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Abstract-In this paper, the analysis of a that high reliability, high efficiency, high
single-phase dc to ac pulse width power density, and low acoustic noise, low
modulated (PWM) voltage source inverter implementation cost and sinusoidal output
feeding an ac motor is presented. voltage [3].
Differential equations describing the system The output voltage of the UPS inverter is
behavior are given, and the motor required to be sinusoidal with minimum
performance in both transient and steady total harmonic distortion. This is usually
state operation is predicted. An optimal achieved by employing a pulse width
closed loop voltage control with PI modulate (PWM) inverter with a second
controller is developed. The optimality order filter at its output.
condition in the frequency domain is used, Several approaches have been
and a weighing matrix (Q) to minimize the introduced to control UPS systems to
performance index for optimal control law supply constant voltage and constant
is selected. The simulation results are given frequency [4-7].
and proved to yield good agreement when Many studies have been reported for dc
compared with the relevant experimental to ac UPS inverters, but those are limited to
results. a static R-L load [1-7]. Relatively fewer
Keywords: UPS analysis, optimal control, research works have been published
PWM inverter regarding analysis of a UPS inverter fed
dynamic loads.
1. INTRODUCTION In this paper, the simulation and
In recent years, intensive research has experimental studies are obtained for a
been performed on the design of system that consists of an ac series motor
uninterruptible power supply (UPS) systems fed from a dc to ac single-phase PWM
to provide clean and uninterruptible power inverter using two switches (IGBT’s) and a
to equipment in critical applications such as second order filter. The system operation is
personal computers, medical equipment, analyzed at two switching frequencies, the
communication systems, industrial and first at single-pulse per half cycle and the
commercial controls, under essentially any second at multi-pulses per half cycle of the
normal or abnormal utility power supply. Differential equations, which
conditions [1,2]. describe the system behavior in the
When designing a UPS system, some of different modes of operation, are given.
the characteristics may be considered such Those differential equations are placed in a
state space form and solved using the fourth 3. SYSTEM MODELING AND MODES
order Runge-Kutta method. The dynamic OF OPERATION
and steady state behavior are predicted The two switching states of S1 and S2
using the proposed modeling and give two modes of operation. The
simulation. An optimal voltage control corresponding equivalent circuits of these
system is developed with proportional modes are shown in figure 3. Differential
integral (PI) controller. The optimality equations from 1 to 6, could be written:
Lf Rf Rm Lm Load
condition in the frequency domain is used _
+
Km
ii Cf
im ωm
to design the optimal parameters of the PI M ode 2 M ode 1 vi vm
ic
controller to minimize the quadratic + _
A C M o to r Vf
performance index. Comparison between S e p a r a te ly - E x c ite d
D C G e n e r a to r
the simulation and experimental results Fig. 3 Modes of operation of the circuit
shows close agreement. v = V for mode 1 (1)
i dc
2. SYSTEM DESCRIPTION
v i = −V dc
for mode 2 (2)
Figure 1 shows the circuit configuration
di
of a single-phase dc to ac PWM voltage vi = R f ii + L f
i
+ v m (3)
dt
source inverter. The circuit consists of two
di m
power switches (IGBT’s), second order v m = R m im + L m + K m im ω m (4)
dt
filter (Lf, Cf) and ac series motor. The dω
generation of gate pulses is accomplished K m i m2 = J m
+ Bω m + TL (5)
dt
by comparing a saw tooth signal of 1 1
amplitude Vm (modulating signal) with a
vm =
C f ∫i C dt =
C f ∫ (i i − i m ) dt (6)
control voltage VC. Changing the amplitude The system differential equations can be
of the control voltage (VC) varies the ac written in a general form as follows:
output voltage of the inverter due to duty di i (t ) R 1 v
= − f i i (t ) − v m (t ) + i (7)
ratio change. The experimental gate pulses dt Lf Lf Lf
at two switching frequencies are shown in di m (t ) Rm 1 K (8)
=− i m (t ) + v m (t ) − m i m (t )ωm (t )
Fig. 2 for single-pulse per half cycle (Fig. dt Lm Lm Lm
2-a) and multi-pulses per half cycle (Fig. 2- dv m (t )
=
1
ii ( t ) −
1
im (t ) (9)
b). The system parameters are given in dt C f C f
appendix 1. d ω m (t ) K m 2 B T (10)
= i (t ) − ω m (t ) − L
dt J m J J
S1
V dc +
_
Lf Rf Rm Lm
Km
Load Where v i =V dc (2S 1* − 1) and ⎡1 at switch S1 ON
S 1* = ⎢
+ ωm
2 V dc
+
vi
ii Cf
im
⎣0 at switch S1 OFF
_ vm
_ ic SW
4. THE OPTIMAL DESIGN OF A
V dc +
_ S2
A C M o to r Vf
S ep a ra te ly- E x cited CLOSED-LOOP SYSTEM
D C G en era to r Filter Transfer Function
Fig. 1 The circuit configuration of a single- phase Vref + 1 + + v vm Motor ωm
g1 g2 i G Transfer
voltage source inverter _
TS
_ Function
+
KI
Im
Kv
Fig. 4 The closed loop voltage control system
4.1. Theoretical Analysis
(a) At 50 Hz (single pulse per half cycle) Consider an nth order linear time-
invariant system (i.e. the coefficient
matrices A, B are constant in equation 11)
that is described by the state equation,
X ( t ) = A X ( t ) + B u ( t ) (11)
After checking the complete state
(b) At 1200 Hz (multi-pulses per half cycle) controllability, a control law u = K T X is
Fig. 2 Experimental results of gate pulses at two
switching frequency
desired to be optimal for minimizing a
quadratic performance index J such that the Where the constants a1, a2, a3 and b are
eigenvalues of the closed loop system given in appendix 2.
