Improved Digital Control Scheme of Three Phase UPS Inverter
Using Double Control Strategy
Jae-Ho Choi
School of Electrical and Electronics Engineering
Chungbuk National University
48 Gaesindong, Cheongju, Chungbuk, South Korea 36 1-763
Tel : (431)61-2425, Fax : (431)276-7217
E-mail : choi@choijae.chungbuk.ac.kr
Abstract - Novel digital control scheme of UPS inverter
based on the double control strategy is proposed. This
consists of a inner voltage regulated current controller and
an outer current regulated voltage controller. In order to
improve the dynamic response, the voltage controller has a
load predictive feedforward loop and the current controller
has an output voltage feedforward loop. PI compensators
including in each of the voltage and current controllers are
used to guarantee the robustness of the system. The mathe-
matical model and the control algorithm of the proposed
scheme are described, and the digital simulation and
experimental results for 5 kVA prototype are provided to
verify the validity of the proposed double control strategy.
I. INTRODUCTION
Uninterruptible Power Supplies(UPS) are used to keep
the high quality power source for the critical loads such
as computers and communication systems against the
poor utility system. The most important role of the UPS
inverter is to regulate the output voltage waveform with
constant voltage and constant frequency even though the
variations of the line source or loads.
Sinusoidal PWM and optimal PWM techniques have
been used to the UPS inverters to control the RMS
value of the output voltage and to suppress the harmonic
components. These techniques are simple and have good
characteristics under the steady state condition, but they
operate with poor transient response and the total
harmonic distortion factor of the output voltage is high
at the condition of nonlinear loads.[l]
Instantaneous feedback control techniques using dead-
beat controller have been applied to improve the transient
response. However, these are sensitive to the parameter
variations and may be unstable with the increase of the
controller gain to improve the dynamic response, so its
control algorithm requires the load parameters estimation
and all of the disturbances which affect to the control
performance should be considered.{2,3]
To overcome these drawbacks, a current regulated
voltage controller for a single phase voltage source
inverter was proposed.[4,5,6] In this scheme, the filter
capacitor current is used as the feedback variable to
achieve a sinusoidal capacitor current. An outer voltage
control loop is also incorporated for the filter capacitor
0-7803-3704-2/97 $10.00 0 1 997 IEEE
Byoung-Jin Kim
voltage regulation and compensation to complement the
current controller. Although the capacitor current controller
acts very well, it is hard to compensate the load current
on the instant of its change because the feedback
capacitor current doesn't include any information about
the load change. As a result of load change, the inverter
output capacitor voltage is collapsed with the capacitor
input typed rectifier load.
This paper proposes a digital control scheme of UPS
inverter to improve the dynamic response of output
voltage controller. This provides the sinusoidal voltage
waveform even though the nonlinear load is connected.
And also, this controller keeps the robustness against
the parameter variations and noises. The proposed control
scheme is based on the conventional current regulated
voltage controller, but it is different from the respect of
the control target and the control strategy, which is that
the inner current controller in the outer voltage
controller has a voltage regulated current controller. [7,8]
In order to improve the dynamic response, a load
predictive feedfonvard loop in a voltage controller and a
output voltage feedfonvard loop in a current controller is
considered. And to guarantee the robustness of the
system, PI compensators are included in the voltage and
current controllers, respectively. By using the conversion
of all system parameters into dq-synchronously rotating
reference frame to generate the constant reference value,
the natural phase offset of this controller can be avoided.
The mathematical model and the control algorithm of
L
0
A
D
Fig. 1. Three Phase inverter with LC lowpass filter.
820
the proposed scheme is described, and the digital
simulation and experimental results for 5 kVA prototype
are provided to verify the validity of the proposed
double control strategy.

11. PROPOSED DOUBLECONTROL STRATEGY

1. Mathematical model of UPS inverter

The configuration of main circuit is shown in Fig. 1

and the state equations are derived as followings:

d
i, = C -dt
U, = i,- iL (1)

d
VL = L,- dt i, = U,- vc-v, (2) Fig. 2 . Block diagram of plant with voltage output.
where
i = [ i , i, iW]-'and v = [U, U, uJ1 (3)

U, =
( U,, + vu, + V U Z J (4)
3
Then the dq-transformed state equations can be
described as Eq. ( 5 ) and Eq. (6).

vcd

Fig. 3. Block diagram of plant with current outout.

The system block diagrams of the plant derived from
Eq. ( 5 ) and Eq. (6) are shown in Fig. 2 and Fig. 3.

