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CHAPTER 1

INTRODUCTION

1.1 OUTLINE OF THESIS

Adjustable speed drive motors find widespread use because of their

excellent energy-saving capabilities in the field of electric motor drives.
Traditionally, Direct Current (DC) motors were used for variable speed
applications because by construction in a dc machine the armature and field
circuits are decoupled and hence while varying the armature current to control
the torque, the flux will not vary and it leads to fast dynamic response with a
high torque to current ratio at rated flux. But the disadvantages and limitations
are more with DC motors as compared to induction motors. Alternating
Current (AC) induction motors are very compact and rugged in construction
and maintenance free. In the last three or four decades, with the advancement
in the field of semiconductor devices and digital controllers, DC motor like
performance is obtained in induction motors through vector control technique.
In vector control technique, the flux producing component of stator current is
aligned in the direction of rotor flux, and the torque producing component of
stator current is established perpendicular to the rotor flux. This field
orientation of flux producing component of stator current is called Field
Oriented Control (FOC) or Vector Control.

Pulse Width Modulation (PWM) based AC-DC-AC two stage

converters with voltage source or current source are conventionally used to
produce variable frequency output voltage from the fixed frequency AC
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supply system. But these two stage converters end with poor efficiency,
higher maintenance cost of energy storage elements, reduced high
performance life time by the use of bulk energy storage elements in the dc
link, lower order harmonics and suffers from the absence of bidirectional
power flow capability during deceleration.

Naturally commutated cycloconverter is a direct AC to AC power

converter and it produces a variable frequency variable voltage output without
energy storage element, but with upper frequency limit that it always has a
fraction of input frequency.

Forced commutated cycloconverter is named as Matrix Converter

(MC) in the last years. Matrix Converter is a direct AC to AC power
converter and it overcomes the drawbacks of AC-DC-AC converters. But the
output characteristics of MC are adversely affected by the input voltage
disturbances because there is no energy storage elements present in the dc
link. Hence, this technical issue is considered and a compensation strategy is
proposed to improve the steady state and dynamic performances of matrix
converter fed vector controlled induction motor drive under distorted input
voltage conditions and load disturbances.

1.2 LITERATURE REVIEW

Induction motors find widespread applications because of their

simple and rugged construction and maintenance-free operation. With the
progressive research and development efforts in the fields of power electronic
switches and integration, PWM variable frequency power converters,
advanced control techniques and digital controllers, it is possible to improve
the poor performance of induction motors even at low speeds. PWM based
two stage AC-DC-AC variable frequency converters have many drawbacks
apart from their advantages. Though the direct AC-AC Matrix Converter
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overcomes the drawbacks present in two stage converters, deeper research is

needed to solve the technical issues of matrix converter which includes better
modulation methods, compensation strategies to overcome the input voltage
variations, bidirectional switch commutation, protection etc., as per the
research findings reported to date in the literatures during recent years.

1.2.1 Topologies of Matrix Converter

The Matrix Converter topology was initially presented as static

power frequency changers by Gyugyi and Pelly (1976). Basic configuration
of Direct Matrix Converter without dc link energy storage elements and a
conversion technique to produce a variable frequency sine wave output from
the fixed frequency sine wave input was proposed by (Venturini 1980). The
design of an ac-ac converter capable of producing sinusoidal waveform,
frequency, amplitude, phase and power factor conversion, which can be
regarded as a generalized transformer and a general waveform synthesis
technique based on Fourier analysis was presented by Alesina and Venturini
(1981) which makes little use of reactive elements. An improved modulation
method which can produce optimum voltage transfer ratio with nine switch
direct Matrix Converter was presented by Alesina and Venturini (1989).

Forced Commutated Cycloconverter (FCC) topologies with

improved performances such as voltage utilization and less generated
harmonic distortion was proposed by Ziogas et al (1985). Microprocessor
based PWM techniques for forced commutated cycloconverters was
implemented by Ishiguro et al (1988). A real time output voltage and output
current control methods were used to reduce higher and fractional harmonic
components in the output voltages and the input currents, since the method
uses three phases of the input voltage sources which are able to be connected
to the output at the same time. Moreover, the higher harmonic oscillation in
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the input is reduced by changing the switching sequence of the PWM patterns
adequately and the distortion of the input current is reduced.

Rectifier-inverter types of static frequency changers typically

employ bulky dc link reactive components to establish the required dc bus
voltage. The negative effects of these components on overall system
performance and evolution have been the subject of many past research
publications. Indirect matrix converter topologies of rectifier and inverter
stages with suppressed dc link energy storage elements were suggested by
Ziogas et al (1986). These converter structures employ state- of- the- art
power semiconductor components and optimized rectifier-inverter switching
schemes, offer significant performance improvements at the cost of only
moderate power and logic circuit complexity. This topology was then further
investigated and developed by Siyoung Kim et al (2000) and Piepenbreier
et al (2004).

Neft and Schauder (1992) proposed theory and design of Matrix

converter motor for industrial applications. The control strategy that was
developed for high-bandwidth four-quadrant motor drive applications is
described. The new switching technique ensures very low distortion of the
input currents with unity fundamental displacement factor.

The trend in electrical drives is to integrate the frequency converter,

the electrical motor, and even the gear or the pump into a single unit, in order
to reduce the costs, to increase the overall efficiency and the equipment
reliability. Klumpner et al (2002) presented the first integrated regenerative
frequency converter motor for industry applications, based on a matrix
converter topology. The low volume, sinusoidal input current, bidirectional
power flow and the lack of the bulky and limited-lifetime electrolytic
capacitors recommend this topology for this application. The matrix converter
disadvantages such as lack of bidirectional power devices, the lower voltage
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transfer ratio and the over voltages caused by the input filter during power-up-
that have delayed the industrial implementation have been overcome.

