Adaptative Fast AC voltage regulation using a resonant current controller
R. Moreau, J.C. Le Claire
GE44-LARGE
Saint-Nazaire, France
Abstract - Some recent papers describe a new Resonant
Current Controller (RCC) which is well suited for
Voltage Supply Inverters (VSI) current control. It is an
alternative to the Hysteresis Current Controller (HCC).
Its specifications are fast response, very low sensitivity to
the load's electrical parameters, extremely low DHT and
a maximum inverter switching frequency firmly
controlled. This novel modulator combines two
structures: the first acts at lower frequencies for current
regulation and the second acts at higher frequencies for
switching frequency control by means of a voluntary
resonant mode. In this paper, we study an AC voltage
regulation involving the RCC which controls the VSI
added LC low-pass kilter input current. But the
investigated voltage control modifies the voltage gain.
Indeed, when involving a high proportional gain value, we
decrease the system static error, hut this can make the
closed loop unstable. Thus, to avoid this phenomenon the
voltage gain is automatically checked. Thereafter,
experimental results agree and demonstrate the excellent
behavior of this voltage regulator.
Keywords: Pulse width modulation, Converter control,
Fast regulation.
I. INTRODUCTION
For accurate Voltage Supply Inverters (VSI) output
signal controls, performances targeted are most often
reached by means of Pulse Width Modulation (PWM)
techniques using methods to control the hysteresis
bandwidth or the hysteresis switching frequency [1]-
[ 5 ] . Furthermore, a recent Resonant Current Controller
(RCC) had been studied [6]-[IO]. Its specifications are
fast response, robustness, high speed current regulation
loop, low sensitivity to the load's electrical parameters,
extremely low harmonic distortion and maximum
Voltagc feed-back loop
Voltagc sensor
Figure 1: Basic scheme of the Voltage Controllei
0-7803-7906-3/03/$17.0002003 IEEE.
inverter switching frequency firmly controlled.
Moreover, the AC voltage r,:gulations can involve an
inner loop in order to control the VSI output current
going through an added LC filter [ll]. Here, the
inductor current control is done by the RCC [12].
Therefore, the critical RCC's operation criterion is
investigated. Then, in the frequency range of interest,
the VSI could be linearised by considering its
minimum gain [13]. The system transfer function is
also studied and the stability is investigated.
Considering that stability depends on compensator
proportional voltage gain ay value of the direct loop,
this gain is automatically controlled. The behavior of
this voltage regulator is verified by simulation and
experiments.
11. QUICKOVERVIEW
OFTHE VOLTAGE CONTROL
LOOP OPERATION
This AC voltage regulator involves two feedback
loops (Figure 1). The error ev(t) is applied on the Fc
filter (compensator) which feeds the reference current
iEf to the RCC. Using this: RCC in the frequency
bandwidth going from a few hertz to a couple of
hundred hertz, the VSI, loaded with the LC filter, is
linearised and characterized by its minimum gain
Kp=WRT, where R,, is the lower inverter gain [13]
(using a unity current sensor transfer function) and Rr
is the current sensor transresistance. Thus, the voltage
control scheme may be considered as a linear model (in
the frequency range of interest). As illustrated by the
figure 2, the scheme can be simplified and the voltage
controller transfer function can be deduced.
-
currcm Scnsor
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 Resonant Current Controller
. . . . . . . . . ~ ~~ ~

9d-94 H
Comparator

Modulator

Power converter
~ ~ ~ . . . . . . .linearisation
~ . ~

I
vfb (t)
Current feed-back loop

Voltage feed-back Id& Current Sensor

Voltage Sensor

Figure 2: Basic scheme with power converter linearization

III. PRNCIPLE OF THE CURRENT CONTROL LOOP

OPERATION
Basic RCC schemes are given on the following
figures (3,4,5). A linear loop performing a current to
voltage feed-back on the inverter is given on figure 3.
The transfer functions F,, FZ and RT depict the voltage
to current load, a second order low-pass filter and a
current sensor respectively. The non-linear voltage
amplifier feeds the voltage signal u(t) to the load F,
that was assumed to be inductive (Rs,Ls) [6] [7][12].
This concept combines two structures: the first (figure
4) acts at lower frequencies for current regulation
(current tracking mode) and the second (figure 5) acts
at higher frequencies for switching frequency control
(by means of a voluntary resonant mode).
Using an inductive load, the linear part of the RCC
is a third order low-pass transfer function. Thus, we get
an oscillating system (figure 5). Considering the u(t)
fundamental line and assuming the frequency to equal
the (high) oscillation frequency f&, F, introduces a
phase rotation nearly equal to -90 degrees. The second
order low-pass filter introduces a phase rotation nearly
equal to -90 degrees. By comparing Fl's cut-off
frequency with F,'s natural frequency &, we can
deduce that the maximum switching frequency mainly
depends on F,'s filter [12]. Then, the close loop -360
degree phase rotation is not very sensitive to the load
electrical parameters [ 6 ] [7] [12].

