2010 International Conference on Intelligent System Design and Engineering Application

Vector Control System of Induction Machine Supplied by Three-level Inverter Based

on a Fast SVPWM Algorithm

Shuxi Liu, Shan Li, Huihui Xiao

The Department of Electrical Engineering and Automation
Chongqing University of Technology, 400050
Chongqing, China
E-mail: [email protected]

Abstract—Diode clamped multi-level inverter (DCMLI) has width modulation algorithm based on 60°coordinate is used
wide application prospect in high-performance medium or to control the multilevel inverter, which can rapidly obtain
high voltage adjustable speed drive systems. In this paper, a the three nearest space vectors around the reference vector
vector control system of an induction machine using neutral- and their dwelling time, therefore, it is very simple and fast
point-clamped (NPC) inverter is proposed. In the system, the for vector selection and dwelling time calculation [8-10].
indirect rotor-flux-oriented control of an induction machine Due to the motor load, active power output can cause
supplied by a voltage-source inverter with fast current control imbalance of DC-side capacitor voltage while the capacitors
is employed, the magnitude and space angle of the rotor flux- be charged and discharged. In order to restrict the fluctuation
linkage is obtained by flux model. A fast space vector pulse
of capacitor voltage, the dwelling time of redundant vectors
width modulation (SVPWM) algorithm based on 60 e
is adjusted through detecting the capacitor voltage and the
coordinate is used for the control of a three-level inverter,
direction of neutral-point current due to the opposite effect to
which can easily get the desired vectors and calculate their
dwelling time. Aimed to the capacitor voltage unbalance
the capacity voltage. Vector control scheme selects the rotor
resulted by active power output in the motor operation, the flux orientation based on fast current control. The whole
control of neutral-point potential is implemented by adjusting control algorithm is simple and easy to digital realization in
the dwelling time of the redundant vector by detecting the digital signal processor (DSP). Finally, experimental study is
capacitor voltage and the neutral line current. Experimental performed according to the proposed algorithm, the results
results verify the good performance of the three-level inverter- indicate that the vector control system based on the fast
fed drive with vector control. algorithm can achieve good static and dynamic performances.

Keywords-multi-level inverter, vector control system, II. SYSTEM TOTAL STRUCTURE

asynchronous machine, space vector pulse width modulation, The structure of indirect rotor-flux-oriented vector
redundant vectors. control system is simple. As one of the most mature high-
performance adjustable speed drives, vector control is
I. INTRODUCTION applied widely at present. Figure 1 shows the structure of
Three-level inverter namely neutral-point-clamped (NPC) current controlled vector control system based on three-level
inverter presented by A.Nabae and other scholars had created inverter, NPC three-level inverter and the induction motor be
a new idea for the development of high-voltage and large connected directly, and no output transformer or filter are
capacity inverter, meanwhile, it had provided a new direction needed.
for the development of vector control technique toward to The stator reference voltage is provided by the current
high power and voltage [1-4]. controller, it does not consider the motor stator voltage
At present, many multilevel adjustable speed systems equation. After obtaining the reference voltage, uses the fast
are open-loop control based on VVVF principle, these can space vector PWM algorithm export vector sequence to NPC
not realize high performance running, such as low speed and three-level inverter, finally it drives the motor high-
big torque output, fast dynamic response, high adjustable performance operation. The measurement of neutral line
speed precision, hard load characteristic, and so on, these current and two capacitors voltage mainly are used to select
must depend on high performance closed-loop control the redundant vectors, to avoid the capacity voltage to be
scheme. Consequently while constructing high performance unbalanced, then to influence system performances.
multilevel variable speed drives, the control scheme, main The exactness of flux-orientation has great effect on the
circuit topology and PWM control method of converter and performance of the vector control. In rotor-flux-oriented
so on should be organically combined together. Compared reference frame, considering the easy to get rotor flux
with foreign countries, the development of multilevel linkage, asynchronous machine flux model is as follows [5]:
variable speed drives in China still has the very big gap [5- ­ d imr
7]. °°Tr  imr ids
A novel multilevel vector control realization scheme of dt
® i (1)
induction motor based on three-level NPC voltage source
inverter is presented in this paper. A fast space vector pulse
° Zmr Zr  qs
¯° Tr imr

978-0-7695-4212-6/10 $26.00 © 2010 IEEE 810

DOI 10.1109/ISDEA.2010.74
 ~ Tr
i As iDs ids imr
1
iBs 3o2 e  jT mr 1  Tr p
iCs
i Es iqs
i ds
Tr
u ds
uD s Z mr  Z r T mr
d,q SVPW y 1
a,ß M Zr ++ Z p
r
Zr iqs u Es
u qs Fig.2 The flux model of rotor-flux-oriented reference frame
ids
d,q
iqs A,B,C
Flux T mr E
model
M h
Zr ~