A review on technical issues, comparison and challenges of matrix

converter against conventional AC-DC-AC converter was presented by
Wheeler et al (2002). The review was dedicated to a discussion of the most
important modulation and control strategies developed recently. Special
attention is given to present modern methods developed to solve the
commutation problem. Some new arrays of power bidirectional switches
integrated in a single module are also presented. Finally, some practical issues
related to the practical application of this technology, like overvoltage
protection, use of filters and ride-through capability are included. After two
decades of research effort, several modulation and control methods have been
developed for the matrix converter, allowing the generation of sinusoidal
input and output currents, operating with unity power factor using standard
processors. The most important practical implementation problem in the
matrix converter circuit, the commutation problem between two controlled
bidirectional switches, has been solved with the development of highly
intelligent multistep commutation strategies. The solution to this problem has
been made possible by using powerful digital devices that are now readily
available in the market. The real challenge for the matrix converter to be
accepted in the market is the conclusion made in the review.

At a given wind velocity, the mechanical power available from a

wind turbine is a function of its shaft speed. To maximize the power captured
from the wind, the shaft speed has to be controlled. In low cost wind energy
conversion systems, the turbine shaft speed is not regulated and squirrel cage
induction generator is used to convert the turbine mechanical power to
electric power. Power electronic converters are used to interface the induction
generator with the grid and maximize the power captured from the wind.
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Barakati et al (2005) proposed a new topology of matrix converter with

advantages over conventional nine-bidirectional switch topology for low cost
wind energy conversion system.

Sparse matrix converter topologies with reduced number of switches

were proposed by Kolar et al (2007). Sparse matrix converters use zero dc
link current commutation process instead of multistep commutation used in
direct matrix converters. In sparse matrix converter topology, 15
unidirectional switches and 18 diodes are used. In very sparse matrix
converter, 12 unidirectional switches and 30 diodes are used but with higher
conduction losses. Ultra Sparse Matrix Converter (USMC) uses 6
unidirectional switches in the input, but with unidirectional power flow and
larger implementation efforts.

Multilevel Matrix Converters result in high power quality, optimum

voltage transfer ratio, reduced switching losses and reduced Electro Magnetic
Interference (EMI) problems. A new AC/AC multilevel converter was
initiated by Glinka and Marquardt (2005) for industrial applications. A novel
Capacitor clamped multilevel inverter for high voltage ac drives applications
with reduced harmonics at the output voltage was presented by Yong Shi et al
(2005). Space vector Modulation algorithm for capacitor clamped multilevel
matrix converter was presented by Meng Yeong Lee et al (2010) and (Xu Lie
2012).

Matrix Converter with fourth leg is needed to supply electrical

energy to an unbalanced three phase stand-alone load and also a closed-loop
control is required to regulate the load voltage. Four-Leg-Based Fault-
Tolerant Matrix Converter was proposed by (Sangshin Kwak 2012). Control
System for Four-Leg Matrix Converter applications was presented by
Cardenas et al (2012). Review of PWM AC-AC converter topologies was
presented by Kolar et al (2011) which includes converters with and without dc
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link elements. Matrix converter topologies including some extended

topologies are also analyzed quantitatively.

The traditional voltage-fed MC can only produce an ac voltage that

is well limited below the input source voltage, and the current-fed MC can
only produce an output voltage that is greater than the source voltage.
Baoming Ge et al (2012) extended the Z-source inverter concept to matrix
converters and explored a family of Z-source matrix converters that can
produce any output voltage as desired. Principles and characteristics are
analyzed, and a simplified voltage-fed Z-source matrix converter is used as an
example to demonstrate its operation, voltage gain versus modulation index,
PWM method, boost control and implementation of the control. The Z-source
converters can achieve buck and boost operation with reduced number of
switches needed, thereby achieving low cost, high efficiency, and reliability,
compared to the traditional matrix converters. With only three additional
switches, the Z –source matrix converters can have the buck-boost function,
which can reduce cost and increase reliability for those applications that have
a requirement for wide input and output voltage ranges.

Atif Iqbal (2012) presented an alternative solution for supplying

multiphase drive system using direct ac–ac converter called as matrix
converter. This paper proposed the pulse width modulation algorithm for the
matrix converter topology with three-phase grid input and five-phase
variable-voltage and variable-frequency output. The PWM control technique
is based on space vector approach of the three- to-five-phase matrix converter
topology. The space vector model yield 215 total switching combinations
which reduce to 243 states considering the imposed constraints, out of which
240 are active and 3 are zero vectors. The input to the matrix converter is a
three-phase ac supply, and the output is five-phase. This converter is useful in
a five-phase motor drive application. The output voltage magnitude is found
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to be limited to 78.8% of the input voltage magnitude in the linear modulation

region. This is the limitation associated with this type of ac–ac converter. The
proposed space vector pulse width modulation strategy is derived from the
analogy of the modulation of a voltage source inverter. There are 243 possible
space vectors, but only 93 are useful in implementing the Space Vector Pulse
Width Modulation (SVPWM). Symmetrical switching is obtained by utilizing
zero space vectors and active vectors, and 24 commutations are noted in one
sampling period.

