Novel Control Scheme for Reduced S ~ t c ~ Loss in Inverter ng

Jiang Li
Electrical Engineering Department Zhejiang University, Hangzhou, P.R. China 310027

Danvin T.W. Liang

Dept. of Electronic & Electrical E n g i n h g University of Bradford, Bradford, West Yorkshire England, U.K., BD7 IDP

Abstract
I

A novel control scheme of direct flux space vector modulation@FSVM) is proposed The proposed scheme is characterised by reduced switching losses for the device and low harmonic current at high output voltage for the motor, resulting i a low harmonic loss and reduced torque ripple n drive. Theoretical analysis are presented, and the claimed benefits are verified by experimental results.

Fig 1 Typical dc.link inverter drive system block diagram

I INTRODUCTION .

Due to the limitation of the switching power 1osses['I, the

maximum switching frequency of brpolar junction transistor

based dc. link inverter is about 2 kHz. In order to increase the switching fiequacy, various methods have been proposed such as the lossless snubber dgurattonr21 and the zero voltage/current resonant mode coniigmation c31 . However, the implementation of such methods involved a complex o m o n circuitry with additional passive elements, hence they are still not widely utilised in view of d e complexity and cost. The conventional pulse width modulation(PWM) method is still the most common type of control strategy, and over the years there had been various modiiied scheme to improve its z z t i l i s a t i ~ nits~harmonic ~ ~~~~, content, and its implementation using microumtroller or gate array technology[61. This paper compares and analyses Herent methods of implementing d e direct flux space vector modulation (DFSVM) algorithm, and highlights the advantages of such scheme in overcoming the limitatom of the conventional PWM strategy. The key h e f i t s are: 1. 100% utilisation of the &c. link voltage, as compared with only 86.6% utiliwion for PWM case. 2. 33.3% reduction m switching losses for a given switching fiqency, as compared w t ih PWh4 method. 3. Potential size/value reduction in the &c. link capacitor, as the control schemes accommmes variation of dc. link voltage during transient and steady-state conditions. 4. Reduced transient current a start-up, and faster t convergence to steady-state conditions. 5. Reduced harmonic distortion i current, hence reduction n in harmonic losses and torque ripple.
I.PRINCIPLE OF OPERATION I

According to the position of the respective switches, 8 possible Operatianconditions canbe represented Using the i notation (SA,Sg, Sc), where S = 1 if switch is connected to the top dc. rad, Si = 0 if switch if switch is connected to the bottom dc. rad, and i=A, B or C. The space vector Vis defhed as follows:

v = Va (SA+SBe ' 3

.2n

.4n

+ Sc e'?)

(1)

Out of d e 8 possible operation conditions, Vo(O,O,O) and

V7(l,l,l) are zero vectors while V1-V6 are vectors with magmtude Vd, and they are illustrated in Fig. 2.

.OO)

Fig. 2 Space Vector Representation

Neglecting the stator winding resistance, d e magnetic flux yscan be expressed : w, = VdSA ,SB, s C ) & i = 071, --e7 (2)
For ideal operation ofthe induction motor, it is desirable to

Fig. 1 shows the block diagram of a typical dc. ln inverter ik drive system, with a single leg consisting of two BJT switches represented by a single throw double pole switch indicated by , SBand SC for phase A, B & C respectively. S

have the space vector V to follow a circular trajectory by selectively combinjng the 8 Werent operating conditions for a determined time duration. As shom in Fig. 2, it is possible to implement the desired operation by Using the two djacent space vectors for a given sector. For example, as the space vector lies in sector 1, Y c m be formed by a combination of the space vector Vq, V6 and Vo, and its amplitude can be represented as follows: - 1 1 v =-(v4-T4 1/6'T6 + Yo .To) ' - T d (T4+T6) (3) v T

0-7803~3946-0~97/$10.00 O 1997 IEEE.