Fig.1 The indirect rotor-flux-oriented current controlled vector control

system of induction motor U hs* U s*
U E*s
The implementation shown in Fig.2 utilizes the
monitored values of the stator current (iAs, iBs, iCs), the B B B B B B
60$ g D
monitored value of the rotor speed, and the rotor time U gs* U D*s
constant (Tr), the rotor flux-linkage angle șmr can be
B B B B
Fig.3 ¢,£and g, h coordinate system
calculated. p is the differential operator. The stator-voltage space phasor in the stationary
The reference voltage ( uDs , uEs ) can be obtained by the reference frame is
1
application of the two-phase stationary to two-phase rotary Us (va  D ˜ vb  D 2 ˜ vc )
coordinates transformation with the DC signal( uds , uqs ) of 3
(4)
current controller output, the șmr is the rotor flux position 2va  vb  vc 3
 j (vb  vc )
B B

angle. The equation is shown as follows:

6 6
­°uDs cos T mr uds  sin T mr uqs The va, vb, vc are the instantaneous values of the stator
® (2)
B B B B B B

°̄uEs sin T mr uds  cos T mr uqs phase voltage respectively. Where D e j 2S 3 is the spatial
operators. There are
III. THE FAST SVPWM CONTROL 2va  vb  vc 3
The output performance of VSI mainly depends on UDs ,UEs (vb  vc ) (5)
modulation algorithm. SVPWM technique is used widely for
6 6
its torque pulsation slightly, low noise and high DC-bus Considering equation (3) and (5), the reference voltage
voltage utilization ratio and so on. in the g, h reference frame can be expressed as follows,
­ 1 1
A. Fast SVPWM Algorithm
°U gs (va  vb ) vab
3 3
The reference voltage derived from equation (2) uDs and ® 1 1
(6)
°U hs (vb  vc ) vbc
uEs are the component of reference voltage in two-phase ¯ 3 3
stationary orthogonal coordinate frame (¢,£). Considering It can be seen that the reference voltage vector is only
the geometrical characteristic that the angle between basic related with line voltage.
space vector of three-level inverter is all 60°, using non- Regarding DC side negative polar as output reference
orthogonal 60° reference frame can simplify the synthesis of point, for diode clamped N-level inverter, ignoring capacity
reference vector and the calculation of dwelling time of the voltage fluctuation component, the (N-1) capacitors divide
selected vector, just the reduction of the computation Ud averagely, so the output phase voltage of inverter can be
B B

quantity, then the fast PWM control to three-level NPC is expressed as:
implemented. As shown in Fig.3, ¢ , £ is two phase vi SiU d , i a, b, c, Si  ^0,1,2 N  1` (7)
stationary rectangular reference frame, g, h is 60°coordinate
system in this paper, the axis h leads axis g 60° in counter- Regarding Ud as the basic value, then the normalized
B B

clockwise [8]. output voltage is:

In Fig.3, the reference voltage can be expressed as vi , p.u . Si , i a, b, c, Si  ^0,1,2 N  1` (8)
­ 1 Combining with equation (6) and (8), then all the
U Ugs  Uhs ˜ cos60q Ugs  Uhs
°° Ds 2
inverter basic space vector are integer in the g, h reference
frame. Transforming three-level inverter basic vector into
® (3)
° 3 one in the g, h reference frame, the three-level space vector
UEs Uhs ˜ sin60q Uhs
¯° 2 chart can be obtained, as shown in Fig.4.

811
 B. DC-side Capacity Voltage Balance Control
(-2,2) (-1,2)
(0,2)
h
When three-lever NPC is used adjustable speed drive
system of asynchronous motor, the output of active power
(-2,1) (-1,1) (0,1) (1,1) will cause the DC side capacitors voltage out of balance
because of charge and discharge. The redundancy degree of
(-1,0) (1,0) (2,0)
g short vector is two, each short vector corresponding to two
(-2,0)
switch states, the zero vector redundancy degree is three.
Each bridge arm of inverter has three kinds of states, so the
switch state of the inverter can be expressed as:
(-1,-1) (0,-1) (1,-1) (2,-1)
S [ S a , S b , S c ]T (11)
(0,-2) (1,-2) (2,-2) Where Sx=0,1,2, x=a, b, c
B B

Fig.4 Space vector diagram under g, h coordinate system For any bridge arm, when it is linked the neutral point,
for three-level converter namely Sx (t)=1, the loading current of this phase will pass
Supposing the reference voltage vector is in position from a clamped diode to flowing into neutral point, so the
shown in Fig.5, according to equation (6), its coordinate is current which flows into neutral point can be expressed as
(vab/3 ˈ vbc/3) in the g, h reference frame. Taking floor
B B B B

in (t ) [ S a ˜ (2  S a )] ˜ ia
integer and top integer about vab/3 and vbc/3 in the g, h (12)
 [ S b ˜ (2  S b )] ˜ ib  [ S c ˜ (2  S c )] ˜ ic
B B B B

