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Fig. 7. Estimation of current harmonics in field coordinates using a first-order
model.
field coordinates. The harmonic voltage in field coordinates is
given by
(17)
where is the angular position of the field coordinate
system with respect to the stator coordinates.
A. Harmonic Current Estimation
The harmonic current can be estimated if the estimated
harmonic voltage (17) is fed to the estimator (see Fig. 7). The
electromagnetic system is essentially of a second order. A
magnitude-frequency plot for the complex signal flow graph
expressed as single-inputsingle-output (SISO) with current
output is shown in Fig. 7. In the same graph, a first-order ap-
proximation of the system as given by the signal flow graph is
shown. For the harmonic angular frequencies ( ),
the first-order approximation is sufficient to model the system.
Hence, a simple first-order model will be used to estimate the
harmonic current, which is given by
(18)
where and is the leakage factor. is the nor-
malized stator inductance and is the total
resistance as seen from the stator. During the normal region of
operation, the difference . Hence, the output of the
harmonic estimator is zero. During overmodulation, a finite har-
monic error voltage vector will exist and, hence, the estimation
will produce a finite nonzero output. The result of the estimator
is shown in Fig. 8. The current estimation is carried out in field
coordinates because it simplifies the model for estimation. In
stator coordinates, we deal with complex time-varying vector
quantities, hence, the estimator model has to compensate for
the phase delay introduced. This complicates the estimator
structure. As a tradeoff, additional coordinate transform
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 49, NO.
Fig. 8. Harmonic current estimation in overmodulation during six-step. All
magnitudes expressed in per unit.
Fig. 9. Compensated synchronous PI current control with overmodulation:
signal flow graph.
becomes necessary when estimating in field coordinates. How-
ever, the overall structure of the conventional vector control is
retained while a simple first-order system and coordinate trans-
form is added. The space-vector modulation code is upgraded
to include overmodulation.
V. COMPENSATION OF CURRENT DISTORTION
The estimated current is used to compensate the harmonics
present in the measured current before it is fed to the current
controller (see Fig. 9). The harmonic current error due to the
overmodulation is compensated by an estimated value and the
degree of compensation is given by
(19)
The current controller now operates under low noise condition.
Under such conditions, the system is not excited by the pres-
ence of harmonics and, hence, the high bandwidth of the cur-
rent controller can be maintained. The results of the compen-
sated current control in overmodulation is shown in Fig. 10. The
problem is severe during six-step operation (see Fig. 8), and the
results of compensation can be seen in Figs. 11 and 12. On the
other hand, in the operating range below overmodulation, no
harmonic voltage is introduced by the preprocessor, hence, both
the estimated harmonic current and the harmonic current
error are zero. Thus, the scheme is active continuously in
the complete range of operation. The scheme, therefore, makes