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Modeling of Three-phase SPWM Inverter

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Modeling of Three-phase SPWM inverter

A Graduation Project

in the

Electrical Engineering Department

Faculty of Engineering

Jordan University of Science and Technology

Irbid, Jordan

January 2017

by

Ammar M. Abu Sahyoon

Eng.sahyoon94@gmail.com

Karmel J. Abu Isaid

Supervised by

Dr. Issam A. Smadi

Dr. Saher A. Albatran

i
 ABSTRACT

This project is discussing the modeling of three phase inverter with filter and load. after

going through the analysis and simulation procedure, the exact model is not a linear system and

this does not support the Matlab PID Tuner. The main purpose of this study is to establish a

controllable approach for the exact model of three-phase inverter feeding the most common used

application (RL load), and analyze the behavior of the average model, then control it using PID

controller Tuned by Matlab PID Tuner.

A three phase symmetrical or unsymmetrical balanced electrical components can be

transformed into DC components by using Park’s transformation and this is the main procedure

in order to make the system linear. After testing the both models, the established average model

has been modified to deal with linear current controlling method using PID controller and Tuned

using Matlab PID Tuner.

Finally, the project has been established an optimization method to improve the behavior

of practical inverter under any load.

ii
 TABLE OF CONTENTS

1. Introduction ...............................................................................................................................1

1.1 Problem ..................................................................................................................................1

1.2 Objective ................................................................................................................................1

1.3 Approach ................................................................................................................................1

1.4 Organization of this Report....................................................................................................2

2. Background ...............................................................................................................................3

2.1 Three-phase Inverter ..............................................................................................................3

2.1.1 inverter ............................................................................................................................3

2.1.2 filter .................................................................................................................................4

2.1.3 RL-Load ..........................................................................................................................5

2.2 Three- phase representation: ..................................................................................................6

2.2.1 abc sequence ...................................................................................................................6

2.2.2 Reference frame representation: [3][4] ...........................................................................7

2.3 Modeling ................................................................................................................................8

2.3.1 Exact model ....................................................................................................................8

2.3.2 Average model ................................................................................................................8

3. Approach ..................................................................................................................................10

3.1 Exact model of three-phase SPWM inverter .......................................................................10

3.1.1 SPWM ...........................................................................................................................11

3.2 State Space Model of three phase SPWM inverter ..............................................................14

iii
 3.2.1 The Switching function of (SPWM INVERTER) ........................................................16

3.2.2 Filter ..............................................................................................................................21

3.2.3 RL-LOAD .....................................................................................................................24

3.3 The decoupling method: ......................................................................................................27

3.4 Current controlling :.............................................................................................................34

4. Methodology, Results and Analysis .......................................................................................36

4.1 Methodology ........................................................................................................................36

4.2 Results ..................................................................................................................................37

5. Conclusions ..............................................................................................................................44

5.1 Summary ..............................................................................................................................44

5.2 Future Work .........................................................................................................................44

References .....................................................................................................................................46

Appendix A. Average model state-spaces .................................................................................47

Appendix B. decoupling methode ..............................................................................................49

iv
 LIST OF FIGURES

Figure 1: Single-phase inverter circuit diagram ................................................................ 4

Figure 2: Three-phase inverter circuit diagram ................................................................. 4

Figure 3: LC filter circuit diagram .................................................................................... 5

Figure 4: RL load circuit diagram ...................................................................................... 6

Figure 5: abc sequence in time domain ............................................................................. 7

Figure 6: abc sequence in phasor diagram ......................................................................... 7

Figure 7: Reference frame representation ......................................................................... 8

Figure 8: Power circuit of exact model in Matlab/Simulink.............................................. 9

Figure 9: Open loop average model in Matlab/Simulink ................................................ 10

Figure 10: Decoupled mathematical model ..................................................................... 10

Figure 11: power circuit of exact model ........................................................................... 11

Figure 12: SPWM for single-phase inverter in Matlab/Simulink ................................... 12

Figure 13: Output voltage for SPWM single-phase inverter ......................................... 13

Figure 14: PWM case 1.................................................................................................... 15

Figure 15: PWM case 2 ................................................................................................... 15

Figure 16: PWM case 3.................................................................................................... 16

Figure 17: Per-phase equivalent circuit for LC filter ...................................................... 22

Figure 18: Per-phase equivalent circuit for RL load ........................................................ 25