(A +BKT ) take on the desired For this system, it is required to calculate
values: (s = s i , i = 1,2,....., n ) , where the controller parameters g1, g2 and T such
∞ that the control law u = K 1X 1 + K 2X 2 + K 3X 3
J = ∫ (X Q X + u 2 )d t
T
(12) minimizes the quadratic performance index
0
The optimal control law may be calculated Also, the required optimal controller
by: parameters (Fig. 4) are:
K1 1 K
u = K T X = −W − 1 ( p − q ) X (16) g1 = − , g 2 = K 2 and =− 3
K2 T K1
Where p =(p1, p2,........, pn ) and q =(q1,q2,........,qn ) .
T T
5. SIMULATION AND EXPERIMENTAL
The design strategy is to utilize the RESULTS
condition of Eqn. 13 to select a weighting The proposed experimental system is
matrix Q that is positive semidefinite. designed and implemented in order to
Where, verify the simulated developed model. The
Q =W −1diag(d1, d 2 ,........., d n ) W −T (17) behavior of this system under transient and
So, the optimal design of the PI steady state operations is determined by
controller parameters for the voltage source solving the non-linear differential equations
inverter fed ac series motor is as follows: with simulink fourth order Runge-Kutta
The state variables are: method.
X = ⎡⎣X1 X 2 X 3 ⎤⎦ = ⎡⎣KVVm K I Im e ⎤⎦
T T
(18) 4.1. Open-Loop System
Where e: is the voltage error ( e =Vref −KVVm ). The open loop experimental system is
built and tested to verify the system
Assuming that the resistance associated performance in different operating
with the filter inductance is neglected. The conditions at half the rated load.
system shown in Fig. 4 may be represented 5.1.1. Run-Up Behavior
by Figures 5 and 6 show the waveforms of
⎡ X 1 ⎤ ⎡ 0 a 1 0⎤ ⎡ X 1 ⎤ ⎡b ⎤
d ⎢ ⎥ ⎢ ⎢ ⎥ motor voltage, motor current and motor
X 2 = a2 a3 0⎥⎥ ⎢ X 2 ⎥ + ⎢⎢ 0 ⎥⎥ u (19)
dt ⎢ ⎥ ⎢ speed when the motor is started with a load
⎢ X 3 ⎥ ⎣⎢ −1 0 0⎦⎥ ⎢ X 3 ⎥ ⎢⎣ 0 ⎦⎥
⎣ ⎦ ⎣ ⎦ of half the rated load. It is clear that the
(a) Simulation
(b) Experimental
Fig. 5 Simulation and experimental results of motor (a) Simulation
voltage
(a) Simulation
Fig. 15 Experimental results of motor current and
motor voltage due to ± 20 % change in
control voltage
5. CONCLUSION
Analysis of a single-phase PWM voltage
(b) Experimental source inverter fed ac series motor at a
Fig. 11 Simulation and experimental results of motor
switching frequency equal to 50 Hz and
voltage and motor current due to ± 20 %
change in control voltage 1200 Hz has been presented. Differential
equations of the different modes of
operation have been given to describe the
system operation. The system performance
in both transient and steady state operation
has been predicted. The design of a closed-
(a) Simulation loop voltage control with PI controller has
been developed. The controller has been
designed to give desirable dynamic
response. Also, an optimal closed-loop
voltage control has been applied, and
(b) Experimental accordingly constant output voltage under
Fig. 12 Simulation and experimental results of load or supply voltage disturbances has
motor current and speed due to ± 20 %
change in control voltage
been achieved. This technique is suitable