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DOI 10.1007/s00202-003-0179-1
O R I GI N A L P A P E R
H. Altun Æ S. Sünter
Received: 28 April 2003 / Accepted: 17 May 2003 / Published online: 28 June 2003
Springer-Verlag 2003
Abstract This paper presents a model in Simulink, which connected to any of the three output lines, as shown in
consists of a three-phase matrix converter, an induction Fig. 1, where uppercase and lowercase letters are used to
motor, a field-oriented controller, and a power supply. A denote the input and output, respectively. The switches
simplified Venturini’s modulation algorithm is used in are then controlled in such a way that the average output
the simulation model. This algorithm provides unity voltages are a three-phase set of sinusoids of the re-
fundamental displacement factor at the input regardless quired frequency and magnitude [2].
of the load displacement factor and can be easily The matrix converter can comply with four quadrants
implemented in closed loop operation. Simulation re- of motor operations, while generating no higher har-
sults are presented for both input and output sides of the monics in the three-phase a.c. power supply. Compared
converter. These results demonstrate a high-perfor- with conventional drives, there is potential for reduced
mance matrix converter-fed induction motor drive with cost of manufacture and maintenance, and increased
unity input displacement factor. power/weight and power/volume ratios. The circuit is
inherently capable of bi-directional power flow and also
Keywords Matrix converter Æ Induction motor Æ Field- offers virtually sinusoidal input current, without the
oriented control harmonics usually associated with present commercial
inverters.
The physical realization of the matrix converter is not
straightforward, due to the fact that there are no free-
Introduction wheeling paths. In addition, the number of devices in the
power circuit is high compared with that in the inverter
The matrix converter is the most general converter-type (for instance 18 switches and 18 diodes). Consequently,
in the family of a.c. to a.c. direct converters. On the one the timing of the switch actuation signals is particularly
hand, the matrix converter fulfills the requirements to critical, and protection of the circuit under fault condi-
provide a sinusoidal voltage at the load side and, on the tions requires very careful consideration [3]. No indus-
other hand, it is possible to adjust the unity power factor trial use has been made of this converter type up to now.
on the mains side under certain conditions [1]. Since However, there are a few serious researches on inte-
there is no d.c.-link as in common converters, the matrix grating bi-directional switches into a power module,
converter can be built as a full-silicon structure. How- which will eventually result in industrial use of the ma-
ever, a mains filter is necessary to smooth the pulsed trix converter. In [4], a highly compact converter using
currents on the input side of the matrix converter. Using novel high-power 3-in-1 integrated power modules was
a sufficiently high pulse frequency, the output voltage used. In another paper, the integration of the matrix
and input current both are shaped sinusoidally. The converter and the induction motor in a single unit was
matrix converter is an alternative to an inverter drive discussed [5]. The first matrix converter contained in a
for three-phase frequency control. The converter con- single power module using insulated gate bipolar tran-
sists of nine bi-directional switches, arranged as three sistor technology was presented in [6]. There is now
sets of three so that any of the three input phases can be competition between the matrix converter and the volt-
age-source inverter with a regenerative input rectifier.
Only a few technical papers have dealt with the dy-
H. Altun Æ S. Sünter (&) namic behavior analysis of the field-oriented controlled
Department of Electrical and Electronic Engineering, matrix converter motor drive. In [7, 8], a simulation of
Firat University, 23119 Elazig, Turkey
E-mail: ssunter@firat.edu.tr the matrix converter feeding an induction motor was
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performed. and in [9], a control technique for compen- where va, vb, vc are the target phase output voltages.
sating the effects of the input voltage variations on the Alternatively, in a closed loop system (for example a
matrix converter algorithms was described, but closed field-oriented controlled drive), the voltage magnitude
loop operation was not considered. Closed loop opera- and angle may be direct outputs of the control loop.