reference frame separately, namely 1= ¬vab 3¼ , 0 ˙

For small vectors and medium vectors, one-phase or
¬vbc 3¼ , ¬ ¼ means floor integer, 2= ªvab 3º , 1 ˙ two-phases stator winding of the asynchronous motor is
ªvbc 3º , ª º means top integer. Then four voltage vectors linked to the neutral point, the neutral point voltage will
fluctuate because of the neutral point current flowing
near reference vector can be obtained. Namely (1,0), (1,1), through DC side capacitors, therefore, the task to control
(2,0), (2,1), they form a parallelogram, point (2,0) and (1,1) neutral point’s potential balance is to make the average
form a diagonal which separates the parallelogram into two value of neutral point current be zero in one control period
equilateral triangles, marked as ĉ and Ċ separately, (1,1) Ts.
and (2,0) are the nearest vector to reference vector. The
B B

selection of the third vector is according to the principle that IV. EXPERIMENTAL STUDY
reference vector is in the same side of the diagonal, In order to verify the feasibility of the algorithm applied
obviously, (1,0) should be chosen. In the same way, to the asynchronous motor vector control system proposed
according to the symmetry character, the three nearest basis in the paper, experimental researches were performed
vectors which synthesis arbitrary reference vector can be including the performances such as speed tracking at
known. different load, speed step response and anti-disturbance, etc.
The three nearest vectors synthesized the reference The main circuit is made up of rectifier, the filter capacitors
vector are once ascertained, supposing they are V1, V2, V3 B B B B B

at the DC side, inverter (IPM: intelligent power module) and

separately, the following expressions can be obtained from
B

the controller DSP (digital single processor) TMS320F2812,

voltage-second principle. the other equipments still include a 50Hz, four-pole 2.2 kW
V1 ˜ Ta  V2 ˜ Tb  V3 ˜ Tc U s ˜ Ts (9) induction machine, power circuit, and so on. The dc bus is
340 V, the inverter switching frequency is 10 kHz, the
Ta  Tb  Tc Ts (10) experimental results of the proposed control system are
Where Ta, Tb and Tc is the dwelling time of V1, V2 and V3
B B B B B B B B B B B B
shown in Fig.6~Fig.9. Fig.6 shows the speed step response
separately, Ts is the switching period. Due to the coordinate at empty load, the reference speed steps from 0 to 1000rpm,
the speed PI controller of the vector control system is
B B

of the switching state is integral in the g, h reference frame.

The solution of equation group, namely vector dwelling quickly saturated, motor rotor speed reaches the reference
time, can be acquired by the fraction part of line voltage. value with the biggest acceleration at the action of biggest
torque, as shown in Fig.6. Rotor speed is near the given
However, the fraction can be obtained directly in the g, h
value, the speed controller quickly exits saturation, and
reference frame, the calculation is very simple.
enters into a steady operation quickly. When the speed is
steady, the torque is very small, then the load torque steps
(0,2)
h from 0 N.m to 16 N.m, the torque response is also shown in
Fig.6. It can be seen that, motor torque response is quick,
when the motor’s loads changed, the dynamic fall value of
(0,1) (1,1) (2,1) the system is only about 0.3%, the steady fall value is zero,
ĉ Ċ and the recovery time is less than 0.05s. All these data
Us g indicates that the vector control system based on the fast
(1,0) o
(2,0) space vector pulse width modulation algorithm has good
Fig.5 Vector synthesis under g, h coordinate system dynamic and steady performances.

812
 Fig.7 is the line voltage of stator windings at steady
operation, it can be seen that the output voltage of multilevel
inverter is more close to sine wave, the jump of output
voltage has been reduced. High harmonic is little and it is in
favor of the steady operation for the induction machine.
Fig.8 shows the line current of the motor stator and the
torque, when the machine is empty load, the current is very
small, when load adds suddenly the current of motor is
increased quickly. It is close to ideal sine wave.
Fig.9 is the voltage wave of neutral point of capacitors in
the DC side, it can be seen that the fluctuation of neutral
(Vertical: 5V/div, Horizontal: 10ms/div)
point voltage is restricted effectively under the fast space Fig.9 Voltage of neutral point of capacitors
vector pulse width modulation for the vector control system.
The DC bus capacitor voltages are well balanced in the V. CONCLUSIONS
steady state. From the foregoing waves, it can be seen that
In this paper a novel current imposed vector control
the vector control algorithm based on the fast SVPWM
system of induction motor supplied by three-level NPC
algorithm is proper and feasible.
inverter is introduced which uses the fast space vector pulse
width modulation algorithm based on 60° reference frame.
The algorithm can greatly simplify the calculation of the
dwelling time of the three nearest vectors which synthesize
the reference vector, the output harmonic is little. Aimed to
the capacitors voltage fluctuation when three-level inverter
drives the motor load, the control of neutral point potential is
to adjust the dwelling time of redundant vector by detecting
the current and voltage of the neutral line. The validity of the
proposed SVPWM method is verified by simulation results,
the system has obtained well dynamic and steady
performance, in addition to that, the efficiency and the ease
(Vertical: 5V/div, Horizontal: 10ms/div) of implementation of this algorithm makes it well suited for
Fig.6 The response of the output torque and the rotor speed digital signal processor.
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