Ahmed et al (2011) proposed a multiphase power electronic

converter and they are required mainly for feeding variable-speed multiphase
drive systems. This paper presents one such solution by using a direct ac–ac
converter that can be used to supply a nine-phase drive system. The input is a
fixed-voltage and fixed frequency three-phase input, and the output is a
variable-voltage and variable-frequency nine-phase output. A simple pulse
width modulation technique is developed for the proposed ac–ac converter
named as a non square three-to-nine-phase matrix converter configuration.
The developed modulation technique is based on the comparison of a high-
frequency carrier signal with the duty ratios. Although the carrier-based
scheme is widely employed for the control of back-to-back converters, it has
recently been used for controlling a three phase to three phase matrix
converter. This concept is extended in this paper for controlling a three phase
to nine phase matrix converter. With the two techniques that are proposed,
one output reach is 0.75 of the input magnitude and the other output reach is
0.762 of the input. This is the maximum value of the output voltage in the
linear modulation range that can be achieved in this configuration of the
matrix converter. This converter is useful in a nine-phase motor drive
application. It possesses all the advantages offered by a conventional matrix
converter such as a sinusoidal input current and unity power-factor operation
at input irrespective of the load power factor. However, the output-voltage
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magnitude is found to be limited to 76.2% of the input-voltage magnitude in

the linear modulation region. This is the limitation associated with this type of
ac–ac converter.

Multilevel voltage-source converter topologies are widely used

today in high-power applications such as medium voltage drives. On the other
hand, studies on matrix converters have been mainly limited to the low power
range. With the intention to combine benefits from both multilevel structure
and direct power conversion, Jiacheng Wang et al (2012) investigated the
topologies and operating principles of Multi Modular Matrix Converter
(MMMC). Composed of three-phase-to-single-phase MC (3×2 MC) modules,
two versions of MMMC are presented and studied. Modulation schemes to
synthesize sinusoidal waveforms on both input and output sides of the
converters are elaborated. Having features such as modular design, relatively
low switching frequency and capability of using low-voltage power
semiconductor devices, the presented MMMC is intended for possible use in
higher power applications where four-quadrant operation and fast dynamic
response are expected.

1.2.2 Modulation Algorithms of Matrix Converter

Basic configuration of Direct Matrix Converter (DMC) without dc

link energy storage elements and a conversion technique named as Venturini
algorithm to produce a variable frequency sine wave output from the fixed
frequency sine wave input was proposed by (Venturini 1980), with a
limitation on voltage transfer ratio of 0.5 and a restriction in the input power
factor control. An enhanced modulation method for DMC which can produce
optimum voltage transfer ratio of 0.866 was presented by Alesina and
Venturini (1989). In Venturini method, for a given set of three-phase input
voltages, a desired set of three-phase output voltages can be synthesized by
sequential piecewise sampling of the input waveforms. The duration of each
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sample is derived mathematically to ensure that the average value of the

actual output waveform within each sampling cycle tracks the required output
waveforms.

Roy and April (1989) presented a new scalar control algorithm for
the operation of direct frequency changers which are a type of cycloconverter
allowing direct AC to AC power conversion without any energy storage
device within the power stage. The method uses the instantaneous voltage
ratio of specific input voltage to generate the active and zero states of the
various switches. The maximum voltage transfer ratio is obtained in this
algorithm with any power displacement factor independent of load power
factor. The algorithm allows full control over voltage and frequency at the
output port. However, on the input side little effect on frequency spectrum of
both output voltage and input current.

Huber and Borojevic (1989) proposed indirect space vector

modulation for matrix converter. This technique is based on the space vector
representation of voltages in complex plane using six active output voltage
space vectors with varying amplitudes and a null vector. The technique
resembles the rectifier and inverter concept with an imaginary dc link matrix
converter. The same Space Vector Modulation (SVM) technique with
additional features of power factor control including unity power factor was
presented by Huber and Borojevic (1995). The direct space vector modulation
technique without imaginary dc link was proposed by Casadei et al (1993) in
which the input power factor control is made easy without significant
additional calculations.

Casadei et al (2002) proposed a novel representation of the switch

state of a three-phase to three-phase matrix converter. This technique
achieved the highest voltage transfer ratio and optimized the switching pattern
through a suitable use of the zero configurations. Fang Gao and Iravani
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(2007) presented a dynamic model of space vector modulated matrix

converter. Hamouda et al (2011) presented a Real-time implementation
method of SVM algorithms for an indirect matrix converter using Digital
Signal Processor (DSP) based controller and Field Programmable Gate Array
(FPGA) logic.

Since the inception of matrix converter concept, various modulation

schemes have been proposed for its control. The explanation of matrix
converter operation is complex, and so is the control methodology of it. In
their paper Mohapatra et al (2005) presented a 3-phase to 3-phase matrix
converter which is explained from the point of view of multi-level inverter
topology, and a novel modulation scheme is proposed where the need for
sector information and corresponding look-up tables are avoided

Young-Doo Yoon and (Seung-Ki Sul 2006) presented a carrier-

based modulation method for matrix converter. By using the offset voltage
and changing the slope of carrier, the desired output voltages are synthesized
with sinusoidal input currents and unity power factor. Carrier-based
modulation method can be implemented easily without any look up tables.
Thuta et al (2008) presented a comprehensive solution for over-modulation of
direct matrix converter using carrier- based control. Over modulation
operation increases the output voltage transfer ratio. The Total Harmonic
Distortion (THD) of the output voltages and input currents are presented for
all over- modulation operating modes.

Although the modulation of AC–AC matrix converters using space

vector theory has long been established, their carrier based modulation
principles have only recently attracted some attention. Reasons commonly
stated for evaluating the carrier-based alternative include simpler converter
control because of its inherent auto sequencing process, and easier
implementation using fast on-chip timers embedded in most modern digital
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signal processors. For guaranteeing the latter two features, correct digital
sampling instants and state sequence reversal must be chosen appropriately.
Digital carrier modulation scheme was proposed by Poh Chiang Loh et al
(2009) for controlling conventional and indirect matrix converters with
minimized semiconductor commutation count and smooth sextant transitions
with no erroneous states produced. For ensuring their smooth operations,
sampling-related complications are analyzed, and suitable sampling instants
are identified. Specifically, for the indirect matrix converter topology, where
only a single carrier orientation is used for the full reference cycle, sampling
at the carrier troughs is recommended since it avoids multiphase switching. In
contrast, peak sampling is noted to give a lower commutation count for the
conventional matrix converter, which uses alternate carrier orientations. In
spite of that difference, both converters when controlled using the same
generic modulator are expected to produce similar input and output
waveforms so long as the appropriate sampling sequence is digitally
programmed to the microprocessor.

