ELECTRIC DRIVES

CONVERTERS IN ELECTRIC DRIVE SYSTEMS MODULE 2

Dr. Nik Rumzi Nik Idris Dept. of Energy Conversion, UTM 2006

CONVERTERS - Module 2

AC-DC controlled rectifier approximate model SIMULINK examples open-loop closed-loop

Switch Mode DC-DC converter 2-Q and 4-Q converters Small signal modeling unipolar bipolar SIMULINK example

Current-controlled for SM converters Bridge converter hysteresis fixed frequency 3-phase VSI hysteresis fixed frequency SVM-based

Switch mode DC-DC converter Two-quadrant converter

Va
+ Vdc +  T2 D2 Va T1 D1 ia Q2 Q1

Ia

T1 conducts p va = Vdc

Switch mode DC-DC converter Two-quadrant converter

Va
+ Vdc +  T2 D2 Va T1 D1 ia Q2 Q1

Ia

D2 conducts p va = 0

T1 conducts p va = Vdc

Va

Eb

Quadrant 1 The average voltage is made larger than the back emf

Switch mode DC-DC converter Two-quadrant converter

Va
+ Vdc +  T2 D2 Va T1 D1 ia Q2 Q1

Ia

D1 conducts p va = Vdc

Switch mode DC-DC converter Two-quadrant converter

Va
+ Vdc +  T2 D2 Va T1 D1 ia Q2 Q1

Ia

T2 conducts p va = 0

D1 conducts p va = Vdc

Va

Eb

Quadrant 2 The average voltage is made smallerr than the back emf, thus forcing the current to flow in the reverse direction

Switch mode DC-DC converter Two-quadrant converter

Switching signals obtained by comparing control signal with triangular wave

Vdc + Va

vtri vc q

We want to establish a relation between vc and Va AVERAGE voltage

vc(s)

Va(s)

DC motor

Ttri

Switch mode DC-DC converter Two-quadrant converter

vc

1 q! 0

Vc > Vtri Vc < Vtri

1 d! Ttri

t  Ttri

q dt

0 ton

t on ! Ttri

Vdc

1 dTtri Va ! Vdc dt ! dVdc Ttri 0

0

Switch mode DC-DC converter Two-quadrant converter d

0.5

vc
-Vtri Vtri

-Vtri

vc For vc = -Vtri p d = 0

Switch mode DC-DC converter Two-quadrant converter d

0.5

-Vtri Vtri

-Vtri

vc

vc
Vtri

For vc = -Vtri p d = 0 For vc = 0 p For vc = Vtri p d = 0.5 d=1

Switch mode DC-DC converter Two-quadrant converter d

0.5

-Vtri Vtri

-Vtri

vc vc

Vtri

1 d ! 0.5  vc 2Vtri
For vc = -Vtri p d = 0 For vc = 0 p For vc = Vtri p d = 0.5 d=1

Switch mode DC-DC converter Two-quadrant converter Thus relation between vc and Va is obtained as:

Va ! 0.5Vdc 

Vdc vc 2Vtri

Introducing perturbation in vc and Va and separating DC and AC components:

DC:

Vdc Va ! 0.5Vdc  vc 2Vtri ~ ! Vdc ~ va vc 2Vtri

AC:

Switch mode DC-DC converter Two-quadrant converter Taking Laplace Transform on the AC, the transfer function is obtained as:

v a ( s) Vdc ! v c ( s) 2Vtri

vc(s)

Vdc 2Vtri

va(s)

DC motor

Switch mode DC-DC converter Four-quadrant converter

leg A leg B

+ Vdc 

Q1

D1 + Va 

D3

Q3

Q4

D4

D2

Q2

Positive current
va = Vdc when Q1 and Q2 are ON

Switch mode DC-DC converter Four-quadrant converter

leg A leg B

+ Vdc 

Q1

D1 + Va 

D3

Q3

Q4

D4

D2

Q2

Positive current
va = Vdc va = -Vdc va = 0 when Q1 and Q2 are ON when D3 and D4 are ON when current freewheels through Q and D

Switch mode DC-DC converter Four-quadrant converter

leg A leg B

+ Vdc 

Q1

D1 + Va 

D3

Q3

Q4

D4

D2

Q2

Positive current
va = Vdc va = -Vdc va = 0 when Q1 and Q2 are ON when D3 and D4 are ON when current freewheels through Q and D

Negative current
va = Vdc when D1 and D2 are ON

Switch mode DC-DC converter Four-quadrant converter

leg A leg B

+ Vdc 

Q1

D1 + Va 

D3

Q3

Q4

D4

D2

Q2

Positive current
va = Vdc va = -Vdc va = 0 when Q1 and Q2 are ON when D3 and D4 are ON when current freewheels through Q and D

Negative current
va = Vdc va = -Vdc va = 0 when D1 and D2 are ON when Q3 and Q4 are ON when current freewheels through Q and D

Switch mode DC-DC converter Four-quadrant converter

Bipolar switching scheme
Vdc

-Vdc

2vtri

vc

q vtri
+

Vdc + VAB 

vA

Vdc 0 Vdc

vc

vB
q

0 Vdc

v d A ! 0. 5  c 2Vtri VA ! 0.5Vdc  Vdc vc 2Vtri

v dB ! 1  d A ! 0.5  c 2Vtri VB ! 0.5Vdc  Vdc vc 2Vtri

vAB -Vdc

VA  VB ! VAB !