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Hence by controlling the duration of Ti in real time will determine the amplitude of the space vector V, and in tarn will control the modulation of the resultant P W M voltage wavefbm. To detemine the d u e for respective Ti's, the following t r i g o n m h c relations are used-

H n e , for each duration of T, there is one transition for ec

each phase fim either on to of or off to on. Given the switching frequency for the P W M waveform is & where f , = , I/2T, then the device switching iieqoencY fs, fir 3 phases under scheme 1 will be:
&I=
I
I I

3-f,
I l l
I I

(8)
I

I
From equalions (3), (4) & (9,the respective Ti's can be d e t e d e d as follows: T4 = T *Msin(%- 6')

I I

I
I

I
/
T

I I

l l

l l

I
T

I I

(6) To= T- T4-T6 From e u tm (61, the durafim of Ti's are related to the q ai angle 8,which is directly related to d e output fiequency of the inverter. Hence, by controlling 6 Within the duration T, the modulation fieqmcy of the PWM wavefm are correspondingly controued Also, fi.om equalion (6), the sum of T4 and T6 at some angle 6 will be greater t a T if hn M> 12, hence the equation (6) has to be modifid to: T = T M(1 - 8/(~/'3)) q
Ta = T M 8/( 4 3 ) (7) To=O When M=l, the space vector Y reaches the circular locus that i tangent to the hexagon formed by connecting the nons zero space vectors v - 6 as shown in Fig. 2. When 1v 1 <M<(u ) the space vector operated in the shaded area. , When M=2/&, the modulator operates in the Saturation m d with its locus following the side of the hexagon as oe shown by the dotted lines.

T T *Msin(B) g

Fig. 3: Timing diagrams for scheme 1

A2: Scheme2 In t i scheme, only one zero vector is used throughout the hs , Switching seqnence as opposed to scheme 1, whereby both Z and 2 are used altexna&ely. For example in sector 1, these 7 two possible switching mode are as follows: 1. v ~ ( o o o )loo)=%( ( 11o ) ~ ~ ~ ( o o o ) ~~~ 2. V7( I I 1)?V6( I 1O)3V4(1 OO)*V7( 111)
I

I I l V 4 l

I I

I I I W I

I 4

I I

vo

J5

Fig. 4 Timing D a r m for Mode 1, Scheme 2 : iga

III SPACE VECTORMODULATIONSCHEMES According to the above analysis, the components for the space vector Vin a c r a n sector consist of the two adjacent eti

boundaq vectors and the zero vector arranged in a certain sequence. In general, as long as equation (6) or (7) i s satisfied, it makes no difference to the resultant vector regardless of the order by which the W a e n t state vectors are combined. H w v r i order to " oee,n kthe switching loss and to reduce the subsecpent haxmonic distodon, the choice of the CombizliLtiOn s q e c has to follow a planned e une strategy. The following section will analyse three m d l t o schemes, and they will be compared. ouain Al: Scheme 1 For example, the space vector Y is in sector 1, and its components are to be chosen from the non-zero state vector V 4 & V,, and the zero state vector VO& V . The criteria of 7 deciding which state to transfer to is to have the mirrimum Switching at any one transition, prefxably only one. Hence, the following sequence w i l l satisfy the cn'lteria: 1. vO(ooO)~v4( loo)%%( 11=7 0v( )2 ' 111) - hkaem&d 2 v7( 11 )=v6(i 1o)-v4(i oo)~vo(ooo)k ~ a d . I -

Fig. 5: Timing Diagram for Mode 2, Scheme 2 In mode 1, phase C r e " connected without switching, and in mode 2, phase A remains m e c t e d without switching. The criteria of choosing which phase to remain unswitched depends on the relative magnitude of the phase current during T. The objective is to keep the phase with the larger current so as to "Rthe switching losses as it is i propoxtianal to the magnitude of the current at times of switching.