Figure 19: Open loop average model with mutual coupling ........................................... 27

Figure 20: Open loop decoupled average model ............................................................. 34

v
Figure 21: Closed loop decoupled average model .......................................................... 36

Figure 22: Closed loop exact model ................................................................................ 36

Figure 23: Tuning process using Matlab/Simulink PID Tuner ........................................ 38

Figure 24: Output voltage in exact model (abc) ............................................................. 39

Figure 25: Output voltage in exact model (dq0) .............................................................. 39

Figure 26: Output current in exact model (abc) .............................................................. 40

Figure 27: Output current in exact model (dq0) .............................................................. 40

Figure 28: Output voltage in average model (abc) ......................................................... 41

Figure 29: Output voltage in average model (dq0) .......................................................... 41

Figure 30: Output current in average model (abc) .......................................................... 42

Figure 31: Output current in average model (dq0) .......................................................... 42

Figure 32: Comparison between output voltage in exact and average models (abc) ...... 43

Figure 33: Comparison between output voltage in exact and average models (dq0) ...... 43

Figure 34: Comparison between output current in exact and average models (abc) ...... 44

Figure 35: Comparison between output current in exact and average models (dq0)....... 44

vi
 MODELING OF THREE-PHASE SPWM INVERTER

1.1 Introduction

The three phase SPWM inverter is a power electronics application which is used to

convert DC to AC in order to obtain a sinusoidal wave with the desired amplitude and frequency

using pulse width modulation principle.

The exact model is nonlinear model so the linear controller can't be adjusted

Automatically by tuning controller to maximize performance over a range of parameter values

by using the Control System Tuner application from Robust Control Toolbox in

Matlab/Simulink.

1.2 Objective

The mathematical model aims to establish a linear system that allows the model to deal

with linear controllers using Matlab/Simulink. In order to gain more ability to control either

transient or steady state response and the ability to study and change the performance of the

overall system under different loads.

1.3 Approach

The project proceeds to establish an optimized controllable approach of three-phase

inverter with filter and load, the cornerstone is the building of exact model step by step to be

used later in deriving the needed optimized controllable model.

1
 The average model has been built by deriving the equation of the operation for each

component of the exact model from the operation principle of each.

Starting from the inverter, through the filter, till the load, each stage has been

implemented as a set of mathematical equations from the operation principle of each. Then the

average model is being corrected by the decoupling method to make each stage operates

independently.

Finally, the linear controlling method has been applied on the resultant average model by

using PID controller, the PID tuning application used to obtain the best (fast and robust)

performance graphically then the resultant PID parameters are used in to control the exact model

and the actual model.

1.4 Organization of this Report

Chapter 2 covers a general background for the main parts of the overall system, and the

needed information in order to accomplish the project in a proper way. Moreover, the

background regarding the physical structure of the system, the representation of three-phase

system, and the modeling methods in order to have the needed information to build the final

optimized controllable model are discussed as chapter 3 describes the approach and the

procedure of the project to solve the problem, including the modeling of the exact model,

deriving the mathematical expressions in order to set the average model, decoupling for the

average model, and applying linear controlling on both average and exact model.

Chapter 4 covers the methodology of work for the overall system, testing each model

independently, and comparing the results of the two models.

2
 2. BACKGROUND

2.1 Three-phase Inverter

In this project, the electrical system consists of three main subsystems; inverter, filter,

and load.

2.1.1 inverter

Inverters are circuits that convert DC to AC, more precisely; inverters transfer power

from a DC source to an AC load [1]. Basically, in single phase inverter, it happened by switching

the two switches, and in three-phase inverters it happened by sequence of switching the switches

in each leg of the full-bridge.

Fig. 1: Single-phase Inverter circuit diagram

Fig. 2: Three-phase inverter circuit diagram

3
2.1.2 Filter

Filter mitigates the harmonics of the output of the inverter. In order to attenuate the

harmonics, it is necessary to pass them through a filter. Typically, a reduction of the harmonic

distortion factor to 5 percent is adequate. [2]

LC filter commonly used to make inverter’s output wave (square or quasi-square) as

close as possible to the pure sinusoidal wave by eliminating the unwanted frequencies and passes

the fundamental frequency.

Fig. 5.3: LC filter circuit diagram

4
2.1.3 RL-Load

Resistor-Inductor circuit that represents the most common of electrical devices are

depicted in Fig. 4.