tion has become an important issue for the viable Then, the voltage ratio is calculated
application of matrix converters [10, 11]. This paper sffiffiffiffiffiffiffiffi
focuses on the dynamic simulation of the field-oriented Vom2
Fig. 2 Block diagram for vector controlled matrix converter induction motor drive
2 3 2 32 3
by the complex operator ejQe. The two current controllers wsq Ls 0 Lo 0 Isq
which employ PI control process the isd and isq errors to 6 wsd 7 6 0 Ls 0 Lo 7 6 Isd 7
6 7 6 76 7
give V¢sd and V¢sq. Voltage compensation terms are added 4 wrq 5 ¼ 4 Lo 0 Lr 0 54 Irq 5
ð21Þ
to the output of each current controller to get the resulting
wrd 0 Lo 0 Lr Ird
voltage reference signals Vsd* and Vsq*. These voltages are
then converted to the three-phase voltages using the Ls ¼ Lls þ Lo
complex operator ejQe. The three-phase voltages Va*, Vb*, ð22Þ
Vc*, and instantaneous flux vector angle Qe are used as the Lr ¼ Llr þ Lo
input signals for the Venturini algorithm (Eqs. 1, 2, 3, 4, 5,
6, 7, 8, 9, 10, 11) to generate the duty cycles for each switch P Lo
Te ¼ 3 ðIsq wrd Isd wrq Þ ð23Þ
in the matrix converter. 2 Lr
dxmech
J ¼ Te TL fv xmech ð24Þ
dt
Induction motor d–q model
where quantities with subscript q or d denote q axis or d
The simulation equations for an induction motor in the axis quantities and quantities with subscript s or r de-
d–q synchronously rotating reference frame are given as note stator or rotor quantities. w denotes flux linkage, R
[14] is resistance, Lls and Llr are the stator and rotor leakage
2 3 2 32 3 inductances, respectively, and Lo is the magnetizing
Vsq Rs 0 0 0 Isq inductance. Ls and Lr denote the self-inductances of the
6 Vsd 7 6 0 Rs 0 0 76 Isd 7 stator and rotor, respectively. Te and TL are the motor
6 7 6 76 7
6 7¼6 76 7 torque and load torque, respectively. P is the number of
4 0 5 4 0 0 Rr 0 54 Irq 5
poles, and fv is the friction constant coefficient. J is
0 0 0 0 Rr Ird inertia and xmech is the mechanical speed of the motor.
2 32 3 All rotor quantities are referred to the stator.
p xs 0 0 wsq
6 xs p 0 0 76 w 7
6 76 sd 7
þ6 76 7
4 0 0 p ðxs xr Þ 54 wrq 5 Simulink model
0 0 ðx s x r Þ p wrd
The simulation program constructed in Matlab/Simu-
ð20Þ link software package [15] comprises three main parts,
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which are the matrix converter, induction motor, and have logic levels. Logic gates are used at the output to
field-oriented controller. Figure 3 shows the Simulink get three gate signals proportional to the duty cycle of
blocks of the whole drive system, where the d–q model the power switches for one output phase. Three
of the induction motor is placed on top of the figure. ‘‘switches’’ blocks are used to form one output phase of
The simulation model of the matrix converter can be the converter as shown in Fig. 4. The ‘‘switch’’ option is
seen among the mid blocks. Remaining parts of Fig. 3 a Simulink building block. It has three inputs [in (1),
belong to the field-oriented controller and measurement in(2) and in(3)] and one output. It operates in accor-
processes. dance with the following logic
– if in(2)>0 then output=in(1)
– else output=in(3)
Matrix converter model
The output of the switches connected together forms
Figure 4 shows the Simulink model for one output phase one output phase of the matrix converter and feeds the
of the matrix converter in detail. The other two phases induction motor.
