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1, JANUARY 1996
(5)
Manuscript received November 1, 1993; revised August 21, 1995. In (4) and (5), p represents one of the phases a, b, or e. Defining
The author is with the Department of Electrical and Electronic Engineering, the current space vector as
Eastem Mediterranean University, G. Magosa, Turkey.
Publisher Item Identifier S 0885-8993(96)00591-1. 1 = ia + s i b + s2iC. (6)
0885-8993/96$05.00 0 1996 IEEE
KUKRER DEADBEAT CONTROL OF THREE-PHASE INVERTER WITH OUTPUT LC FILTER 17
Now, let
t” + AX(k )
X( k ) = X* ( k ) (13)
V(k) = V*(k) + AV(k) (14)
where x*(k) and V*(k) are reference vectors for the state
and voltage vectors, respectively, at the kth sampling instant.
Substituting (13) and (14) in (12) gives
v = L-dI
at
+v, (7) AV(k) = -KAx(k) K = [kl k2]
I = c-dVC
dt
+IL. (8) then, the closed-loop state equation becomes
Equations (7)and (8) can be put into the following matrix Ax(k + 1) = (A - bK)Ax(k).
form:
The closed-loop system matrix is
dx
-= F x + G V + H I L (9)
where x = [V,
transpose. In (9)
dt
IIT is the state vector and T denotes
A-bK=
[aa21l l - blkl
- bzk1
a12 - b1kz
a22 - b2kz I.
The characteristic equation of the system in (19) is
F = [-Oi a]
1
G= [;] .I:-[
H=
1
(10) IsU - ( A - bK)I = s2 + + ,6
QS
IV. THE REFERENCEVECTOR Following the same procedure for the no-load case, one obtains
the following gains for the deadbeat controller:
In order to implement the control law in (14) and (18),
the reference for the inverter voltage vector (V*( k ) ) must be 1
evaluated. Now, since the controlled variable is the capacitor k: = -[(a’,,b’,
D - a:lb’,)(a:l + uk2)+ bk] (30a)
voltage vector Vc,the reference for this vector is to be 1
specified. Then, the references for the inverter voltage and ki = 5[(&b’, - 42b;)(ail + ~122) + b’,] (30b)
current vectors, V* and I*, can be obtained from (16). For
where
sinusoidal variations
Tq vj
- ...-...---*-......*
....
Fig. 3. Voltage vector V(k) in the sector between V, and V,. Fig. 4. Region of synthesizable voltage vectors (shaded area).
In (39) XC = --&
= XL. In (37) we require that the change
from (42) as
in the capacitor voltage AVc be zero for deadbeat control.
Using (38) and (39)
(43)
AVc(k + 2 ) = bl(AV‘(k)+ AV’(k+ 1))
(44)
where
- (Xcsin(B,))IL(k + 1)= 0. (40)
The correction term in the manipulated inverter voltage At, = Vjqvid - Vjdvzq.
vector is thus updated according to
The duration of the zero vector (V7 or V , ) is then
A V Q + 1) = -AVl(k) + (xccot(e,))IL(k) To = T - Ti - T2 (45)
+ (Xccot($))IL(k+ 1). (41) which is usually split into two [7]. This means that the
zero vector is applied for equal durations of T0/2 at the
beginning and at the end of a sampling period. The case
VII.PwM APPROXIMATION OF THE VOLTAGE VECTOR v ( k )
TI + T2 > T means that V ( k )cannot be synthesized with
The inverter voltage vector V ( k )demanded by the control the available inverter voltage vectors in the sampling interval
algorithm in (14) is an arbitrary complex quantity and hence T (overmodulation). It can be easily shown that
cannot be generated by the inverter. Therefore, it must be
approximated by the available voltage vectors V , , m =
1,. ,8. One approach is to transform the d- and q-axis
+ +
TI + T2 = - (
2 v )sin(
J3z f - +)T (46)
components, v d ( k ) and V q( k ) to three-phase and generate
the switching functions by comparison with a triangular carrier
+
where is defined in Fig. 4. The condition that V ( k )can be
synthesized is then
signal synchronized with the control sampling. A second
approach is to obtain directly the inverter switching functions
using the space vector modulation technique [5]-[7], which is
briefly described below. This approach is simpler to implement
:(
Vsin - - 4
F
) 5 -E. (47)
than the first one and is the approach used here. Equation (47) defines a region of synthesizable voltage vectors
Fig. 3 shows a voltage vector V (k ) in the sector defined by in the sector between Vi and V j , as shown in Fig. 4. Using
V , and V j ,which are two consecutive nonzero vectors of the (46) it can be shown that the scaling of the durations TI and
inverter ( j = i + 1).The vector V ( k )can be synthesized with T2 given in (48) scales the magnitude of the vector V to a
the inverter voltage vectors as point on the boundary in Fig. 4
In (42) Tl and T2 are the durations of the inverter voltage It should be pointed out that, in case the inverter switches
vectors V , and V , , respectively, which can be solved for can operate at frequencies much higher than the control
20 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 11 NO. 1, JANUARY 1996
-110-
-130- I::: -150
0
,
0.005
,
0.01
,
0.015 0.02
, ,
0.025 0.03
, ,
0.035 0 I4
time ( s )
(a)
-501 \
-100
-2004
-250 -200 -150 -100 -50 0 50 100 150 200
I
250
-2004
-250 -200 -150 -100 -50 0 50 100 150 200
I
250
v,, (VI
(b)
Fig. 5. (a) Phase A capacitor voltage ( ~ c and
, ~its) sinusoidal reference at Fig. 6. (a) Phase A capacitor voltage ( O C , ~ ) and its reference with resistive
no-load. (b) Corresponding capacitor voltage vector. load (Ro = 4 CL). (b) Corresponding capacitor voltage vector.
