EE8407 Topic 5

Power Converter Systems

Graduate Course EE8407

Bin Wu PhD, PEng

Professor
ELCE Department
Ryerson University

Contact Info
Office: ENG328
Tel: (416) 979-5000 ext: 6484
Email: [email protected]
http://www.ee.ryerson.ca/~bwu/

Ryerson Campus

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 1
EE8407 Topic 5
Topic 5

Two-Level Voltage Source Inverter (VSI)

Source:
Alstom

VDM5000 Two-level VSI

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 2
EE8407 Topic 5

Two Level Voltage Source Inverter

Lecture Topics
• Sinusoidal PWM
• Space vector modulation

Why Use PWM Techniques?

• To control inverter output frequency (fundamental)
• To control inverter output voltage (fundamental)
• To minimize harmonic distortion

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 3
EE8407 Topic 5

Sinusoidal PWM
• Inverter Configuration
P

S1 S3 S5

iA
A
iB
Vd Cd B O
iC
C
LOAD

S4 S6 S2

Assumption:
dc capacitor very large  dc voltage ripple free

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 4
EE8407 Topic 5

Sinusoidal PWM
• Modulating and Carrier Waves

v vcr vmA vmB vmC

Vˆcr Vˆm
0 t

• vcr – Carrier wave (triangle) • Amplitude modulation index

Vˆm
ma 
Vˆcr
• vm – Modulating wave (sine) • Frequency modulation index
f cr
mf 
fm
Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 5
EE8407 Topic 5

Sinusoidal PWM
• Gate Signal Generation
vmA vcr

0  2

v g1

vg 4

v AN
Vd
0

v mA  v cr v g1  0 (v g 4  0) S1 on ( S 4 off ) v AN  Vd
Phase A
v mA  v cr v g 4  0 (v g1  0) S 4 on ( S1 off ) v AN  0

Vg1 and Vg4 are complementary

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 6
EE8407 Topic 5

Sinusoidal PWM
• Line-to-Line Voltage vAB
v vcr vmA vmB vmC

Vˆcr Vˆm
0 t
P

S1 S3 S5
v AN
Vd
A
t
Vd B
C vBN
Vd
0 t
S4 S6 S2
v AB1
v AB
N Vd
0 t
 2

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 7
EE8407 Topic 5

Sinusoidal PWM
• Waveforms and FFT
v AB
THD = 92.07%
Vd
0
 2 3

v AO
THD = 92.07%
2Vd / 3
0

iA THD = 7.73%

• ma = 0.8, mf = 15, 0
 2 3

fm = 60Hz, fcr = 900Hz

V ABn / Vd
V AB1  0.49Vd THD = 92.07%
2m f  1
• Switching frequency 0.2
mf  2
3m f  2 4m f  1
fsw = fcr = 900Hz 0.1

0
1 5 10 15 20 25 30 35 40 45 50 55 60 n

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 8
EE8407 Topic 5

Sinusoidal PWM
• Harmonic Content

V AB n
THD
Vd (%)

THD n 1
0.3 300
• Low order harmonics
2m f  1
n < (mf -2) are eliminated mf 2
0.2 200
3m f  2
• VAB1 versus ma is linear 4m f  1
0.1 100
• VAB1,max = 0.612Vd 3m f  4

0 0
0 0.2 0.4 0.6 0.8 ma

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 9
EE8407 Topic 5

Sinusoidal PWM
• Over-Modulation
2
vmA v mB vmC
1 vcr

-1

-2

v AB
Vd
0
 2 3

• Fundamental voltage ↑ i
A

• Low-order harmonics ↑ 0  2 3

V ABn / Vd
V AB1  0.744 Vd
0.2

0.1

0
1 5 10 15 20 25 30 35 40 45 50 55 60 n

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 10
EE8407 Topic 5

Sinusoidal PWM
• Third Harmonic Injection PWM
v v m1
v mA  v m1  v m 3

Vˆm1 VˆmA Vˆcr

vm 3

0 t
 /3 2 / 3  2

• Vˆm1  Vˆcr - Fundamental voltage increased

• VˆmA  Vˆcr - No low order harmonics produced

• 3rd harmonic – zero sequence (to appear in vAN and vBN )

• No triplen harmonics in vAB (vAB = vAN - vBN)

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 11
EE8407 Topic 5

Space Vector Modulation

• Switching States
P

S1 S3 S5

iA
A
iB
Vd B O
iC
C
LOAD

S4 S6 S2

S
w
it
c
hi
ng L
e
gA L
e
gB L
e
gC
St
a
te S SV S SV S SV
1 4 AN3 6 BN5 2 CN

P O
nOf V
f d O
nOf V
f d O
nOf V
f d

OO
f
f O
n0O
f
f O
n 0O
f
f O
n0

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 12
EE8407 Topic 5

Space Vector Modulation

• Switching States (Three-Phase)