Input Non-linear amplifier

output
current
Fz@)

io&)

Figure 3: Basic RCC's scheme

Input I output
l""erter CUrrent

'out(')

Current feed-back loop

Figure 4: Basic RCC's scheme at lower frequencies: current tracking mode

F~(P)

Oscillator feed-back 10011

Figure 5: Basic RCC's scheme at higher frequencies: resonant mode

2619
 In the case of the RCC for fast AC regulation, the
voltage to current F, transfer function changes because
of the more complex VSI load. Due to the added LC
smoothing cell (figure 6), Fl is a second order transfer
function. Then, the linear part of the RCC becomes a
fourth order one.

Iv. PRWCIPLE OF THE VOLTAGE CONTROL LOOP

Figure 6: Inverter output load
Neglecting the Rr and Ls values, which respectively
depict the resistance of the smoothing filter coil and the
inductance of the resistive load, transfer functions F,
and F2 are defined as follows:
OPERATION
In the frequency bandwidth of interest, figure I
presents the circuit of the voltage control loop
regulation with the current and voltage feed-back loops
and the inverter output load equivalent model.
A sinusoidal reference voltage v,,~is characterized

' l+R*C,p
@)=R~+L,~+R,.L,. c,p2
by V and fs (amplitude and frequency respectively).
Through the compensator Fc, the voltage error ev
controls the reference current irer of the current
controller. Fc includes the voltage loop gain a, and the
1 first order anti-aliasing transfer function FFAn which
F2 @I= (2)
2CP p2 cut-off frequency fFARis calculated to bind the inter-
1+---+- modulation lines generated by the converter. Thus, Fc
2& (2&Y transfer function can be written as:
where ( and fo are the damping factor and the F2's
natural kequency respectively.
Combining the transfer functions FI, Rr and Fl,we
define H(p) as follows: Considering the VSI line:arization, the Fj transfer
function, driving by the current error ei, is given by:
H@)=RT.4 @I.&(PI (3)
E @)=at .F2 (P).Kp (6)
By solving the -H(jw) phase rotation equals to zero,
where a; is the unitary current loop gain, Fl(p) is the
and considering realistic parameter's values (given on
second order low-pass filter transfer function given by
appendix) we can demonstrate that the oscillation
(2) and Kp characterizes the linearisation of the VSI. In
kequencyf& is closed tofo. So, the RCC's resonant
the case of a unitary current sensor transfer function,
mode slightly depends on the load parameters.
the VSI minimum gain is given by &,=L.6&.< [13].
In the other hand, we can deduce the VSI gain formula
which is given by:

VdP)

Volldg~redback loop
C u r " Ld-back loop

Figure I : Voltage control loop regulator linear equivalent circuit

A "OUdP)

2680
Find, Fcap and Fres depict the smoothing inductor, the
smoothing capacitor and the resistor load transfer
functions respectively.
Therefore, the full system closed-loop transfer
function F,,, is given by: Thus, if a, is higher than avo,the system is unstable
and the static error decreases, and if a, is lower, the
system becomes stable but the static error increases.
Conclusion: let check a,.

V. VOLTAGE
GAIN CONTROL
The investigated voltage control modifies the a,
voltage gain. Indeed, when involving a high
proportional gain value, we decrease the system static
Assuming that Rf and Ls are neglected, the previous error, but this can make the closed loop unstable. In
expression can be written as: such a case, the smoothing filter oscillates. So it is
possible to detect this instability, using a band-pass
a'v.K, filter and a RMS detector. Thus, we can take into
Fs, ( P I = b,.p'+b,.p'+b,.p'+b,.p'+b,.pl +b,.p' account the energy in a narrow bandwidth located
around the smoothing filter natural frequency. In the
normal operation, the system is stable and the RMS
value of the band-pass filter output voltage equals zero.
b,=? 7 L/ : 2.5.2.L/.C/ ,Lr.c/ In the other hand, the RMS value increases as the
w , R s w, Q2
instability grows. This RMS value is used in order to
actively decrease the avproportional gain.

VI. SIMULATION AND EXPERIMENTAL RESULTS OF

THE VOLTAGE CONTROL LOOP OPERATION
Using realistic parameter's value given in the
appendix and in the case of a load resistance Rs equals
to 10R, figures 8 and 9 show the AC voltage
regulation when tracking a 200 Hz sine wave reference.
&
4, =l-ay.Kp.Ky (9)
RS
Taking into account that the voluntary resonant
mode is effective at R, the previous function (9)
becomes a third order transfer function in the low-
frequency domain (LF).