Fig. 4: RL-Load circuit diagram

In three-phase system, RL load is considered as a three-phase load, the rotating machines

are an example of three-phase RL load.

5
2.2 Three- phase representation:

2.2.1 abc sequence

abc sequence is the usual method to express the three-phase voltage, current, and other

parameters. The phase sequence is shown in Fig.5.

Fig. 5: abc sequence in time domain

abc sequence is expressed in the phasor diagram as shown in Fig. 6:

Fig. 6 abc sequence in phasor diagram

6
2.2.2 Reference frame representation: [3][4]

Clarke Transformation

This transformation converts balanced three-phase quantities into balanced two-phase

quadrature quantities.

Park Transformation

This transformation converts vectors in balanced two-phase orthogonal stationary system

into orthogonal rotating reference frame. The three reference frames considered in this

implementation are:

1. Three-phase reference frame, in which Ia, Ib, and Ic are co-planar three-phase quantities

at an angle of 120 degrees to each other.

2. Orthogonal stationary reference frame, in which Iα (along α axis) and Iβ (along β axis)

are perpendicular to each other, but in the same plane as the three-phase reference frame.

3. Orthogonal rotating reference frame, in which Id is at an angle θ (rotation angle) to the

α axis and Iq is perpendicular to Id along the q axis.

Fig. 7: reference fame representation

7
2.3 Modeling

2.3.1 Exact model

The exact model representing the physical components of the electrical system has been

built by Matlab/Simulink. Fig. 8 shows the exact model

Fig. 8: power circuit exact model in Matlab/Simulink

2.3.2 Average model

The average model of the exact electrical system is the mathematical model which is

based on representing each component of the electric system as mathematical equations [5][6]

Fig. 9 shows the mathematical model of the exact model in previous figure Fig. 8.

8
 Fig. 9: open loop average model in Matlab/simulink

Decoupling method

The dq0 system has mutual coupling between the d component and q component, so the

decoupling method is used to eliminate the effect of mutual coupling between them. [6][7].

Fig. 9, shows the decoupled mathematical model

Fig .10: decoupled mathematical model

9
 3. APPROACH

3.1 Exact model of three-phase SPWM inverter

The circuit diagram of three-phase inverter is shown in Fig. 11

Fig. 11: power circuit of exact model

The system parameters of three-phase SPWM inverter are as follows: the DC voltage

source = 400V, fundamental frequency = 50 Hz, carrier frequency = = 3000 Hz, Output

filter: =20uC, =10mH, =0.2 Ω, Load: R=5Ω, and L=2mH

10
3.1.1 SPWM

Fig. 12 shows circuit diagram of single phase half-bridge inverter

Fig. 12: SPWM for single-phase inverter in Matlab/simulink

Since the two switches are never simultaneously, the output voltage on the scope

fluctuates between the following values dictated by the switches states:

(S1 on, S2 off)

(S1 off, S2 on)

The goal of sine pulse width modulation is to produce a sinusoidal output voltage

waveform at a desired fundamental frequency ( ), it is nessecerely that the control signal of

PWM switching be sinusoidal at the frequency ( ). Fig. 5.13 illustrates the SPWM principle.

11
 Fig. 13: output voltage of SPWM single-phase inverter

As shown in Fig. 10, the inverter output voltage is determined in the following

When

When

12
Also, the inverter output voltage has the following features: [8]

 Carrier frequency is the same frequency

 Amplitude is controlled by the peak of

 Fundamental frequency is controlled by frequency

Also, modulation index is defined as:

(1)

Where is the control signal and is the carrier signal

Assume in all this project

13
3.2 State Space Model of three phase SPWM inverter

The switching function has been derived from these figures:

Case (1) if

Where is the control signal and is the carrier signal

Fig. 14: PWM for

From Fig. 14 q=0 at all ,so

(2)

Case (2) if

Fig. 15: PWM for

14
From Fig. 15 q=1 from

So the output is shown as

(3)

Case (3) let

Fig. 16: PWM for

From Fig. 16 q=1 at all , so

(4)

Based on (2), (3), (4) the switching function is linear.

