AC-DC-AC Converter with Induction Machine-modeling and

Implementation on Floating Point DSP as a Cost Effective Interface

for Renewable Energy Applications
M. Jasinski, G. Wrona and M. P. Kazmierkowski
Warsaw University of Technology, Institute of Control & Industrial Electronics, ul. Koszykowa 75, 00-662 Warszawa,
E-mail Poland, tel. (48) 22 628 06 65. fax (48) 625 66 33, e-mail: mja@isep.pw.edu.pl, wronag@ee.pw.edu.pl, mpk@isep.pw.edu.pl.

Abstract- The paper presents advanced vector control system for AC- The Up voltage is controllable and depends on switching signals
DC-AC converter operating as grid interface for renewable energy pattern and DC-link voltage level. Thanks to control magnitude and
systems. The control method is based on Direct Torque Control with
Space Vector Modulation (DTC-SVM) for Machine Side Converter phase of the Up voltage, the line current can be controlled by
(MSC) and Direct Power Control with Space Vector Modulation (DPC- changing the voltage drop on the input choke - Ui . Therefore,
SVM) for Line Side Converter (LSC). The whole control and protection inductances between grid and AC side of the LSC are indispensable.
system has been implemented on cost effective floating point DSP They create a current source and provide boost feature of the LSC.
microcontroller TMS320F28335. Simulation and experimental results Through controlling the converter AC side voltage in its phase and
which illustrate steady state and dynamic properties of the developed
system obtained from the 3kW laboratory model are given. amplitude, Up the phase and amplitude of the line current vector IL is
controlled indirectly.
INTRODUCTION
Recently, in control of power electronic converters new and more
complex algorithms require more and more computing power. Also,
advances in power semiconductor technology allows to use higher
switching frequency. This leads to requirement of high-speed Digital
Signal Processors (DSP). One of them is floating point
microcontroller TMS320F28335 from Texas Instrument. This
system combines sophisticated peripherals which are typical for
microcontrollers and high computing power characteristic for DSPs.
The main advantage of this DSP controller is ability to operate on
floating point numbers without having to use additional libraries [5].
In this paper Direct Torque Control (DTC) for machine side
converter and Direct Power Control (DPC) for line side converter
are presented. Instead of hysteresis controllers used in the
conventional schemes [8] in this work linear PI controllers with Fig. 1. Line side converter (LSC) topology: a) three phase system; b)
single phase equivalent
Space Vector Modulators (SVM) are implemented [9]. This
eliminates the fundamental drawback of hysteresis controllers, a
variable switching frequency, and also facilitate their RI L

implementations on digital platform. The Direct Power and Torque IL j ω LI L j ω LI L

Control with Space Vector Modulation (DPTC-SVM) algorithm is
characterized by simple structure, limited number of transformation, RI L

and good operation properties in transient and steady states. IL

In the past works [7,10,12], the DPTC-SVM control algorithm has
been implemented on fixed-point DSP/RISC. In this paper we
RI L
present implementation of this algorithm on floating point IL

microcontroller TMS320F28335.
j ω LI L j ω LI L
OPERATION OF LINE SIDE CONVERTER – LSC RI L IL

LSC can be described in different coordinate system. Basic

scheme of the LSC with AC input choke and output DC side
capacitor is shown in Fig. 1a, while Fig. 1b shows it’s single-phase
representation. Where, UL is a line voltage space vector, IL is a line
current space vector, UP is the LSC input voltage space vector, and
Ui is a space vector of voltage drop on the input (AC grid side)
choke L and it resistance R.
Fig. 2. Phasor diagrams of LSC: a,b) non unity power factor operation;
c,d) unity power factor operation
Further, in Fig. 2 are shown both motoring and regenerating
phasor diagrams of LSC. From this figure can be seen that the
magnitude of Up is higher during regeneration than in rectifying
mode. With assumption of a stiff line power (i.e., UL is a pure

978-1-4244-6392-3/10/$26.00 ©2010 IEEE 620

voltage source with zero internal impedance) terminal voltage of dΨ rK
U rK = Rr I rK + + j ( Ω K − pb Ω m ) Ψ rK , (4)
LSC Up can differ up to about 3% between motoring and dt
regenerating modes [10]. Flux-currents equations:
LSC MODEL IN STATIONARY αβ COORDINATES Ψ SK = LS I SK + LM I rK , (5)