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In time T, there are two switching for each of the two switching phases, and zero Switching for the phase which is kept on. H n e the device switching frequencyunder scheme ec 2willk. f,2=4*f, (9)

respective Switching schemes can evaluate such magnitude. Fig. 9 shows the effect of modulation method on J at the following condition : fs = 1.5 kHz, p.f = 0.8 lag.
1

A3: Scheme 3 A modified version of scheme 2 is used here, with the aim of reducing the switching transition by half of scheme 2. This
can be achieved by the following sequence over time 2T, as illustrated using a sample vector in sector 1 & 2respectively 1. V,(O00)3V~( 1 O)=V4( 100)3V6(1 l ) V ( 11 1) 1 O=, 2. O)SV6(1 l ) V ( 1 o)~v~(ooo) O-20

0.

v~(ooo)~v~(o1

0
Fig. 9: promne efr a c
~

0.2

0.4

0.6
M

0.8

Hence this method combines the Criteria of scheme 1 and 2, which enables the non-switching of one phase and only one switching transition for the other two switching phases in time T.
I
I
I

dueto moddationm*~ 1, and

E.EQERIMENTAL. RESULTS CONCLUSION AND l

~

I
V ~ I

l
V

l
~ I

I
SA

~ VI ~

SB

sc

Fig. 7 Timing Diagram for operation in sector 1

I
V O

V2

i V 6 i V S i

I
M I
SB

v z l
I

In / view of the simulation & experimental results, the foIlowing conclusions can be made: 1. Three modulation schemes have been proposed and compared for their respective harmonic loss and switch loss, mdicated by the respective performance index J and K as derived in the fullpaper. 2. Modulation method 3 is deemed better suited for inverterbas4 motor drive application, based on its performance index's low value throughout the whole operaling range of M, the mo<h.llation index 3. As M>0.71, the modulation method 3 is be preferred choice, resulting in minimumharmonic losses.
Experimental results will be included in the final version of this digest. A Siemens C167 microcontroller-based direct flux vector PWM controller is used to drive a three phase 1 KVA delta-connected induction motor on an experimental test rig. Dynamic torque can be measured via transducer to monitor the torque ripple, and Merent operating conditions with the respective m ~ schemes are being tested for m comparison.

vo

I I

s=

i
i

I
I

I
I

l
I

l
I

I
I

I
J

Fig. 8 Timing Diagram for opemion i sector 2 n

In t i scheme, there are only one switching transition for hs each of the two switching phases in time T, hence the device switching fiequencyis:
f,3=2-f,
[I] B J ChaImers8ndB.R Sarbr,"InductionmotorIossesbtonon.. sinusoidal supply w a ~ e f d ' IEE Proc.,YOL 115,no. 12, pp. 1777-1782, , 1968. [2] X. He, B.W. williams, S . J. F h e y and T.C. Oreea "Analysisand oomparisonof a new passive lossless slubbafork& fiequeacy umverter apphcation",W PIUC. . =E, voL 2, Bxightr~~~, pp.344-349. 1993, [3] V. Matkovic, D Bomjevic and F C Lee, "Soft-transition . .. PWM con~ersion tedmology",F o .P E ,1993, pp. 79-85. %c [4] J.T. Boys and P.G. Handley, "Spread spe&um witchug: low noise rc modulationtechnique for P W M inverter drives", IEE P o .Pt B, voL 139, no. 3,1992, pp. 252-260. [SI J.T. Boys and P.G. Hsndley, "Harmom 8nalysisof space YedoI 'c modnlatedPWM wa~efonus", Roc-,Pt B, vol. 137, n .4,1990, w. IEE o 197-204. [6] P.G. Handley and J.T. Boys, "Practicalreal-time PWM modulators :an acCannenr', IEE Proc., B, voL 139,no. 2,1992, pp. 96-102. Pt [7] T.G.Haktla and D.M. Div;m, ''AcWStic noise reduclion m sirmsoidai PWM drivesusing a " l y moddated d e r , ' ' IEEE Tnms Power ~ ~ ~ v o L 6 , n o . 3 , p p . 3 5 6 - 3July ,1991 63

(10)

When operating the inverter-based motor drive system, the efficiency of the system is affected by the switching losses and heat dissipation, with the harmonic distortion resulting in M o n and noise[']. Hence, in comparing the dBerent switching algorithms, these three factors needed to be consider& As derived, determines the amplitude of the harmonic loss and harmonic torque ripple, and the respective perfommnce indicator Ji (I=1,2,3) for each

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