Recall: ( ) =slope ( - )

The slope of straight line is shown by

(5)

15
The equation of straight line after substituting is shown as

(6)

Finally, the switching function is obtained as

(7)

3.2.1 The Switching function of (SPWM INVERTER)

(8)

Where VM represents the amplitude of control signal

Substitute (8) into (7) the switching function can be obtained by

(9)

Where i = a,b,or c ,

Assume the initial phase angle

Then , , and

16
The output voltages from the SPWM inverter are defined as

(10)

The transfer function of dynamic SPWM inverter is showed as

(11)

where is the time-delay

: the carrier frequency

k is the DC gain of (11)

From the equation (9) the output voltage of the dynamic SPWM is defined as

(12)

The following equations (13), (14) and (15) demonstrate process to get the equation (16)

(13)

(14)

(15)

The equation of output voltages of dynamic SPWM inverter can be obtained as

(16)

The three phase voltage of dynamic SPWM inverter can be obtained from (16), where i=a,b,c

17
 (17)

Now, from (17) the term has been removed to deal with dq0 to be more easily which means

that this equation will be a line voltage.

Now, the phase voltage has to be transformed to the line voltage

(18)

Recall, (19)

The line voltage will be transformed to phase voltage based on equation (19) to deal with per

phase circuit in all the system.

The three phase voltages of dynamic SPWM inverter after elimination are shown as

(20)

18
Finally, the given equations (20) can be expressed as the following state space model in abc

system

(21)

The state space model in abc system (21) has been transformed to dq0 system

The equations in (20) are simplified

(22)

(23)

Sub (23) in (22)

(24)

Multiply the above equation by

(25)

(26)
Recall,

Sub (26) in (25)

(27)

Where , and are duty cycle

19
Finally, The State-space in dq0 system has been found

(28)

20
3.2.2 Filter

Per-phase filter circuit

Fig. 17: per-phase equivalent circuit for LC filter

By applying Kirchhoff’s current and voltage laws respectively in Fig. 17, the following

current and voltage equations are derived:

(29)

(30)

(31)

From (29) and (30) the three phase filter output voltage is obtained

(32)

From (31), the three phase filter output current is obtained

(33)

the given equations (32), (33) can be expressed as the following state space model in abc system

21
 (34)

The state space model in abc system (34) has been transformed to dq0 system by the following

equations

(35)

(36)

(37)

(38)

Sub the equations (35), (36), (37) and (38) in (32) and (33)

(39)

(40)

Multiply (39) and (40) by T

(41)

(42)

22
Recall,

Combine (26) with (41) and (42)

(43)

(44)

Finally, the state space model in dq0 system is obtained

(46)

23
3.2.3 RL-LOAD

Fig. 18: per-phase equivalent circuit for RL-Load

By applying Kirchhoff’s voltage law in fig., the following voltage equations are derived:

(46)

(47)

Where, : phase voltage, : phase current

the given equations (46), (47) can be expressed as the following state space model in abc system

(48)

24
The state space model in abc system (48) has been transformed to dq0 system.

Sub the equations (35) and (38) in (46) and (47)

(49)

Multiply the above equation by T

(50)

Combine (26) with (50)

(51)

The three phase current output in dq0 is showed as

(52)

Finally, the given equations (52) can be expressed as the following state space model in dq0

system

(53)

25
The overall system

Fig. 19 shows the overall system in dq0 system

Fig. 19: open loop average model with mutual coupling

The previous system has a problem of mutual coupling happens between d and q

channels, the decoupling method must be applied to eliminate that effect.

26
3.3 The decoupling method:

Decoupling equations:

1- Inverter

A. d-component

From (28) the output voltage in d component can be showed as

(54)

The following equations describe the decoupling method

(55)

(56)

(57)

The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (28) the output voltage in q component can be showed as

(58)

The following equations describe the decoupling method

(59)

(60)

27
 (61)

The coupling between and by ω can be decoupled by added the from the input

of the above equation.

C. Zero-component

From (28) the output voltage in zero component can be showed as

(62)

There is no coupling in zero-component

28
 2- Filter

 Voltages

A. d-component

From (45) the output voltage in d component can be showed as

(63)

The following equations describe the decoupling method

(64)

(65)

(66)

The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (45) the output voltage in q component can be showed as

(67)

The following equations describe the decoupling method

(68)

(69)

(70)

The coupling between and by ω can be decoupled by added the from the input

of the above equation.