2. Current regulated voltage controller

where
The reference values of output voltage transformed by
cos(wt) cos(ot-+ 2?r cos(wt++2?r
dq-synchronously rotating reference frame are derived as -
constant value as Eq. (8) when the output voltage
references are given by Eq. (7).
sin(ot) sin(wt--) 2n
3 sin(wt+-)2jr
3 (9)
Esin (wt) 1
27r 2 2
(7)
27r
vcw
Esin(wt+ 3) As shown in Fig. 2, the load currents are working as
the disturbances to the output voltage and the dq-values

82 1
 -t
'cd
Fig. 4. Block diagram of plant including voltage controller and feedforward loops.
.
uK
Fig. 5. Block diagram of plant including current controller and feedfonvard loops.
of the output voltage are coupled each other. To
improve the system performance by eliminating the
harmful effects caused by the load current disturbances,
the load current predictive feedforward loops are
established. And the voltage feedforward loops are
included to decouple the dq voltage values. Fig. 4
shows the block diagram of the plant with the current
regulated voltage controller. The load current predictive
feedfonvard loop can be calculated as following Eq.
(10).
822
iaq
i ad
3. Voltage regulated current controller
Same as the above voltage controller, the voltage
regulated current controller is established as shown in
Fig. 5 . The harmful effects of the plant caused by the
output voltage disturbances and the coupled dq-values of
the filter inductor currents are also eliminated in this
scheme. In order to get fast responding PI gains, we
do not consider about eliminated two kinds of
disturbances which affect the system. Fig. 5 gives a
control equation as follows, where the subscripts 'd' and
'9' are omitted for simplification.
 (i:- i n ) ( k pki+ ~ )1- .
= zu (11)
Ls vboi

No considering disturbances, the inverter voltage can

be expressed as a differential finction of the inductor
current like follows.
I
' I Gatesignal

Compensating inverter voltage for inductor current

error can be calculated from Eq. (12).

1
H
ThIS320

Control board
I

Replacing k, with L,/T,, Eq. (11) is represented Fig. 6. System configuration of UPS inverter and control
as a trasnsfor function and we can design the integral circuit.
gain using pole placement.
Table 1 . System parameters for simulation.
L$+ kiT, Parameters values
_
2, -
-
iz +
TAG' L$+ kiT, (14) Filter inductance
Filter capacitance
l00pH
400 ,u F
Filter ESR 0.02.Q
DC link voltage lO0OV
4. Pulse width calculation Output Voltage 2 1OV(rms)
Sampling frequency 1OkHz
The reference voltage of the inverter(1GBT) in
one sampling time must satisfy Eq. (15). It is converter There are several impotant parameteres for simulation
to Eq. (16) after adding vdc/2 to each terms of Eq. in Table 1. Fig. 6 shows the system configuration of
(15). And it has the proportional relation in one period the UPS inverter and control circuit. The overall Control
interval of Eq. (16). action of inverter is implemented on the digital real time
controller based on full software using TMS320c31 DSP.
The output voltage and load current waveforms from the
simulations are shown in Fig. 7 and Fig. 8 under the
resistor load and the capacitor input typed rectifier load,
respectively. And the experimental results are shown in
Fig. 9 and Fig. 10. The calculation time delay was not
compensated in this experiment. As the results of
simulation and experiment, it is shown that the proposed
control scheme is capable of supplying both linear and
non-linear loads with excellent voltage regulation and
minimum distortion in the UPS inverter output voltage.
From Eq. (IS), the swiching ON time is calculated as
Eq. (19). IV. CONCLUSION

To improve the dynamic response and guarantee the

(19) robustness of the UPS inverter voltage controller, the
novel double control schemes have been developed.
Using these control algorithms, the disturbances of the
plant and the dq-coupling components have been
111. SIMULATION AND EWERIMENTAL RESULTS compensated and decoupled precisely by the feedforward
controllers. The fully digital -control techniques based on

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1 . 1 v RC fi 500 h S / s
2 . 2 U RC 3
3 . 5 U DC 4 DC 48mV
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Fig. 7. Simulation result of output voltage and load Fig. 9. Experimental result of output voltage and load
current waveforms under resistor load. current waveforms under resistor load.
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0.068 0.075 0.084 0.092 0.100
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8. Simulation results of output voltage and load Fig. 10. Experimental result of output voltage and the
current wavefioms under rectifier load. load current waveforms under rectifier load.

TMS320c31 DSP has been used to implement the
proposed control algorithm, and its validity has been
verified from the digital simulation and experimental
results. The mathematical modeling and analysis will be
discussed in detail to investigate the stability of the
controllers in the final paper.
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