Zbigniew Fedyczak and Pawel Szczesniak (2012) dealt with three-

phase Matrix-Reactance Frequency Converter (MRFC). Their topologies are
based on unipolar PWM AC Matrix-Reactance Chopper (MRC). In the
discussed MRFC, the voltage matrix converter or current MC is used for
electrical energy transfer instead of the source or load synchronous connected
switches. As a result both a frequency change and the buck-boost voltage
conversion are possible. It is important that electrical energy storage in the
passive elements used in MRFC is equal to zero in an AC voltage period,
therefore these converters can be treated as ones without DC storage.

1.2.3 Speed Control Techniques of Induction Motor Drives

For many years, induction motors, particularly squirrel cage motors,

have been preferred for a variety of applications because of their robust and
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rugged construction. Until a few years ago, conventional scalar control

techniques with fixed frequency and constant v/f ratio control methods were
used for speed control applications in induction motors. In variable speed
drives, both methods have serious drawbacks in the areas of efficiency,
reliability, Electro Magnetic Interference (EMI) and dynamic performance.
By using advanced controller and with an accurate induction motor model, the
development of highly reliable and accurate variable speed motor drives
becomes possible. With the advent of Field-Oriented Control (FOC) schemes,
induction motors are made to operate like separately excited dc motors. The
indirect field oriented control or vector control is used for speed and torque
controlled AC drives so that they are becoming the industry standard in order
to obtain high dynamic motor performance.

Vector control technique was initially proposed by (Blaschke 1972).

Kazerani and Ooi (1995) demonstrated that by transforming both sides of the
matrix converter to the d-q-o frames of their respective frequencies, there is
significant simplification in the transformation matrix which enabled the
network of one side to be integrated to the other. Thus, it is possible to design
for operation with field vector control on the motor side and unity
displacement factor on the supply side. Sunter and Clare (1996) presented a
true four quadrant matrix converter induction motor drive with servo
performance. This paper describes the development of high performance
vector controlled induction motor servo drive with true four-quadrant
capability employing a matrix converter power circuit. The advantages of this
system over the conventional rectifier-inverter arrangement are the capability
for regeneration into the utility grid, sinusoidal supply currents and minimum
passive components.

There have been several strategies proposed for ac machine current

control. Some well-known and simple methods are hysteresis control, stator-
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frame proportional integral (PI) control and synchronous-frame Proportional

Integral (PI) control. Of these, the last has been acknowledged as being
superior, as, unlike hysteresis control, it allows a fixed switching frequency
and, unlike stator-frame PI control, it yields zero control error at steady state.
Lennart Harnefors and Hans-Peter Nee (1998) presented a model based
current control of AC machines using the Internal Model Control (IMC)
method. The effective set point tracking capability of model based controller
was verified to permanent magnet synchronous motor. A Permanent Magnet
Synchronous Machine (PMSM) is the working example. The main benefits of
IMC are Synchronous-frame PI or PI-type current controllers are obtained
here and the controller parameters, namely gain and integration time are
expressed directly in certain machine parameters and the desired closed-loop
bandwidth. This simplifies the design procedure, and trial-and-error steps are
avoided. Another benefit is that the cross coupling which exists between the d
and q components of the stator voltage and current in synchronous
coordinates can be compensated for easily. For standard synchronous-frame
PI control, this cross coupling has the following effect. When the setpoint for
iq is changed, a transient error in id results, since the PI controllers work in
two single loops and are capable of suppressing the cross coupling only at
steady state.

Altun and Sünter (2003) presented a model in Simulink, which

consists of a three-phase matrix converter, an induction motor, a field-
oriented controller and a power supply. A simplified Venturini’s modulation
algorithm is used in the simulation model. Instead of the inverter with a d.c.
link in the vector-controlled drive system, the use of the matrix converter
made the drive system capable of operating in all four-quadrant regions. It
was demonstrated that the matrix converter is capable of operating with unity
input displacement factor regardless of the load power factor at the output.
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Simulink model for the field orientation control of a three-phase

Permanent Magnet Synchronous Motor (PMSM) fed by a direct AC-AC
converter with Venturini modulation algorithm was presented by Sunter and
Altun (2004). In the field control scheme, the current and speed controllers
are designed using the Internal Model Control technique. This means that a
time-consuming design procedure is avoided and high performance PMSM is
achievable.

In electric vehicles, especially military vehicles, weight and volume

reduction are critical. Further, high-temperature operation is desirable to ease
the problem of thermal management. It is believed that the matrix converter
can have significant advantages over the traditional dc-link converter in all of
these areas since it is possible to eliminate the dc-link capacitor, especially if
an ac primary power system is used. The amount of volume saved by a matrix
converter, as opposed to a back-to-back dc-link voltage-source inverter, has
been estimated as a factor of three. The large dc-link capacitor and large input
inductors of the back-to-back inverter are replaced by small input filter
capacitors and inductors in the Matrix Converter. Space is at a premium in
military vehicles and even the most advanced systems will not be fielded if
they require too large a volume. A 150-kVA vector-controlled matrix
converter induction motor drive was proposed by (Podlesak 2005). This work
describes the design, construction and testing of a 150-kVA closed-loop
vector-controlled matrix converter induction motor drive to evaluate the
utility of the matrix converter in electric vehicle applications, primarily for
motor control. This paper has demonstrated the operation of the largest matrix
converter yet built as a closed-loop vector-controlled induction motor drive.
The converter has been fully tested over a range of operating conditions and
has performed well. The matrix converter has a number of advantages over
conventional power converter topologies when used on an ac-bus system. As
higher temperature power semiconductor switching devices such as silicon
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carbide devices become available, the technology will become a good

candidate for power conversion in applications where volume and weight are
at a premium. The system is tested only with Venturini control algorithm.

