (A)
2
0
-2
0
-4
0
0.5
1.5
2.5
Time (ms)
3.5
4.5
52
Practical Systems
53
30kVA AC-DC Battery Charger
Specifications
415VAC input
Efficiency >93%
Naturally cooled
110VDC output
30 kVA rating
-5oC to 55oC ambient
54
55
30 kVA Battery Charger Preproduction - Front View

56
30 kVA Battery Charger Production Version - Front View

57
30 kVA Battery Charger Production Version - Front View

58
30 kVA Battery Charger Production Version - Rear View

59
Initial Captured Results - Australia

250
3000
200
2500
150
2000
100
1500
50
0
1000
-50
500
0
-100
1 22 43 64 85 106 127 148 169 190 211 232 253 274 295 -150
-500
vhi
vac_ba
vac_ca
vdc_out
idc_out v_earth yHB
earth
iac_a
iac_b
itrx
-200
-250
-1000
60
Initial Captured Results - Australia

5000
100
4000
80
3000
60
2000
40
1000
20
0
0
-1000
19 37 55 73 91 109 127 145 163 181 199 217 235 253 271 289
-20
-2000
-40
-3000
-60
-4000
-80
-5000
-100
v_ba
v_ca
t_a
iac_a
iac_b
Itarg_a
Itarg_b
Ierr_a
Ierr_b
61
Final Captured Results - Australia

400
40
300
200
-40
100
-80
iac_a filt
iac_b filt
0
0
50
100
150
200
250
300
-120
350
a targ
b targ
a err
b err
-100
-160
-200
-200
-300
-240
-400
-280
62
Captured Results - India

400
6000
300
4000
200
2000
100
0
0
1
19 37 55 73 91 109 127 145 163 181 199 217 235 253 271 289
-100
-2000
-200
-4000
v_ba
v_ca
t_a
t_b
t_c
iac_a
iac_b
Itarg_a
Itarg_b
Ierr_a
Ierr_b
-300
-6000
-400
63

6000
800
600
4000
400
2000
200
0
1
19 37 55 73 91 109 127 145 163 181 199 217 235 253 271 289
-200
-2000
-400
-4000
v_ba
v_ca
t_a
t_b
t_c
iac_a
iac_b
Itarg_a
Itarg_b
Ierr_a
Ierr_b
-600
-6000
-800
64

50
4000
40
3000
30
2000
20
10
1000
0
0
1
19 37 55 73 91 109 127 145 163 181 199 217 235 253 271 289
-10
-20
-1000
-30
-2000
vhi
vac_ba
vac_ca
vdc_out
idc_out
earth
iac_a
iac_b
itrx
-40
-50
-3000
65
Preproduction Experimental Results
66
Things that go wrong
Wrong analog cutoff freq
Correct analog cutoff freq
67
Conclusion
A Little Bit of Control Theory goes a long way
controlling a Power Electronic Converter
PROVIDED
You Get Your Practical Electronics working
properly FIRST
68

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Theory and Practice of Power

Electronic Converter Control

RMIT Power and Energy Group (PEG)

Advances in Power Electronics

Power Electronic Theory has advanced over the last

RMIT Power and Energy Group (PEG)

25 kVA Inverter - Front View

RMIT Power and Energy Group (PEG)

Switched nature of power electronic converters results in

Alternative strategy : Models based on Fourier series

RMIT Power and Energy Group (PEG)

RMIT Power and Energy Group (PEG)

Solution : Bennett (1933), Black (1953), Bowes (1975),

Double Fourier Series

A0n cosn ot B0n sinn ot

Am0 cosm ct Bm0 sinm ct

Amn cosm ct n ot Bmn sinm ct n ot

Carrier Sideband Harmonics

Must then represent the PWM waveform in

VSI Harmonics Sine Triangle PWM

RMIT Power and Energy Group (PEG)

VSI Harmonics Sine Triangle PWM

VSI Line to Line Voltage, m = 0.90

THD ( 60th harmonic) = 102.14 %

THD ( 60th harmonic) = 58.29 %

RMIT Power and Energy Group (PEG)

RMIT Power and Energy Group (PEG)

Flying Capacitor Converters

N-Level Flying Capacitor

Flying Capacitor Phase Legs

Target blocking voltage

RMIT Power and Energy Group (PEG)

Natural Balance Phenomena

Van : Switched A-Phase Voltage

Mod Depth = 0.8

RMIT Power and Energy Group (PEG)

Transient Circuit Model

va(t) includes va,k(t), and:

When Sa,k 1 1 & Sa,k 0 ,

When Sa,k1 Sa,k ,

va(t) does not include va,k(t), and

RMIT Power and Energy Group (PEG)

Transient Circuit Model

RMIT Power and Energy Group (PEG)

Analytic Voltage Balance Model

Analytic Voltage Balance Model

Sx,k 1t S x,k t mn Amn cosmnt xm,k,n

Amn 2sinm N 1Cmn

Also, the load impedance can be written in phasor form as :

ia t iaa t iab t iac t

RMIT Power and Energy Group (PEG)

Analytic Voltage Balance Model

t VDC Bmn cos mnt xm,n mn

t BmnVDC cos mnt ym,n mn

cos mnt ym,k,n mn v y,k t

These results can be substituted into the capacitor voltage derivatives

RMIT Power and Energy Group (PEG)

Analytic Voltage Balance Model

Accounting for all harmonics, and after considerable algebra we

Vc t va,1 t va, N 2 t vb,1 t vb, N 2 t vc,1 t vc, N 2 t

Analytic Voltage Balance Model

Aca Acb Acc

Baa Bab Bac

Bca Bcb Bcc