Vdc vc Vtri

Switch mode DC-DC converter Four-quadrant converter

Bipolar switching scheme

v a ( s) Vdc ! v c ( s) Vtri

vc(s)

Vdc Vtri

va(s)

DC motor

Switch mode DC-DC converter Four-quadrant converter

Unipolar switching scheme
Vdc

Leg b Vtri
+

vc -vc

vtri vc qa

Vdc

vA
Leg a

vtri -vc qb

vB

d A ! 0. 5 

vc 2Vtri Vdc vc 2Vtri

dB ! 0.5  VB ! 0.5Vdc 

 vc 2Vtri Vdc vc 2Vtri

vAB

VA ! 0.5Vdc 

VA  VB ! VAB !

Vdc vc Vtri

The same average value weve seen for bipolar !

Switch mode DC-DC converter Four-quadrant converter

Unipolar switching scheme

v a ( s) Vdc ! v c ( s) Vtri

vc(s)

Vdc Vtri

va(s)

DC motor

Switch mode DC-DC converter

MATLAB v6.5, SIMULINK v5

SIMULINK EXAMPLES
Open-loop control Closed-loop control (current control)

2-quadrant converter

Switch mode DC-DC converter SIMULATION EXAMPLES

2-quadrant converter

Id

+
vtri vc q

Vdc 

vc To W ork s p ac e 2

S in e W ave

qA -K Relay G ain 1 vau To W ork s p ac e 3 1 ia u 0 .01 s+10 To W ork s p ac e 4

Out 1

S ubs y s tem

Trans fer Fc n

vave To W ork s p ac e 1

-K G ain 3

1 0 .01 s+ 10 Trans fer Fc n 1

ia ve To W ork s p ac e 5

100 Cons ta nt iD

rl_2q_average.mdl

Dot P roduc t

To W ork s p ac e 8

Switch mode DC-DC converter SIMULATION EXAMPLES

2-quadrant converter

vc To W ork s pac e 2

S ine W ave

qA -K R elay G ain 1 vau To W ork s pac e 3 1 iau 0 .01 s+ 10 To W ork s pac e 4

O ut 1

S ubs y stem

Trans fer F c n

vave To W ork s pac e 1

-K G ain 3

1 0 .01 s+ 10 Trans fer F c n 1

iave To W ork s pac e 5

100 C ons tant iD D ot P roduc t To W ork s pac e 8

Average model

Switch mode DC-DC converter SIMULATION EXAMPLES

4-quadrant converter

Vdc
Leg b

+ vtri
qa

Vdc
Leg a

vc

vtri qb

-vc

Switch mode DC-DC converter SIMULATION EXAMPLES

4-quadrant converter
S ine W ave

Relay

iau To W orks pac e 1

Continuous powergui

Ou t 1

S ubs y s tem

Relay 1

+
-1 S ine W ave 1 G ain 1 Relay 2

g A + i Current Measurement Series RLC Branch

S c ope 1

DC Voltage Source

Relay 3

Universal Bridge

-K G ain 3

1 0 .01 s+ 10 Trans fer Fc n 1

iave To W orks pac e 5

Average model

unipolar_4q_with_id.mdl

Switch mode DC-DC converter SIMULATION EXAMPLES

Closed-loop current control

iref

+ 

+ PI

H-bridge converter

Small signal model

Iref(s)

s  1 vc(s) ki k p ki s

Vdc Vtri

Va(s)

1 sL  R

Ia(s)

Switch mode DC-DC converter SIMULATION EXAMPLES

Closed-loop current control

Continuous powergui

P ID S ign al G e ne rat or 1 8 C on s t an t
O ut 1

P ID C on t ro ller 1

G a in 3

-1

R ela y

+ - v Voltage Measurement

ia S c o pe 1 To W o rk s p ac e 1

S ub s y s t em

R ela y 1

R ela y 2

+ DC Voltage Source

g A i +Current Measurement Series RLC Branch

iref

S c o pe 2

To W o rk s p ac e 2

R ela y 3

Universal Bridge

closed_loop_unipolar_4q_with_id.mdl

Switch mode DC-DC converter SIMULATION EXAMPLES

Closed-loop current control

7 6.5 6 5.5 5 4.5 4 3.5 3 0.5

Controlled rectifier DC-DC Switch mode For both DC-DC and Contr. Rectifier: 7
6.5

Current controlled, Iref = 5 A

6

Load: 250m , 20;

5.5 5

Disturbance in DC source: 70V, at 5Hz 4.5

4 3.5 3 0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.85

0.9

0.95

0.55

0.6

0.65

0.7

0.75

0.8

0.85

0.9

0.95

ftri = 10 000 Hz 4-quadrant Unipolar

3-phase, 50Hz 2-quadrant

Switch mode DC-DC converter SIMULATION EXAMPLES

Closed-loop current control

Controlled rectifier DC-DC Switch mode For both DC-DC and Contr. Rectifier:
8 6 4 2 0 0 .3 6 00 4 00 2 00 0 -20 0 -40 0 -60 0 0 .3 0 .3 5 0 .4 0 .4 5 0 .5 0 .5 5 0 .6 0 .6 5 0 .7 0 .7 5 0 .8 0 .3 5 0 .4 0 .4 5 0 .5 0 .5 5

Current controlled,6 Iref = 5 3 A, freq 5Hz

4

Load: 250m , 20;2

0 .6 0 .6 5 0 .7 0 .7 5 0 .8

0 0.3 600 400 200 0 -200 -400 -600 0.3

0.35

0.4

0.45

0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.35

0.4

0.45

0.5

0.55

0.6

0.65

0.7

0.75

0.8

ftri = 10 000 Hz 4-quadrant Unipolar

3-phase, 50Hz 2-quadrant