Imayavaramban et al (2006) presented a mathematical model for

matrix converter realized using mathematical expressions. A unique feature of
the mathematical model is that it requires very less computation time and less
memory compared to the power circuit realized by using actual switches. The
duty cycles of the switches are calculated using modified Venturini algorithm
for 0.5 and 0.866 voltage transfer ratios. Simulations of the matrix converter
loaded by passive RL load and active induction motor are performed. This is
followed by speed control of induction motor in open loop with constant v/f
ratio.

Pinto and Silva (2007) presented sliding mode direct control of

matrix converters.Sliding mode allows the precise determination of switching
times between the bi-directional switches, thus being appropriate to the
nonlinear ON/OFF behavior of the matrix converter power semiconductors.
As the switching occurs just in time, this technique guarantees fast response
times and precise control actions, ensuring that the output voltages and the
input currents track their references making input power factor regulation
independent of the input filter parameters.

Bachir and Bendiabdellah (2009) have compared two control

strategies for direct AC-AC matrix converters, namely the Venturini method
and the scalar control method through simulation study. The performance
comparison of the two strategies is made under unbalanced distorted torque,
rotor speed and stator current operation. If the output frequency is lower than
the supply network frequency, the choice is for the Venturini strategy and if
the output frequency is superior to the supply network frequency, the Roy’s
strategy is preferred. This is the conclusion derived.
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Vargas et al (2008) presented Predictive Current Control (PCC) that

allows the use of all valid switching states, including rotating vectors which
are not considered in most control techniques, as space vector modulation or
direct torque control for induction machines fed by Matrix Converters,
effectively controls input and output variables. However it includes high
computational efforts. The same control with increased efficiency and
reduced switching losses is presented by Vargas et al (2009). Correa et al
(2009) presented predictive current control approach, by selecting the
switching state that minimizes the reactive power and the error in the output
currents according to their reference values to indirect matrix Converter.
Predictive Current Control with Input Filter Resonance Mitigation for a Direct
Matrix Converter was presented by Rivera et al (2011).

Predictive Torque Control (PTC) of an Induction Machine Fed by a

Matrix Converter with reactive input power control which results in high-
quality control of the torque, flux and power factor with a fast dynamic
control response is proposed by Vargas et al (2010). A review was presented
by Rodriguez et al (2012) for the most popular control and modulation
strategies studied for matrix converters in the last decade to generate
sinusoidal current on the input and output sides and are compared considering
theoretical complexity and performance.

Changliang et al (2012) presented a strategy based on Internal

Model Control (IMC) and proposed for a matrix converter-based permanent
magnet synchronous machine drive system to reduce the adverse impact on
drive performance caused by nonlinear output characteristics of matrix
converter in the case of input voltage disturbance. Based on the duty-cycle
space vectors and small-signal model, the relationship between output and
input disturbances is obtained in the synchronous reference frame. Output
characteristics of matrix converter are analyzed, and practical considerations
 18

are discussed for the purpose of controller design. The results show that good
dynamic and steady-state performance on PMSM speed regulation is achieved
under the unbalanced and distorted input voltage conditions, and the
immunity of the drive system is verified to be improved.

Roberto Cárdenas et al (2012) proposed a new control system for a

4-leg Matrix Converter feeding an isolated load. Four leg MC fed from a
variable speed diesel-driven Permanent Magnet (PM) generator for wind
energy conversion systems feeding isolated loads is described. A vector
control system based on two synchronously rotating d-q axes is used to
regulate the load voltage. The frames are rotating clockwise and counter-
clockwise respectively in order to control the positive and negative sequence
of the output signals. A separate resonant controller is used to regulate the
homopolar components of the load voltage.

Improvement of the performances for Wind Energy Conversion

Systems (WECS) based on direct AC–AC matrix converter system as an
alternative to the conventional AC–DC–AC converter is investigated by
Ghedamsi and Aouzellag (2010). Simulation results obtained on the basis of
the dynamic models of the wind generator are presented for different
operating points to demonstrate the performance of the system. The overall
dynamic performance of the system shows that the MC is technically a viable
alternative to conventional AC–DC– AC converter system as an interface unit
to the WECS.

1.2.4 Analysis of Matrix Converter under Distorted Input Voltage

Conditions

Apart from the advantages of matrix converter as compared to

voltage or current dc link converters, its output characteristics are affected by
the disturbances in line side voltage because of its direct voltage transfer
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characteristics without any energy storage elements in the dc link. Analysis of

matrix converter performance against distorted input voltage conditions
certainly derives some important conclusions. The following features should
be satisfied by the modulation algorithms of matrix converter, so that it can be
used in variable speed applications.

x It should provide independent control of the generated output

voltages.

x It should give sinusoidal input currents with adjustable phase

shift.

x It should achieve the maximum possible range of output

voltage to input voltage transfer ratio.

x It should satisfy the conflicting requirements of minimum

lower order harmonics and minimum switching losses.

x It should be computationally efficient.