S1 S3 S5

A
Vd B
C

S4 S6 S2

• Eight switching states

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 13
EE8407 Topic 5

Space Vector Modulation

• Space Vector Diagram
 j 
V3 V2
OPO PPO
SECTOR
II
  SECTOR III   SECTOR I
• Active vectors: V1 to V6 Vref
(stationary, not rotating)  
V4  V1

 OPP PPP OOO POO
• Zero vector: V0 
V0
SECTOR IV SECTOR VI
• Six sectors: I to VI SECTOR V

OOP   POP
V5 V6

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 14
EE8407 Topic 5

Space Vector Modulation

• Space Vectors
• Three-phase voltages
v AO (t )  v BO (t )  vCO (t )  0 (1)

• Two-phase voltages
 2 4  v AO (t )
v (t )  2 cos 0 cos cos
 3 3  v (t ) 
v (t ) 
3 sin 0 sin 2 4   BO  (2)
    sin  vCO (t ) 
 3 3 
• Space vector representation

V (t )  v (t )  j v  (t ) (3)
(2)  (3)
 2
V (t )   v AO (t ) e j 0  v BO (t ) e j 2 / 3  vCO (t ) e j 4 / 3  (4)
3
where e  cos x  j sin x
jx

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 15
EE8407 Topic 5

Space Vector Modulation

• Space Vectors (Example)

Switching state [POO]  S1, S6 and S2 ON

2 1 1
v AO (t )  Vd , v BO (t )   Vd v
and CO (t )   Vd (5)
3 3 3
 j 
(5)  (4) V3 V2
OPO PPO
 2 SECTOR
V1  Vd e j 0 (6) SECTOR III
II
  SECTOR I
3 Vref
 
Similarly, V4  V1

OPP PPP OOO POO
 2  
j ( k 1)
Vk  Vd e 3
(7) V0
3 SECTOR IV SECTOR VI
SECTOR V
k  1, 2, ..., 6. OOP   POP
V5 V6

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 16
EE8407 Topic 5

Space Vector Modulation

• Active and Zero Vectors
P S w itc h in g S ta te V e cto r
S p a c e V e cto r O n -sta te S w itc h
(T h re e P h a se s) D efin itio n
S1 S3 S5
Z er o  [P P P ] S1, S 3 , S 5 
V ec to r
V0 V0  0
[O O O ] S4,S6,S2
A
  2
Vd B V1 [P O O ] S1, S 6 , S 2 V1  V d e j0
C 3
 
 2 j
V2 [P P O ] S1, S 3 , S 2 V2  Vd e 3
S4 S6 S2 3
 2
 2 j
V3 [O P O ] S4,S3,S2 V3  Vd e 3
N 3
A ctiv e
V ec to r   2 j
3
V4 [O P P ] S4,S3,S5 V4  Vd e 3
• Active Vector: 6 3
• Zero Vector: 1   2 j
4
V5 [O O P ] S4,S6,S5 V5  Vd e 3
3
• Redundant switching   2 j
5

states: [PPP] and [OOO] V6 [P O P ] S1, S 6 , S 5 V6  Vd e 3

3

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 17
EE8407 Topic 5

Space Vector Modulation

• Reference Vector Vref
 j 
V3 V2
• Definition OPO PPO

Vref  Vref e j SECTOR
II
SECTOR III   SECTOR I
Vref
• Rotating in space at ω  
V4  V1
  2 f (8) 
OPP PPP OOO POO

V0
• Angular displacement
SECTOR IV SECTOR VI
t
 (t )   0
 dt (9)
SECTOR V

OOP   POP
V5 V6

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 18
EE8407 Topic 5

Space Vector Modulation

• Relationship Between Vref and VAB

• Vref is approximated by two active 

V2
and a zero vectors

SECTOR I
• Vref rotates one revolution, Tb  
Vref
V2
VAB completes one cycle Ts Q


• Length of Vref corresponds to 
V1
Ta 
magnitude of VAB Ts
V1

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 19
EE8407 Topic 5

Space Vector Modulation

• Dwell Time Calculation 
V2
• Volt-Second Balancing
   
Vref Ts  V1 Ta  V2 Tb  V0 T0 
SECTOR I

 (10) Tb 
V2 Vref

Ts  Ta  Tb  T0
Ts Q

  
• Ta, Tb and T0 – dwell times for V1 , V2 and V0  
V1
Ta 
V1
Ts
• Ts – sampling period