The effect the filter parameters and the sampling time would
sampling frequency, the sequence of the inverter vectors as
have on the performance of the system is a problem that needs
determined above can be applied more than once in a sampling
a separate study. Here, representative values have been chosen
interval. In that case, the durations given above should be
which are: L = 0.91171 mH, C = 1000 pF, and T = U1500 s,
scaled accordingly.
resulting in the sampling angle Os = 40" for all the cases
studied. The dc input voltage of the inverter is E = 250 V.
VIII. COMPUTER RESULTS
SIMULATION Computation of the responses are started by initializing all
variables to zero and then applying the reference voltage vector
The proposed deadbeat control strategy has been simulated as a step at t = 0.
for various operating conditions. In computing the responses Fig. 5(a) shows phase A capacitor voltage ( v c , ~and ) its
of the output voltage, the following assumptions have been sinusoidal reference ( w ; , ~ ) at no load. In Fig. 5(b), the ca-
made: pacitor voltage vector is shown for this case. It can be
1) There is no time delay between sampling and the imple- observed that the capacitor voltage is nearly sinusoidal with
mentation of control, caused by the control calculations. negligible distortion. Fig. 6(a) shows the capacitor voltage
Such a delay would arise in a practical application. ( w c , with
~ ) a resistive load of Ro = 4 0 per phase-Y, and
2) The load current is constant in a sampling interval. This Fig. 6(b) shows the corresponding voltage vector. With this
assumption is valid if the control sampling frequency load resistance, the damping ratio in (29) is [ = 0.12. Note that
is much higher than the operating frequency of the the response of load voltage is similar to the no-load case, with
inverter. This assumption has been made to facilitate slightly increased deviation from the reference wave. A case of
the computations for any load current waveshape. particular importance arises when the load resistance deviates
KUKRER DEADBEAT CONTROL OF THREE-PHASE INVERTER WITH OUTPUT LC FILTER 21
-150 - 500
-1 0.005 I 0.01 0.015 3 0.02 0.025 O0.03 0.035 C4
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 I4
time ( s ) time ( s )
(a)
Fig. 7. Phase A capacitor voltage with load resistance Ro = 3 0.
200,
1
“‘ 50-
(VI100-
50-
0-
-50-
-110-
-130- -200
- -250 -200 -150
I -100 -50 5 0 50 100
O 150 200 2i
I
v,, (VI
(b)
Fig. 9. (a) Phase A capacitor voltage and its reference with a three-phaserec-
tifier load (3-ph quasi-square-wave load current). (b) Corresponding capacitor
voltage vector.
from the nominal value used for gain and reference vector
calculations. In this case the poles of the system shift away
from origin. Simulations show that the system stays stable for
22 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 11 NO. 1, JANUARY 1996
7" I
' 1
30
10
r-l l-i 0
-301
-501
-404
0 0.005 0.01 0.015 0.02 . 0.025 0.03 0.035
I
0.04
-loo-!
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
1
time ( s ) time ( s )
Fig. 10. The quasi-square-waveload current used for the responses in Fig. 9. (a)
IX. CONCLUSION
A new deadbeat control strategy for a three-phase inverter -501
-1004 I
with an output LC filter is developed based on space vec- 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
tors. The mathematical model of the system is seen to be time ( s )
greatly simplified compared with a formulation in the rotating
reference frame, rendering the design of the control system Fig. 11. (a) Inverter current at no-load. (b) Inverter current for the resistive
easy. It is shown that deadbeat control of output voltage can load (Eo = 4 Q). (c) Inverter current for the 20 A (amplitude) load.
be achieved in two control steps ideally at no-load or with
resistive load, if the computed inverter voltage vector can be
exactly generated. However, because of the PWM approxi- results at the end of a sampling interval. The assumption that
mation used to synthesize the demanded voltage vector, a the load current is constant between sampling instants also
slight error between reference and controlled capacitor voltage introduces some error.
KUKRER: DEADBEAT CONTROL OF THREE-PHASE INVERTER WITH OUTPUT LC FILTER 23
::r
-80
-60
-1004
0
.”” ,
0.02 0.04 0.06
V ‘
0.08 0.1
time ( s )
(a)
0.12
V