29
 C. Zero-component

From (45) the output voltage in zero component can be showed as

(71)

There is no coupling in zero-component

 Currents

A. d-component

From (45) the output current in d component can be showed as

(72)

The following equations describe the decoupling method

(73)

(74)

(75)

30
The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (45) the output current in q component can be showed as

(76)

The following equations describe the decoupling method

(77)

(78)

(79)

The coupling between and by ω can be decoupled by added the from the input of

the above equation.

C. Zero-component

From (45) the output current in zero component can be showed as

(80)

There is no coupling in zero-component

31
 3-Load

A. d-component

From (53) the output current in d component can be showed as

(81)

The following equations describe the decoupling method

(82)

(83)

(84)

The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (53) the output current in q component can be showed as

(85)

The following equations describe the decoupling method

(86)

(87)

(88)

32
The coupling between and by ω can be decoupled by added the from the input

of the above equation.

C. Zero-component

From (53) the output current in zero component can be showed as

(89)

There is no coupling in zero-component

The decoupled overall system

Fig. 20: open loop decoupled average model

33
3.4 Current controlling :

The load current is controlled by a linear controller i.e PID controller; the previous

linearized system has been built to deal with Matlab Tuner in a proper way.

The gains of PID controller determined using graphical Matlab PID Tuner which give the

ability to choose the desired transient response.

Matlab PID tuner :

PID Tuner provides a fast and widely applicable single-loop PID tuning method for the

Simulink PID controller blocks. With this method PID controller parameters can be tuned to

achieve a robust design with the desired response time. [9]

Finally, those tuned gains of PID controller are used in the nonlinear (exact) model and

that will give the same desired performance.

34
Fig. 21: closed loop decoupled average model

Fig. 22: closed loop exact model

35
4. METHODOLOGY, RESULTS AND ANALYSIS

4.1 Methodology

1- Building the exact model of the overall system using Matlab/Simulink power electronics

libraries as it in Fig.8.

2- Building the average model step by step and using mathematical state-space which

describes each step as it in Fig.9.

3- using the proper state-space representation for each step as it detailed in the appendices

(appendix A).

4- using the decoupling technique to cancel the effect of coupling between each two

following stages as it is described in Fig.19 and detailed in the appendices (appendix B).

5- using the PID Tuner to tune the response as needed to be as in Fig.23.

6- applying the PID parameters and test the transient response in the average model.

7- using the TUNED PID parameters in the exact model which is built previously.

8- comparing the output waves in both average and exact model.

9- The resultant PID parameters can be used in the actual (practical) device under the same

filter and load parameters, it will give the same transient and steady-state response.

10- Finally, this project can be used in many design applications for three-phase inverter

under different load and filter cases, to gain the desired behavior.

36
4.2 Results

PID tuning

Fig. 23: Tuning process using Matlab/Simulink PID Tuner

And the resultant parameters:

Proportional (P) = 0.0209540378221375

Integral (I) = 8.23667228978068

37
Exact model results

1- output voltage of exact model

Fig. 24: output voltage in exact model (abc)

Fig. 25: output voltage in exact model (dq0)

38
2- output current of exact model

Fig.26: output current in exact model (abc)

Fig. 27: output current in exact model (dq0)

39
Average model results

1- output voltage

Fig. 28: output voltage in average model (abc)

Fig. 29: output voltage in average model (dq0)

40
2- output current

Fig. 30: output current in average model (abc)

Fig. 31: output current in average model (dq0)

41
Comparison between results in exact and average model

A- output voltages

Fig. 32: comparison between output voltages in exact and average models (abc)

Fig. 33: comparison between output voltages in exact and average models (dq0)

42
 B- output currents

Fig. 34: comparison between output currents in exact and average models (abc)

Fig. 35: comparison between output currents in exact and average models (dq0)

43
5. CONCLUSIONS

5.1 Summary

This project achieved the main purpose which is to establish a controllable

approach for the exact model of three-phase inverter feeding the most common used

application (RL-load), and analyzing the behavior of the average model, then

controlling that behavior linearly by the usually used PID controller.

Finally, the desired resultant selected PID parameters used in the exact model

which is considered as the practical model. In other words, this project has established

an optimization method to improve the behavior of the practical Inverter under

different loads.

5.2 Future Work

The future plans revolve around improving the overall system in many

aspects; the first priority is to develop the averaged closed loop approach by

implementing more realistic effects for each stage in order to improve the overall

system, which could be as close as possible to the actual application.