In some studies is useful to present the LSC model in two axis Ψ rK = Lr I rK + LM I SK , (6)
coordinates. Equations, after transformation into stationary αβ And motion equation:
coordinates, can be described using the complex space vector d Ωm 1 ⎡ mS ⎤ (7)
notation as: = ⎢ pb Im ( Ψ*SK I SK ) − M L ⎥
dI dt J⎣ 2 ⎦
L L + RI L = U L − U dcS1 (1)
dt CONTROL SCHEME
dU 3 (2)
C dc = Re ⎡⎣I LS1* ⎤⎦ − I load The block diagram of control scheme for AC-DC-AC converter
dt 2 interfacing grid with induction machine (IM) is shown in Fig. 5. It
consist of two parts: IM side converter control and grid side
MACHINE SIDE CONVERTER (MSC) converter control.
Basic control methods of MSC-fed IM (see Fig. 3. and Fig. 4.) 1. Direct Torque Control with Space Vector Modulator - DTC-SVM
require a space vector based IM mathematical model, therefore short The outputs of the PI flux and torque controllers can be
description can be found in next Subsection. interpreted as the xy stator voltage components Usx, Usy in the stator
flux oriented coordinates giving the block scheme of Fig. 5. (right
side). The control strategy relies on a simplified description of the
stator voltage components, expressed in stator-flux-oriented
coordinates as:
dΨs dΨs (8)
U sx = Rs isd + ≈
dt dt
U sy = Rs isq + ω m Ψ s = k s M e + ωm Ψ s (9)
where ks = Rs /Ψs and ωs is the angular speed of the stator flux
vector. The above equations show that the component Usx has
influence only on the change of stator flux magnitude, and the
component Usy - if the term ωsΨs is decoupled – can be used for
torque adjustment. Therefore, after coordinate transformation dq/αβ
into the stationary frame, the command values Usα, Usβ are delivered
to Space Vector Modulation (SVM) block. Torque and flux are
Fig. 3. Machine Side Converter (MSC) with induction machine (IM)
calculated with the following equations:
equivalent circuit: a) three phase system; b) single phase equivalent circuit. Lm (10)
Ψ sβ = Ψ r β + σ Ls isβ
Lr
m (11)
jLSσ I S RSr I S M e = pb s (Ψ sα isβ - Ψ sβ isα )
Us
2
jLSσ I S where: L2m (12)
Ψ
E E
σ = 1-
Ψ
RSr I S Lr Ls
Is Us
The rotor flux Ψr is estimated based on equations (13) and in the
Is dq rotating coordinate system:
Fig. 4. Phasor diagrams of MSC-fed induction machine IM d Ψr
Tr + Ψ r = Lmis (13)
IM MATHEMATICAL MODEL IN ROTATING COORDINATES WITH dt
ARBITRARY ANGULAR SPEED where: T = Lr is the rotor time constant.
r
The model of the IM in natural ABC coordinates is complicated. Rr
Therefore, in order to reduce the set of equations from 12 to 4, the 2. Direct Power Control with Space Vector Modulator -
complex space vectors are used. Moreover, based on transformation DPC-SVM
into a common rotating coordinate system with arbitrary angular The DPC-SVM (left side in the Fig. 5) has similar structure to the
speed ΩK and referring rotor quantities to the stator circuit, DTC-SVM scheme. Torque and flux estimator is replaced by the
a following set of equations can be written [8]: active and reactive power estimator. The power estimation is based
Voltage equations: on a Virtual Flux (VF) concept, which improved the quality of
dΨ SK
U SK = RS I SK + + j Ω K Ψ SK , (3) estimated signals in terms of noise immunity.
dt

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 \

Fig. 5. Block scheme of DPC-SVM for Line Side AC-DC Converter (LSC) and DTC-SVM for induction Machine Side DC-AC Converter (MSC)