Zhang et al (1998) contrast two control strategies for direct AC-AC

matrix power converters, namely the Venturini method and the SVM method.
However, owing to completely different design approaches, the two
algorithms give distinctly different performances with regard to operation in
unbalanced and/or distorted supply voltage conditions, output voltage and
input current harmonics and converter power loss. Comparison of the relative
performances is made with regard to operation under unbalanced/distorted
supply voltage, output voltage and input current harmonics and power
converter losses. Following conclusions were derived from the analysis. In the
SVM technique distorted and/or unbalanced three phase input voltages cause
the magnitudes of the stationary voltage vectors to deviate from their normal
balanced values. Such deviations, however, are not compensated when
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calculating the vector duty cycles. Consequently, the desired sinusoidal output
voltages are not accurately synthesized, resulting in unbalanced and/or
distorted output currents. This has an immediate effect on the input current
synthesis in that the input currents are not non-sinusoidal. In the Venturini
control method, imbalance and/or distortion in the supply voltages can be
compensated by using sampled input voltages to calculate the switch duty
cycles. The Venturini method itself can compensate input voltage imbalance
and/or distortion and gives slightly superior performance in terms of input
current and output voltage harmonics. However, the SVM method uses a
simpler method to control the input power factor and involves lower
switching losses.

Zhang et al (2001) proposed a novel modulation algorithm for direct

AC-AC matrix converters. The algorithm is based on the same procedure as
the well- known Venturini method but taking the measured input voltage into
consideration. The technique enables, generating balanced output voltages
when input voltages are unbalanced and preventing the input voltage
harmonics from propagating onto the output line to line voltages. The
derivation of the computational formula is described. There is, however, an
important issue to be noted. Although the above modified formula results in
sinusoidal line to line output voltages under distorted and/or unbalanced
supply, it will generate distorted input currents. This is the typical outcome of
a direct AC-AC converter due to the absence of energy storage components.
In addition this formula can only be used for unity power factor load current.

A detailed theoretical analysis of the input current harmonic content

under unbalanced input voltage conditions is presented for two different
current modulation strategies for matrix converters controlled using the SVM
technique by Blaabjerg et al (2000). Klumpner and Blaabjerg (2002) have
presented a new ride-through strategy applied to direct frequency converters.
 21

During the ride-through operation, the drive is not able to develop torque or
control the motor flux. By recovering the necessary power to feed the control
hardware of the matrix converter, it is able to keep the Adjustable Speed
Drives (ASD) operating. When normal grid conditions are reestablished, the
matrix converter is able to accelerate the motor from non-zero speed and flux
by initializing the modulator with the estimated frequency and the initial
angle of the reference output voltage vector. The maximum duration of the
ride-through operation depends on the initial motor flux, speed level, rotor
time constant, load torque and inertia. The scalar control technique is applied
to the motor.

The behavior of the matrix converter drive under abnormal input

line voltage conditions has been investigated by Jun-Koo Kang et al (2002).
Displacement angle control technique to eliminate the input current distortion
due to the input voltage imbalance that improves the input current waveform
quality without output performance degradation has been developed. The
power line failure behavior has also been investigated and the rapid re-starting
capability of the matrix converter drive has been demonstrated. However, the
drive performance is tested with open loop control of induction motor and
closed loop performance is not considered.

Klumpner and Blaabjerg (2004) proposed a new method to provide

short-term braking capability during power outage in matrix converters. A
braking chopper is needed in the clamp circuit, which allows for a drastic
reduction of capacitor size. The power flow in the clamp circuit may be
reduced by increasing the harmonic content in the motor currents, which
causes higher motor losses. Helle et al (2004) presented a method to evaluate
four different modulation strategies, all based on the direct space-vector
modulation approach. The evaluation method addresses important modulator
characteristics such as the output waveform quality, the input waveform
 22

quality and the switching losses associated with the modulation schemes. This
new modulation approach is applicable whenever the output voltage reference
is below half the input voltage and the output voltage quality is then superior
to that of the conventional space vector modulation scheme. The output
voltage of the proposed scheme turns out to be comparable to the best of the
conventional schemes, while the input current is more distorted.

Wheeler et al (2008) quantified the extra harmonic losses in an

induction motor that are associated with the use of matrix converter based
motor drive. These extra losses are compared to the harmonic losses
associated with an inverter-based motor drive. The technique employed in the
determination of the harmonic losses is described. For the matrix converter,
the extra harmonic losses associated with two commonly used modulation
techniques are calculated and compared. The extra harmonic loss due to
PWM supplies is significantly less than the other losses for switching
frequencies above 6 kHz, and minimal de-rating is required. However, the
extra harmonic loss and consequently the overall drive efficiency are affected
by the choice of modulation technique.

Matrix converter is an energy conversion device which directly

connects a three-phase voltage source to a three-phase load without dc-link
components. Therefore, the output of the matrix converter is directly affected
by the disturbance or imbalance in the input voltages. Many researchers have
made an effort to overcome this problem in recent years. The behaviors of the
matrix converter controlled with the optimum-amplitude Venturini method
are investigated and a novel compensation technique based on Fuzzy Logic
Controller (FLC) is proposed by Hulusi Karaca and Ramazan Akkaya (2011)
to eliminate the undesirable influences of the input voltage under the distorted
input voltage conditions. The proposed technique is based on closed loop
control of the three-phase output current to enhance the output performance of
 23

the matrix converter. An FLC based novel compensation technique which

performs closed loop control of the output current has been proposed to
improve the output performance of the MC.

Xingwei Wang et al (2012) have presented a modified space vector

modulation strategy for matrix converter under the abnormal input-voltage
conditions, in terms of imbalance, harmonics and surge. By using the
instantaneous magnitude and phase of input-voltage vector to calculate the
voltage modulation index and input-current phase angle, this modified
modulation strategy eliminates the influence of the abnormal input voltages
on output side without an additional control circuit, and three-phase
sinusoidal symmetrical voltages or currents are obtained under normal and
abnormal input-voltage conditions. The performance of the input current was
analyzed with different modulation strategies.