• Space vectors
  2  2 
j 
Vref  Vref e , V1  Vd V2  Vd e
j
, 3 and V0  0 (11)
3 3
(11)  (10)
 2 1
 Re : Vref (cos  ) Ts  V d Ta  Vd Tb
3 3

Im : Vref (sin  ) Ts  1 Vd Tb (12)
 3
Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 20
EE8407 Topic 5

Space Vector Modulation

• Dwell Times

Solve (12)

 3 Ts Vref 
Ta  sin (  )
 Vd 3
 3 Ts Vref
Tb  sin  0     /3 (13)
 Vd


T0  Ts  Ta  Tb

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 21
EE8407 Topic 5

Space Vector Modulation

• Vref Location versus Dwell Times

V2

SECTOR I
Tb  
V2 Vref
Ts Q

 
V1
Ta 
V1
Ts

VLo
c
a
refti
on
00  
  
 

6 6 6 3 3

T
a0 
T
a0
D
w
e
ll
Ti
mes 
T
aTb 
T
aTb 
T
aTb

T
b0 
T
b0

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 22
EE8407 Topic 5

Space Vector Modulation

• Modulation Index

 
T
 a  Ts m a sin (  )
3
Tb  Ts ma sin  (15)

T0  Ts  Tb  Tc

3 Vref (16)
ma 
Vd

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 23
EE8407 Topic 5

Space Vector Modulation

• Modulation Range
 j 
V3 V2
OPO PPO
• Vref,max SECTOR
II
SECTOR III   SECTOR I
2 3 Vd Vref
Vref , max  Vd   (17)  
3 2 3 V4  V1

OPP PPP OOO POO

V0
SECTOR IV SECTOR VI
(17)  (16) SECTOR V

OOP   POP
• ma,max = 1  V5 V6

(18)
• Modulation range: 0  ma  1

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 24
EE8407 Topic 5

Space Vector Modulation

• Switching Sequence Design

• Basic Requirement:
Minimize the number of switchings per
sampling period Ts

• Implementation:
Transition from one switching state to
the next involves only two switches in
the same inverter leg.

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 25
EE8407 Topic 5

Space Vector Modulation

• Seven-segment Switching Sequence
      
V0 V1 V2 V0 V2 V1 V0
OOO POO PPO PPP PPO POO OOO
• Selected vectors: v AN
V0, V1 and V2 Vd
0

• Dwell times:
vBN
Vd
Ts = T0 + Ta + Tb 0

vCN Vd
0
T0 Ta Tb T0 Tb Ta T0
4 2 2 2 2 2 4

Ts
• Total number of switchings: 6
Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 26
EE8407 Topic 5

Space Vector Modulation

• Undesirable Switching Sequence
• Vectors V1 and V2 swapped
      
V0 V2 V1 V0 V1 V2 V0
OOO PPO POO PPP POO PPO OOO
v AN
Vd
0
vBN
Vd
0

vCN Vd
0
T0 Tb Ta T0 Ta Tb T0
4 2 2 2 2 2 4

Ts

• Total number of switchings: 10

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 27
EE8407 Topic 5

Space Vector Modulation

• Switching Sequence Summary (7–segments)
S
ecto
r S
witc
hin
gSeq
uen
ce
      
V
0 V
1 V2 V0 V
2 V
1 V
0
I
O
O OP
OOPPO P
PP P
POPOOO
OO
      
V0 V3 V
2 V0 V2 V
3 V0
II
O
O OO
POPPO P
PP P
POOPOO
OO
      
V0 V3 V
4 V0 V4 V
3 V0
III
O
O OO
POOPP P
PP O
PP O
POOOO
      
V0 V5 V
4 V0 V4 V5 V
0
IV
O
O OO
OP O
PP P
PP O
PP O
O P O
OO
      
V0 V5 V6 V0 V6 V5 V0
V
O
O OO
O P P
OP P
PP P
O P O
O P O
OO
      
V0 V1 V6 V0 V6 V1 V0
V
I
O
OOP
OOP
OP P
PP P
OP P
OOO
OO

Note: The switching sequences for the odd and ever sectors are different.