The virtual flux is defined as [9]: Under steady states operation ILy =const. and, with assumption
⎡ Ψ Lα ⎤ ⎡ ∫u Lα dt ⎤ that the input choke resistance is R=0, the following equation can be
Ψ SK =⎢ ⎥=⎢ ⎥ written:
⎣ Ψ Lβ ⎦ ⎢⎣ ∫u Lβ dt ⎥⎦ 3 (21)
(14) PLSC = I LyU Ly
The line voltage is equal: 2
From another side the active power consumed/produced by the
UL = US + UI (15)
MSC-fed IM is defined by:
From (7) and (8) follows: 3
Ψ Lα = ∫(u Lα )dt + LiLα (16)
PMSC =
2
( I SxU Sx + I SyU Sy ) (22)
Based on VF vector, the LSC input power can be calculated as:
Ψ Lβ = ∫(u Lβ )dt + Li Lβ (17) 3 3
Active and reactive powers are estimated as: 2
( 2
)
PLSC = ωL Ψ Lx I Ly − Ψ Ly I Lx = ωL Ψ Lx I Ly
(23)
3 (18) From the MSC side electromagnetic power of the motor is defined
p = ωL (Ψ Lαi Lβ − Ψ Lβi Lα )
2 by: m
Pe = pb S Ω mΨ Sx I Sy
3 2 (24)
q = ωL (Ψ Lα iLα + Ψ Lβ iLβ ) (19)
2 Moreover, it can be assumed (neglecting power losses) that
The estimated active and reactive power, are compared with electromagnetic power of the IM is equal to an active power
commanded values and the instantaneous errors after going through delivered to the motor Pe =PMSC , hence:
a PI controller define converter voltage in the pq rotating
m
PMSC = pb S Ω mΨ Sx I Sy
coordinates. After transformation to the stationary coordinates αβ, 2 (25)
these signals are delivered to the modulator block SVM, which But this is not sufficient assumption because of power losses in
calculates the switching time of transistors. To meet unit power the real system, so it should be written:
factor condition, reactive power reference value is set to zero, while m
PMSC = pb S Ω mΨ Sx I Sy + Plosses
the active power is generated by the DC-link voltage PI-controller. 2 (26)
Further, please consider a situation at stand still Ωm=0 when
MODEL OF THE AC-DC-AC CONVERTER-FED INDUCTION MACHINE nominal torque is applied. In such a case the electromagnetic power
WITH ACTIVE POWER FEEDFORWARD (PF)
will be zero but the IM power PMSC will have a significant value.
In Fig.1. and Fig.3. is shown simplified diagram of an Estimation of this power is quite difficult, because the parameters of
AC-DC-AC converter which consist of LSC-fed DC-link and MSC- the IM and power switches are needed. Hence, for simplicity of the
fed IM. Note that, the coordinates system for control of the LSC is control structure a power estimator based on command stator voltage
oriented with VF vector [9] – gives 90O voltage phase shift. Hence, USc and actual current ISc will be taken into consideration:
ILxc is set to 0 to meet the unity power factor (UPF) condition. With 3
this assumption the LSC input active power can be calculated as: 2
(
PMSC = I SxU Sxc + I SyU Syc ) (27)
3 3
PLSC = ( I LxU px + I LyU py ) = I LyU py (20)
2 2