In details, for the inverter; dead time and its effects on current and voltage

ripple at the output. also improving the filter model to be the most realistic and closest

to the practical filters. And the most important goal is to build different subsystems

representing specific loads and implement them in details with all their effects; Drive

loads such as Induction motors and PMSM, or loads on grid connected with

renewable energy plants.

44
 And for the research side, the future plans focus on converting the current

model or the next improved one into Hardware Description Language (HDL), which

will help to use and program Field-Programmable Gate Array (FPGA), which can be

programmed to be as an alternative to give the same desired behavior of the overall

optimized system or to be as a pre-testing application before the hardware design

begins.

45
REFERENCES

[1] D. W. Hart, Power Electronics. Valparaiso University, Valparaiso, Indiana,2010

[2] C. W. LANDER, Power Electronics, De montfort UNIVERSITY,

LEICESTER,1981

[3] Microsemi, Park, Inverse Park and Clarke, Inverse Clarke, user guide
(http://www.microsemi.com/index.php?option=com_docman&task=doc_download&
gid=132799),2013.

[4] P. C. Krause, O.Wasynczuk and Scott D. Sudhoff, Analysis of Electric Machinery

and Drive Systems, Purdue University, August 2013

[5] Z. Lin, H. Ma, Modeling and Analysis of Three-phase Inverter based on

Generalized State Space Averaging Method, Hangzhou, China, Nov. 2013,
Generalized state space averaging; three-phase three-wire inverter; dead-time effect;
modeling; simulation and experiment.,

[6] J. Song, X. Zhang, L. Zheng, Y. Gao and Y. Song, Simulation and Experiment of
Three-phase Voltage SPWM Inverter, Taiyuan, China, November 2015, inverter;
modeling; decoupling; dual-loop control; PI controller

[7] R. Zhang, High Performance Power Converter Systems for Nonlinear and
Unbalanced Load/Source, Blacksbug, Virginia ,1998

[8] J. JUNG, SINE-Δ PWM INVERTER, THE OHIO STATE UNIVERSITY,

FEBRUARY 2005

[9] Mathworks Documentaions, PID Controller Tuning in Simulink,

https://www.mathworks.com/help/slcontrol/gs/automated-tuning-of-simulink-pid-
controller-block.html

46
APPENDIX A. AVERAGE MODEL STATE-SPACES

 Inverter

In abc system

In dq0 system

47
 . Filter

In abc

system

In dq0

system

 Load

In abc systrm

In dq0 system

48
APPENDIX B. DECOUPLING METHODE

Decoupling equations:

1. Inverter

A. d-component

From (28) the output voltage in d component can be showed as

(54)

The following equations describe the decoupling method

(55)

(56)

(57)

The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (28) the output voltage in q component can be showed as

(58)

The following equations describe the decoupling method

(59)

(60)

49
 (61)

The coupling between and by ω can be decoupled by added the from the input

of the above equation.

C. Zero-component

From (28) the output voltage in zero component can be showed as

(62)

There is no coupling in zero-component

50
 2. Filter

 Voltages

A. d-component

From (45) the output voltage in d component can be showed as

(63)

The following equations describe the decoupling method

(64)

(65)

(66)

The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (45) the output voltage in q component can be showed as

(67)

The following equations describe the decoupling method

(68)

(69)

(70)

The coupling between and by ω can be decoupled by added the from the input

of the above equation.

51
 C. Zero-component

From (45) the output voltage in zero component can be showed as

(71)

There is no coupling in zero-component

 Currents

A. d-component

From (5.45) the output current in d component can be showed as

(72)

The following equations describe the decoupling method

(73)

(74)

(75)

52
The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (45) the output current in q component can be showed as

(76)

The following equations describe the decoupling method

(77)

(78)

(79)

The coupling between and by ω can be decoupled by added the from the input of

the above equation.

C. Zero-component

From (45) the output current in zero component can be showed as

(80)

There is no coupling in zero-component

53
 3-Load

A. d-component

From (53) the output current in d component can be showed as

(81)

The following equations describe the decoupling method

(82)

(83)

(84)

The coupling between and by ω can be decoupled by subtracted the from the

input of the above equation.

B. q-component

From (53) the output current in q component can be showed as

(85)

The following equations describe the decoupling method

(86)

(87)

(88)

54
The coupling between and by ω can be decoupled by added the from the input

of the above equation.

55
 C. Zero-component

From (53) the output current in zero component can be showed as

(89)

There is no coupling in zero-component

56

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