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 28
EE8407 Topic 5

Space Vector Modulation

• Simulated Waveforms
Sector
VI VI
V V
IV IV
III III
II II
I I

v AB
Vd
0
 2 3

v AO
2Vd / 3
0

iA

0
 2 3

f1 = 60Hz, fsw = 900Hz, ma = 0.696, Ts = 1.1ms

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 29
EE8407 Topic 5

Space Vector Modulation

• Waveforms and FFT
v AB THD =80.2%
Vd
0
2

v AO THD =80.2%
2Vd / 3
0

iA
THD =8.37%

0
 2 3

V ABn / Vd
THD =80.2%
V AB1  0.566Vd
0.2

0.1

0
1 5 10 15 20 25 30 35 40 45 50 55 60 n
Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 30
EE8407 Topic 5

Space Vector Modulation

• Waveforms and FFT (Measured)

VABn
v AB Vd THD = 80.3%

0.2
23

14
10 47
v AO 0.1
29 34 58
16 43
8

(a) Waveforms 2ms/div (b) Spectrum (500Hz/div)

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 31
EE8407 Topic 5

Space Vector Modulation

• Waveforms and FFT (Measured)

VAB n / Vd V AB n / Vd THD
(%)

n 1 n 1
0.15 0.15 300

10 14 16 20
THD
0.10 0.10 200
n2 4 8 n = 19 17 13 11 7 5

0.05 0.05 100

0 0 0
0 0.2 0.4 0.6 0.8 ma 0 0.2 0.4 0.6 0.8 ma
(a) Even order harmonics (b) Odd order harmonics

( f1  60Hz and Ts  1 / 720 sec )

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 32
EE8407 Topic 5

Space Vector Modulation

• Even-Order Harmonic Elimination

             
V0 V5 V4 V0 V4 V5 V0 V0 V4 V5 V0 V5 V4 V0
OOO OOP OPP PPP OPP OOP OOO PPP OPP OOP OOO OOP OPP PPP
v AN v AN
Vd Vd
0 0
vBN vBN
Vd Vd
0 0

vCN Vd vCN Vd
0 0

0 0
v AB v AB
 Vd  Vd

Type-A sequence Type-B sequence

(starts and ends with [OOO]) (starts and ends with [PPP])

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 33
EE8407 Topic 5

Space Vector Modulation

• Even-Order Harmonic Elimination

 
V3 SECTOR II V2

SECTOR III
b a SECTOR I
a b
b a Type-A sequence
 30 
V4 V1
30 b
a

b a
SECTOR IV SECTOR VI
a b Type-B sequence

 
V5 SECTOR V V6

Space vector Diagram

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 34
EE8407 Topic 5

Space Vector Modulation

• Even-Order Harmonic Elimination

VABn
v AB Vd THD = 80.5%
23
0.2

17

v AO 0.1 13 47
41 65
7
5 35

(a) Waveforms 2ms/div (b) Spectrum (500Hz/div)

• Measured waveforms and FFT

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 35
EE8407 Topic 5

Space Vector Modulation

• Even-Order Harmonic Elimination

V AB n / Vd THD
(%)

0.3 300
THD n 1

0.2 200
17
19
0.1 13 100
7
5
11 0
0
0 0.2 0.4 0.6 0.8 ma

( f1  60Hz and Ts  1 / 720 sec )

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 36
EE8407 Topic 5

Space Vector Modulation

• Five-segment SVM

         
V0 V1 V2 V1 V0 V0 V2 V1 V2 V0
OOO POO PPO POO OOO PPP PPO POO PPO PPP

v AN Vd Vd
0

vBN Vd Vd
0

vCN Vd
0
T0 Ta Ta T0 T0 Tb Tb T0
Tb Ta
2 2 2 2 2 2 2 2
Ts Ts
(a) Sequence A (b) Sequence B

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 37
EE8407 Topic 5

Space Vector Modulation

• Switching Sequence ( 5-segment)
S ecto r S w itch in g S eq u en ce (A )
    
V0 V1 V2 V1 V0
I v CN  0
OOO PO O PPO PO O OOO
    
V0 V3 V2 V3 V0
II v CN  0
OOO O PO PPO O PO OOO
    
V0 V3 V4 V3 V0
III v AN  0
OOO O PO OPP O PO OOO
    
V0 V5 V4 V5 V0
IV v AN  0
OOO OOP OPP OOP OOO
    
V0 V5 V6 V5 V0
V v BN  0
OOO OOP POP OOP OOO
    
V0 V1 V6 V1 V0
VI v BN  0
OOO PO O POP PO O OOO

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 38
EE8407 Topic 5

Space Vector Modulation

• Simulated Waveforms ( 5-segment)
v g1 2 / 3
vg 3
vg 5 2 4

v AB
Vd
0
2 4

iA

0
2 4

• f1 = 60Hz, fsw = 600Hz, ma = 0.696, Ts = 1.1ms

• No switching for a 120° period per cycle.

• Low switching frequency but high harmonic distortion

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 39
EE8407 Topic 5

Textbook: Bin Wu, ‘High-Power Converters and AC Drives’, Wiley - IEEE Press, 2006 40