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 EQUIVALENT TIME CONSTANT OF POWER RESPONSE Where eUdcf = Udcc −Udcf Therefore Eq. (34) can be rewritten:
.
The time constant delay of the LSC response TIT is determined. (39)
With assumption that power losses of the converters can be PLSCc ( s ) = Pc + PMSCc 2 ,
neglected, power tracking performance can be expressed by: From Eqs. (28), (29), the open loop transfer function of the input
1 (28) power (of the LSC) and output power (of the MSC) can be written:
P (s) =
LSC P LSCc
1 + sTIT PLSC 1
GLSCo ( s ) = =
Similarly for the MSC can be written: PLSCc 1 + sTIT (40)
1
PMSC ( s ) = PMSCc PMSC 1
1 + sTIF (29) GMSCo ( s ) = =
Where, TIF is the equivalent time constant of the MSC step PMSCc 1 + sTIF (41)
response. Determination of these value can be found in [7]. Such a system can be described by open loop transfer function as:
U
ENERGY OF THE DC-LINK CAPACITOR GAo ( s ) = dc
M ec (42)
The DC-link voltage can be described as: Assuming initial steady state operation, Ωm=Ωmc=const and
dU dc 1 (30) Udc=Udcc=const. the transfer function of the AC-DC-AC converter-
= ( I dc − I load ) ,
dt C fed IM was described.
So: In this case, only the DC-link voltage feedback is used –PF0.
1
( Idc − Iload ) dt,
C∫
U dc = (31) Therefore, the model takes a form as shown in Fig. 6. For additional
information about power feedforward please refer [7].
Assuming the initial condition as in steady state, hence, the actual
DC-link voltage Udc is equal to commanded DC-link voltage Udcc.
Therefore, Eq. (31) can be rewritten: U dc U dcc
K P _ U (sTI _U + 1) + U dcf 1
1 1
U dc =
CU dcc ∫ (U dcc I dc − U dcc Iload ) dt = CU dcc ∫(P
dc − Pload ) dt ,
(32)
sTI _U − sTu + 1
P
Where, Pdc–Pload=Pcap therefore is obtained: +
PMSCc P PLSCc 1 PLSC Pcap 1 U dc
MSCc 2 = 0
1
CU dcc ∫
U dc = Pcap dt , + sTIT + 1 + pCU dcc
−
(33) PMSC
If the power losses of the LSC and MSC are neglected (for 1
simplicity), the energy storage variation of the DC-link capacitor sTIF + 1
will be the integral of the difference between the input power PLSC Fig. 6. Block diagram of the AC-DC-AC converter-fed IM with DC-link
and the output power PMSC. Therefore, it can be written: voltage feedback only – PF0

PLSC = Pcap + PMSC , (34) SIMULATION AND EXPERIMENTAL RESULTS

From this equation it can be concluded that for proper (accurate) 1. Simulation results
control of the LSC power PLSC the command power should be as In this Subsection selected results from Matlab Simulink model
follows: are presented. In Fig.7 the regenerating and motoring mode at
PLSCc = Pcapc + PMSCc , constant load 5Nm is shown. In Fig.8a, in turn, the active and
(35) reactive power, line current and voltage. Fig 8b shows the rotor
Where, Pcapc=Pc denotes power of the DC-link voltage feedback speed, phase to phase voltage and phase current.
control loop, and PMSCc denotes the instantaneous active power
feedforward signal – PF (estimated by different estimators). a) b)
The command output power can be estimated based on different
methods which provide additional time constant [4] :
1
PMSCc 2 ( s ) = PMSCc
1 + sT2 (36)
Moreover, it should be stressed that the first order filter with time
constant TU was used to DC-link voltage feedback which strongly
delays the signal Pc:
1
U dcf ( s ) = U dc Fig. 7. Steady states: a) – Line Side Converter (LSC) (from the top: DC link
1 + sTU (37) voltage [V], phase current [A], phase voltage [V]);
This delay is taken into account in DC-link voltage controller b) – Machine Side Converter (MSC) (from the top: rotor speed [rpm], phase
design: to phase voltage [V], phase current [A]);
K PU ( sTIU + 1)
Pc ( s ) = eU dcf U dcc The system's dynamic is presented based on the step change of the
sTIU (38) load from 0 to 50% of the nominal torque. The analysis was carried
out for the regenerating mode (see Fig.8).