"=t.L/.C/ I
2 4 6 8 10

&LL/,l_t L/.C/t&.C/. 2 Figure 8: 200Hz sine wave tracking [X (ms), Y (V)]

RS

Now, we have to take into account that we need a

stable system in low frequencies. Thus, to consider the
system stability, equation (10) poles location is
investigated. Considering the ROUTH's criterion, the
closed-loop system is stable if all denominator's roots
lie into the left-half of the complex plane. The
criterion's resolution shows that the location of the
poles depends on the voltage gain value a,.
Figure 9: Experimental results

268 1
 As expected, we can observe a static error, due to
the fact that the 'voltage regulator is charged.
Experimental curves match the simulated ones.
Considering a 50kHz bandwidth, we can see the
main prominent line whose frequency equals 200Hz.
Then, in a bandwidth going up to SOkHz, the inter-
modulation lines amplitudes are bound around 4 5 d B ,
showing the low THD.
This RMS value fluctuates, so it is clear that ay
varies too. This phenomenon is also illustrated on the
previous figure 11. The RMS value variation is very
small because the voltage error is immediately
amplified, consequently a yis quickly checked.
Now, the load resistance Fls equals to 979 Q. Figure
13 shows the output voltage which exactly follows the
reference one with no static error. In spite of the
voltage regulator is slightly charged, which means that
the second order smoothing LC filter is slightly
damped, it stays stable. Thus, this result checks and
validates the investigated analysis.

. . . . . . .
I

I I I I I
Figure IO: Experimental output voltage spectrum

The following figure 11 presents the transient and

permanent behavior of the voltage gain ay.
25
Figure 13: Experimental :!OOHz sine wave tracking

-1
10
1
0 . . . .;. .
p . . ,. . . . ., .
q . .. . . .

-1 . . . . ;. .. . . ... ... . . ...

. . . .,. . . . ., . . . . _, . . . .
t : 1
0 - 2 4 6 8 10 -2 . . . . ,_

Figure 11: Simulated voltage gain ay [X(ms)] . 3 1 1

0 2 4 6 8 10

As we can't show the a y voltage gain experimental

results, figure 12 presents the RMS value that occurs in Figure 14: Simulated ref. current [X (ms), Y (A)]
the case of instability.

C " M nulblrrt9n.hllt
w-mm 0:lb.ll wor/,m
I*
c u m nE: mmm,Ons,
W0"dsrm 11:21:111 2a/or/,aa, OA

I"
"-,Ye!.

X..di
X.*/*L, I
'-.14
rsana;7
X..iii
lllj Y,"imYm

Figure 15: Experimental reference current

Figure 12: Experimental RMS voltage value

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 For more details, the inner-loop reference current is
measured using a current sensor whose transresistor
value is previously given. The previous figures 14 and
15 shows this current in the case of Rs equals to 979 0.
The experimental board, using analog components,
includes a few filters to eliminate noises.
Consequently, oscillation is reduced and the converter
commutes slowly. Thus undulation increases on the
reference current curve represented on figure 15. These
filters arent taken into account in the simulation. That
is the reason why there is a difference between these
two figures.
VII. APPLICATION
Here, we tested the system using our laboratory DC
voltage source, resistive load and isolated voltage
sensor. We make the simulations using specific
parameters values in order to compare the associated
results. Thus, we can imagine the application, i.e. an
UPS. Indeed, we just have to change the RMS voltage
and frequency references, i.e. 220V and 50Hz or 115V
and 60Hz, for targeting such a goal. Involving a higher
DC voltage source, the UPS could he experimented.
VIII. CONCLUSION
In this paper, we studied an AC voltage regulation
involving the novel Resonant Current Controller
(RCC) which controls the VSI added low-pass filter
input current. Simulated signals and experimental
results confirm that we can consider the linear model of
the VSI in the low frequency range of interest. Thus we
can simplify the non-linear scheme to a linear model
and calculate the system transfer function. Considering
the systems stability, we show that it depends on the
voltage gain value a,. Also, a, is automatically checked
as an instability occurs. The experiments which have
been done demonstrate the system stability. Moreover,
the output voltage tracks its reference, and the
harmonic distortions are extremely low. This
adaptative AC voltage controller could be involved in a
single phase UPS or even extended to a three phase
UPS.
APPENDIX
E=80V DC bus voltage,
f, = 200 Hz input sine wave frequency,
V=50V input sine wave amplitude,
fo=18.4kHz F2snatural frequency,
5=0.707 F2s damping factor,
K,.=1/20 voltage sensor,
K,=Rr=1.35 VIA transresistance sensor,
Kp=RJRr= 245.2 VSI gain,
Lf=3mH smoothing inductor,
Rf=OQ Lfs resistance,
Cf = 10 pF smoothing capacitor,
RS load resistance,
L,=OmH Rss inductance,
a, voltage loop gain,
ai = I current loop gain,
fFAR = 4823HZ FrAns cut-off frequency,
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