1.2.5 Compensation Strategy of Matrix Converter with Input Voltage

Disturbance

Matrix converter output characteristics are sensitive to distorted and

unbalanced input voltage conditions because of the absence of energy storage
elements. Researchers proposed some compensation methods to solve this
technical issue. However, deeper research is sought to solve this technical
issue.

Two control strategies of the input current displacement angle are

presented and compared by Casadei et al (1998) in order to emphasize their
influence on the input current harmonic content. The first one is based on
keeping the input current vector in phase with the input voltage vector. In the
second one, the input current displacement angle is dynamically modulated as
a function of positive and negative sequence components of the input
voltages. In both cases, the harmonic content and the three-phase rms value of
 24

the input current have been evaluated analytically. The input current harmonic
spectrum is quite different for the two control strategies and can be related to
the input and output imbalance. It has been verified that in the usual case of
balanced output conditions, using the second method, it is possible to
eliminate the harmonic components of the input current. Further comparisons
between different input current modulation strategies are under investigation,
in order to improve the input current quality.

A detailed theoretical analysis of the input current harmonic content

under unbalanced input voltage conditions is presented by Blaabjerg et al
(2002) for two different current modulation strategies. It is concluded that
when the input voltages are unbalanced to a significant extent, a dynamic
input current modulation strategy has to be preferred, since a lower order
harmonic line current distortion will appear.

Many of the existing algorithms for the matrix converter are

formulated in a way that makes their practical incorporation into the closed-
loop control scheme difficult. Since these algorithms make assumptions about
the input voltage for generating the switching actuation signals, it is not
possible to compensate the input voltage variations, which result in incorrect
voltage waveforms being applied to the load. Sünter et al (2002) proposed a
control technique for compensating the effects of input voltage variations on
matrix converter modulation algorithms.

Sun et al (2004) investigated the behaviors of MC drive under

abnormal input voltage conditions, in terms of imbalance, non-sinusoidal and
short-time voltage sag. A feedback compensation method based on closed
loop control of output current is proposed to improve the output performance
of MC. In addition, a feed-forward compensation method by measuring
instantaneous values of input voltage is developed to compensate the output
 25

voltages of MC and ensure the drive performance of induction motor under

abnormal input voltage conditions.

Casadei et al (2005) proposed three different strategies for matrix

converter to analyze the input power quality based on space vector
modulation algorithm. A general approach based on a linearized analysis is
employed in order to determine the matrix converter performance in terms of
input-current quality. Considering input disturbances such as voltage
imbalance and voltage distortion as a linear deviation from the fundamental
harmonic component, it is possible to evaluate analytically the input-current
harmonic content. It is emphasized that the input current frequency spectrum
is affected by the input-current modulation strategy employed and it is
concluded that by using an optimal dynamic modulation strategy, it is
possible to minimize the input-current harmonic content.

Luo and Pan (2006) proposed Sub Envelope Modulation (SEM)

method to reduce THD of matrix converters effectively. Arias et al (2007)
described the origin of distortion effects for a matrix converter with current
sign-based commutation and gave a novel approach to the method that can, in
principle, eliminate the distorting effects to give a power converter having
excellent linear behavior. The effectiveness of compensation techniques are
illustrated for both an open-loop matrix converter driving a passive load and a
matrix converter as part of a vector-controlled drive. The Instantaneous
Effective Power Control (IEPC) method has been proposed to compensate the
input voltage disturbances by Sato et al (2007), in which the instantaneous
effective power is kept constant by controlling input current. A model of the
system with the IEPC is developed and stability analysis is conducted. Then,
based on the results of the analysis, a stability control method for the system
with the IEPC is proposed.
 26

Performance of MC fed induction motor drive under various

abnormal voltage conditions like unbalanced power supply, balanced non-
sinusoidal power supply, input voltage sags and short time blackout of power
supply is analyzed practically by Vinod Kumar et al (2008). These abnormal
conditions of input power supply have a great influence on the input/output
performance of induction motor drives. However, high performance of MC
fed induction motor drive could be obtained over a wide operating range, if
some compensation techniques are used in abnormal input voltage conditions.

Casadei et al (2009) focused on the current quality of matrix

converter controlled by space vector modulation feeding inductive loads. The
analysis carried out in this paper leads to the determination of the optimal use
of zero vectors which are the switching patterns leading to the minimum rms
value of the load current ripple. The optimization of the switching pattern is
based on the graphical analysis of the loci described by the ripple of the
current vector in the alpha- beta reference frame. As a result, a set of
analytical relationships that allow the online calculation of the duty cycles of
the zero vectors is presented.

The stability of induction motor drive system fed by MC would be

affected by sudden load change due to the direct conversion characteristic of
MC, and the drive performance of induction motor is easy to be influenced by
input voltage disturbances of the MC. A second order nonlinear robust auto
disturbance rejection controller is applied to the MC fed induction motor
drive system by Yang Mei and Lipei Huang (2009), taking the place of PI
controller. In the drive system, the effects of external disturbance and model
internal disturbance are estimated and compensated by Auto Disturbance
Rejection Controller (ADRC). Using this controller, the anti-disturbance
capability of the drive system under abnormal input voltage conditions is
enhanced. In addition, the dynamic performances of induction motor drive are
 27

also improved, such as fast responses of speed change and load torque
change. Hulusi Karaca and Ramazan Akkaya (2009) presented a closed loop
control method using PI controller based compensation to prevent the
negative effects of input current and output voltage harmonics under distorted
input voltage conditions and to improve the performance of matrix converter.