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 3. Brief description of the microcontroller
a) b)
The TMS320F28335 microcontroller is a 32-bit floating point
DSP unit belonging to the C2000 Delfino family processors from
Texas Instruments. It is made in CMOS technology and can operate
at a frequency up to 150 MHz. Bus is based on Harvard architecture.
From the standpoint of power electronics the most important module
is Pulse Width Modulation (PWM). There are six such modules,
where each is composed of two complementary outputs which
contain a common 16-bit counter. In every sampling time one of
channels in every modules can work under improved resolution (24
bits). In addition, 16 channels analog to digital (ADC) converter
with 12 bit resolution. It is characterized by a fast conversion rate of
Fig. 8. Transient states, regenerating mode: a) – Line Side Converter (LSC) (from the
top: Active and reactive power [W, Var], DC link voltage [V], phase voltage [V],
up to 80 ns at 25-MHz ADC clock [6]. The enhanced quadrature
phase current [A]); encoder pulse (eQEP) module is extremely usefully to get position,
b) – Machine Side Converter (MSC) from the top: electromagnetic torque and flux direction and speed information from a rotating machine. There are
[Nm, Wb], rotor speed [rpm], phase to phase voltage [V], phase current [A]); three 32-bit CPU-timers on the device for measuring time [5].
2. Laboratory setup TABLE I MAIN PARAMETERS OF THE LABORATORY SETUP
AC machine
Block diagram of laboratory setup is presented in Fig. 9. It
Phase voltage, current 230V (rms), 6,9A (rms)
consists of two commercial Danfoss Converters VLT FC302 (3 kW)
Nominal toque MN, base speed Ω mN 20 Nm, 1415 rpm
[2]. One of them operates with the IM while the other is connected
Number of pole pairs, moment of inertia 2, 0.0154 kgm2
to the grid. Both converters are coupled through the DC-link.
Stator, rotor winding resistance 1.85 Ω, 1.84 Ω
Control signals from the microcontroller are transmitted to the
Stator, rotor, mutual inductances 0.17 H, 0.17 H, 0.16 H
converters through a fiber optic interface, while current and voltage
Input inductance
measurements are based on LEM’s transducers.
Resistance, inductance of reactors 100mΩ, 10mH
VLT FC302 Converters
Switching frequency, Nominal Power PN 5kHz, 3kW
DC link capacitor 190uF
Measurement conditions
Phase Line voltage, frequency 120V (rms), 50Hz
DC link voltage 400V

Both DTC-SVM and DPC-SVM strategies has been implemented

on a single microcontroller give DPTC-SVM control. The entire
program is executed in one interrupt triggered from PWM interface.
The frequency of PWM is set to 5kHz. Measurements of
voltages and currents are performed by ADC converter which is
synchronized with the PWM signals. In the middle of each
interrupts, start conversion process from PWM interface, signals
from ADC module, are sampled. Ready-to-use samples are stored in
appropriate registers.
4. Experimental results
Below selected oscillograms of static and dynamic states
measured on a laboratory setup are presented.
Fig. 10a,b shows the system operation in motoring mode.
Waveforms on the left are related to LSC. As can be seen the current
and voltage waveforms are in phase which corresponds to Unity
Power Factor (UPF) operation.
Fig. 10c,d shows the waveforms during operation in regenerating
mode. Note, that current is in opposite phase to the line voltage.
Fig. 9. Laboratory setup
Moreover, in both figures, the current is nearly sinusoidal shape with
The main data and parameters of the laboratory setup are shown in low harmonic distortion. Waveforms on the right side (Fig. 10b,d)
Tab. I. show the phase current and phase to phase voltage of the induction
machine.

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In Fig. 11b the response to step change of the commanded CONCLUSION
electromagnetic torque from 0 to 75% MN is shown. This illustrates In this paper AC-DC-AC converter modeling and vector control
operation of the converter in regenerating mode. It should be pointed using cost effective floating point microcontroller TMS320F28335 is
that the investigation has been performed with closed DC voltage presented. Two advance control methods: Direct Power Control
feedback loop. It can be seen that the DC-link voltage is well with Space Vector Modulation (DPC-SVM) for Line Side Converter
stabilized at the expense of an overshoot in phase current. (LSC) and Direct Torque Control with Space Vector Modulation
The start up process of the LSC is presented in Fig. 11a. Note that (DTC-SVM) for induction Machine Side Converter (MSC) were
this process runs properly without current overshoot. implemented on one microcontroller, hence DPTC-SVM operates
a) b) properly. It was shown that there is enough computation capacity to
add some additional code like higher harmonics and/or voltage dips
compensation (see Tab. II). Simulation and experimental verification
show good accuracy of the model and excellent capability of the
floating point microcontroller.
ACKNOWLEDGEMENT
Acknowledgement This work has been supported by the NCBiR
grant no. Nr N R01 0014 06/2009. And also this work has been
c)
d) supported by the European Union in the framework of European
Social Fund through the Warsaw University of Technology
Development Programme.
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Space Vector Modulator 5.78
PI controller 2.40
Measurements 9.44
Torque and flux estimator 11.90
Active and reactive power astimator 9.60
pq axis controllers 12.9
xy axis controllers 14.7

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