are not shown for clarity, since they are same except for
a phase shift of 120 and 240. Ideal switches have been
assumed in the simulation of the matrix converter power Induction motor model
circuit. In Fig. 4, the input variables of the matrix con-
verter are the clock and target output voltages obtained The Simulink model of a squirrel cage induction motor
from the vector controller. The Simulink blocks, ‘‘MAa’’, in the d–q synchronously rotating reference frame with
‘‘MBa’’, and ‘‘MCa’’, represent Eqs. (9), (10), and (11), Vsq, Vsd, and xs as input variables is illustrated in Fig. 6.
respectively. Similarly, the blocks ‘‘k31–k32’’ and ‘‘k33’’ Here, Eqs. (20), (21), (22), (23), and (24) are imple-
represent Eqs. (6), (7), and (8), respectively. The block mented using Simulink blocks. The output variables of
for ‘‘q’’ calculates the required voltage ratio using the motor model are the stator currents and rotor speed.
Eq. (5). The switching frequency of the matrix converter In addition, the rotor currents, motor flux, and elec-
is determined by the ‘‘Sawtooth’’ block (in this case tromagnetic torque are output for monitoring purposes.
2 kHz). Equations (1), (2), (3), and (4) are represented The specifications of the motor are given in the
by blocks labelled ‘‘Vim^2-wit’’ and ‘‘Vom^2-wot’’. The Appendix.
block, ‘‘M functions’’ consists of the modulation func-
tions and is taken out for calculating the input currents
using Eq. (15). Simulation results
The block ‘‘Duty cycle generator’’ is shown in Fig. 5
in detail. The modulation functions are compared with Simulation of the matrix converter fed induction motor
the sawtooth waveform at the input and arranged to with field-oriented controller was performed for various
operating conditions. Figure 7 shows the motor speed As seen from Fig. 8 before the speed change command
and torque variations for various speed reference con- is received the input current and input voltage are in
ditions on no load. In this case, the motor is accelerated phase resulting in unity input displacement factor.
from standstill to 1,000 rpm and stays in steady state for However, the input current suddenly changes its phase
a while (first region). Then, the reference is changed to to 180 with respect to the input voltage as the
)1,000 rpm and the motor speed decelerates following reference speed change command is received, and
this reference signal. Therefore, transition from the first regenerative energy of the motor is transferred to the
to the second region occurs, and the machine operates as input supply. Similar results for the transition from
a generator. The motor torque remains in saturation the third to the fourth region were obtained as shown
until the speed reaches its final value. After the motor in Fig. 9.
speed reaches )1,000 rpm and remains at that speed in Figure 10 demonstrates the simulation waveforms for
for a certain time (third region), the reference command the induction motor in steady-state operation showing
signal is again changed to 1,000 rpm resulting in a asynchronous operation of the matrix converter with
transition from the third to the fourth region. Eventu- unity input displacement factor regardless of the load
ally, the motor reaches 1,000 rpm and steady-state power factor. This is the main advantage of the matrix
operation is provided in the first region. As can be seen converter compared with voltage-source inverters with
from this figure, the controller provides four-region an uncontrolled input rectifier. The torque–speed curve
operation for the drive system. of the matrix converter-fed induction motor for all four-
Figure 8 illustrates the input phase voltage, input quadrant regions is shown in Fig. 11. The input power
line current, motor speed, and motor current for the variation of the matrix converter in constant torque
transition from the first region to the second in detail. region for four-quadrant operation is given in Fig. 12.
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Fig. 7 Motor torque and speed in four regions Fig. 9 Waveforms for the transition from the third to the fourth
region
Fig. 8 Waveforms for the transition from the first to the second Fig. 10 Input voltage, input current, and motor current waveforms
region for 1,000 rpm in steady-state operation
In this simulation result, it can be seen that variation of The simulation waveforms of the input current, out-
the input power is linear with the speed demand. Note put current, and voltage of the vector-controlled matrix
that, while the negative input power corresponds to ei- converter induction motor drive are illustrated in
ther the second or fourth region operations, positive Fig. 13, where the motor operates with a constant
power corresponds to the first or third region. speed of 1,500 rpm. The voltage and current spectra
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