Ebrahim Babaei et al (2010) developed modulation strategies for

single-phase AC-AC matrix converters. These are named positive, negative
and combined switching strategies. Reduction of lower order input and output
current harmonics with sinusoidal output voltages is achieved using the
proposed switching strategies. Furthermore, THD is reduced significantly.
Using the combined switching strategy, some of the harmonics of the input
and output currents and the output voltage near the fundamental can be
eliminated. Reduction of more than 50% in the dc component of the quantities
at input and output sides is another advantage of the combined switching
strategy.

In order to improve the robustness and anti-interference ability of

induction motor variable frequency speed control system, a Modified Internal
Model Control (MIMC) method based on Neural Network Generalized
Inverse (NNGI) was proposed by Guohai et al (2010). On the basis of
reversibility analysis of original system, the generalized inverse model
approximated by the dynamical Back Propagation (BP) neural network was
cascaded with the original system. Based on the idea of NNGI, linearization
and open-loop stability of system can be reached, which benefits the
integration of control system. Then the robust stability can be improved by
introducing MIMC method to generalized pseudo-linear system.

Purna et al (2010) presented a robust internal model control strategy

based PID controller for BLDC Motor. All the closed loop control system
requires the controller for improvement of transient response of the system.
 28

Though the tuning of PID controller in real time is a little bit difficult, it lacks
the disturbance rejection capability. The advantages of internal model control
strategy based PID Controller is well described. The mathematical model of
Brush Less Direct Current (BLDC) motor is presented for control design. In
addition, the robustness of the control strategy is discussed. The proposed
control strategy possesses good transient responses and good load disturbance
response. In addition, the proposed control strategy possesses good tracking
ability.

Three decades of intensive research is in progress in the area of

Matrix Converters. Through the continuous research and development efforts,
Yaskawa Electric Corporation has commercialized low voltage and medium
voltage Matrix Converters. Three typical applications of Matrix Converter
were introduced along with related technology that helped achieve desired
results for each application. The application of Matrix Converter is still
expanding to other fields in industry. However, market penetration is very
less. Authors are continuing their efforts in improving performance and
expanding the product lineup. The performance of Matrix Converter is
adversely affected under distorted input voltage conditions because of its
direct transfer characteristics without dc link energy storage elements. Internal
Model Control based current and speed controllers can effectively reject the
input voltage disturbances. Internal Model Control based Matrix Converter
fed PMSM, BLDC motor and Induction motor with open loop v/f control are
addressed in literatures. In this research work, a compensation strategy for
Matrix Converter fed vector controlled induction motor under input voltage
distortions using Internal Model Control method is presented.

1.3 OBJECTIVES OF THE RESEARCH

To create a mathematical model of matrix converter and three

modulation algorithms to reduce the computation time during simulation.
 29

To estimate performance parameters such as, output voltage

harmonics and THD of output voltage and then derive a comparison between
different modulation algorithms to select the better alternative for the
performance improvement of induction motor drives. Also, to analyze the
steady state and dynamic performance of matrix converter fed induction
motor with different modulation algorithms in open loop.

To create dynamic d-q model of induction motor in

Matlab/Simulink and write necessary equations in m-file to load the initial
conditions. Estimation of PI controller parameters through Bode Plot of open
loop transfer function of the system.

To apply vector control technique to induction motor using PI

controller and analyze the steady state and dynamic performance of induction
motor fed with matrix converter in terms of peak overshoot, settling time,
disturbance rejection and torque ripple minimization, with different reference
speeds and load torques. Also, to verify the capability of matrix converter fed
induction motor operation in four quadrants and to check the compatibility of
induction motor operation in induction generator mode.

To estimate the parameters of the proposed IMC based speed and

current controllers to implement in matrix converter fed vector controlled
induction motor drive. Also, to analyze and compare the steady state and
dynamic performance of induction motor fed with matrix converter using
IMC based controller in terms of peak overshoot, settling time, disturbance
rejection and torque ripple minimization, with PI controller performance
through four quadrant operations.

To model matrix converter modulation algorithm under supply

voltage disturbances such as, input voltage imbalance, presence of lower
order harmonics and voltage sag to check the controller capability of rejecting
 30

input voltage disturbances. Also, to analyze and compare the performance of

the proposed IMC based control method in rejecting the input voltage
disturbances with conventional PI controller.

1.4 ORGANIZATION OF THE THESIS

This thesis is composed of seven chapters. Overall organization of

the rest of the thesis is as follows.

In Chapter 2 different topologies of matrix converter and

modulation algorithms are reviewed. Mathematical modeling and analysis of
direct AC-AC matrix converter and three popular modulation algorithms are
carried out. Matrix converter performance parameters are evaluated and
compared with three algorithms to choose the best one for an induction motor
application. In Chapter 3, open loop dynamic performance of induction
motor fed with matrix converter using three modulation algorithms is verified
through simulation.

Solid state speed control techniques of induction motor are

described in Chapter 4. Dynamic d-q model of induction motor is presented.
Field orientation principle or vector control technique with PI controller is
applied to induction motor to control the flux and torque producing
components of stator current separately without affecting the other. The
steady state and dynamic performance of matrix converter fed vector
controlled induction motor is verified and analyzed through simulation.

Chapter 5 evaluates the load disturbance rejection capability of the

proposed controller to matrix converter fed induction motor drive. Parameter
estimation of internal model based current and speed controllers are
described. Motor performance against speed and torque perturbations is
 31

analyzed. Four quadrant operations of induction motor with the proposed

controller is verified and compared with PI controller.

Chapter 6 describes the disturbance rejection capability of the

proposed IMC based controller under input voltage disturbances in matrix
converter. A comparative analysis on the steady state and dynamic
performance of MC fed induction motor with IMC based controller and PI
controller is presented to prove the effectiveness of the proposed controller.

In Chapter 7, a summary of research outcome and future research

directions in this area of work are presented.