Simulation of a Space Vector PWM Controller For a Three-Level Voltage-Fed Inverter Motor Drive

Aye Kocalm
Department of Electrical and Electronic Engineering Firat University 23119, Elazig TURKEY akocalmis@firat.edu.tr
Abstract: Multilevel voltage-fed inverters with space vector pulse width modulation strategy are gained importance in high power high performance industrial drive applications. This paper proposes a new simplified space vector PWM method for a three-level inverter fed induction motor drive. The three- level inverter has a large number of switching states compared to a two-level inverter. In the proposed scheme, three-level space vector PWM inverter is easily implemented as conventional two-level space vector PWM inverter. Therefore, the proposed method can also be applied to multilevel inverters. In this work, a three-level inverter using space vector modulation strategy has been modeled and simulated. Simulation results are presented for various operation conditions using R-L load and motor load to verify the system model. Index Terms: Space vector PWM, three-level inverters

Sedat Snter
Department of Electrical and Electronic Engineering Firat University 23119, Elazig TURKEY ssunter@firat.edu.tr II. GENERATION OF SPACE VECTOR PWM SIGNALS FOR THREE-LEVEL CASCADED H-BRIDGES INVERTER Fig.1 shows a schematic drawing of a multilevel inverter using cascaded inverters with separated DC sources. Three-phase output voltage waveforms are generated by various switching combination of the switches in each Hbridge converter. Three levels at the output phase voltage waveforms are generated as +E/2, 0, -E/2 [5].

I. INTRODUCTION Recently, developments in power electronics and semiconductor technology have lead improvements in power electronic systems. Hence, different circuit configurations namely multilevel inverters have became popular and considerable interest by researcher are given on them [1-2]. Three-level voltage-fed PWM inverters are recently showing popularity for multi-megawatt industrial drive applications [3]. The main reason for this popularity is that the output voltage waveforms in multilevel inverters can be generated at low switching frequencies with high efficiency and low distortion and large voltage between the series devices is easily shared. Space vector PWM (SVPWM) technique is one of the most popular techniques gained interest recently. This technique results in higher magnitude of fundamental output voltage available as compared to sinusoidal PWM. However, SVPWM algorithm used in three-level inverters is more complex because of large number of inverter switching states. One of the advantages of multilevel inverters is that the voltage stress on each switching device is reduced. In addition, multilevel waveforms feature have less harmonic content compared to two level waveforms operating at the same switching frequency [4]. In this paper, modelling and simulation of a multilevel inverter using cascaded inverters with separated DC sources have been performed with R-L and motor load using Simulink/ MATLAB package program. In multilevel inverters, it is easy to reach high voltage levels in high power applications with lower harmonic distortion and switching frequency, which is very difficult to get this performance with conventional two level inverters.

Fig.1 Three level multilevel inverter using cascaded inverters with separated DC sources

A three-level inverter is characterized by 33= 27 switching states as indicated in Fig.2 where the space vector diagram for the three-level inverter which is divided into the six sectors (A, B, C, D, E and F) is also shown. There are 24 active states, and three zero states that lie at the center of the hexagon. Each sector has four regions (1,2,3,4) [2]. The switching states of the inverter are summarized in Table I, where x represents the output phases, a, b and c [67].
TABLE I SWITCHING STATES OF THE INVERTER SWITCHES (X=A, B, C PHASES)

Vx0 Vdc/2 0 0 -Vdc/2

SX1 1 1 0 0

SX2 0 1 1 1

SX1 0 0 0 1

SX2 1 0 1 0

If is between 120 < 180, then V* will be in Sector C, If is between 180 < 240, then V* will be Sector D, If is between 240 < 300, then V* will be Sector E, If is between 300 < 360, then V* will be Sector F. B. Determining the region in the sector For that;

Fig.2 Space vector diagram of three-level inverter

The principle of SVPWM method is that the command voltage vector is approximately calculated by using three adjacent vectors. The duration of each voltage vectors obtained by vector calculations; T1 V1 + T2 V2 + T3 V3 = Ts V * (1) T1 + T2 + T3 = Ts where V1, V2, and V3 are vectors that define the triangle region in which V* is located. T1, T2 and T3 are the corresponding vector durations and Ts is the sampling time. In a three-level inverter similar to a two-level inverter, each space vector diagram is divided into 6 sectors. For simplicity here only the switching patterns for Sector A will be defined so that calculation technique for the other sectors will be similar. Sector A is divided into 4 regions as shown in Fig.3 where all the possible switching states for each region are given as well. SVPWM for three-level inverters can be implemented by using the steps of sector determination, determination of the region in the sector, calculating the switching times, Ta, Tb, Tc and finding the switching states.

(a)

(b)
Fig.4 Space vector diagram for m1 and m2 in Sector A

From Fig.4 (b) m2 and m1 can be calculated as; b 2 2 a = m2 = = b= .m n .sin sin(/3) 3 3

2 m 1 = m n .cos .m n .sin cos( / 3) 3
m1 = m n (cos sin 3 )

(2) (3) (4)

And then, If m1, m2 and (m1+m2) < 0.5, then V* is in Region 1, If m1 > 0.5, then V* is in Region 2, If m2 > 0.5, then V* is in Region 3, If m1 and m2< 0.5 and (m1+m2) > 0.5, then V* is in Region 4. C Calculating the switching times, Ta, Tb, Tc Ta, Tb, Tc switching times for Sector A is given in Table.2.

Fig.3 Sector A and its switching states for three-level inverter

II.1 Design Steps for SVPWM Generation A. Determining the sector is calculated and then the sector, in which the command vector V* is located, is determined as; If is between 0 < 60, then V* will be in Sector A, If is between 60 < 120, then V* will be in Sector B,

TABLE 2 SWITCHING TIMES FOR THE SECTOR

Region I Ta 1.1*m*Ts*sin((/3)-) Tb Ts/2(1-(2*1.1*sin(+/3)) Tc 1.1*Ts*sin Region III Ta Ts/2(1-2*1.1*m* sin) Tb Ts/2(2*1.1*m*sin(/3+)-1) Tc Ts/2(1+2*1.1*m*sin(-/3))

Region II
Ts(1-1.1*m*sin(+/3)) 1.1*Ts*m*sin Ts/2((2*1.1*m*sin(/3-))-1)

Region IV
Ts/2(2*1.1*m*sin()-1)

1.1*m*Ts*sin((/3)-) Ts(1-(1.1*m*sin(+/3))

D Finding the switching states By considering the switching transition of only one device at any time; the switching orders given below are obtained for each region located in Sector A if all switching states in each region are used. Therefore, switching signals for Sector A are; Region 1:-1-1-1, 0-1-1, 00-1, 000, 100, 110, 111 Region 2: 0-1-1, 1-1-1, 10-1, 100 Region 3: 0-1-1, 11-1, 10-1, 100, 110 Region 4: 00-1, 10-1, 11-1, 110 Fig.6 illustrates direction of the switching sequences for all regions in the sectors.

Fig.6 Switching sequence for three-level SVPWM inverter

Fig.5 Switching Signals of Sector A: (a) Region.1, (b) Region 2, (c) Region 3, (d) Region 4

Fig.7 Simulink model of the whole system

III. COMPUTER MODEL Fig.7 shows Simulink model of the whole system including a three-phase induction motor load. Sector Determination block in Fig.7 calculates and amplitude of the command vector V* according to the demand inverter output frequency and modulation index. Then, the sector is found using by the value of . m1 and m2 Calculation block is used to calculate m1 and m2 vectors using (2-4). Region Determination block in Fig.7 obtains the region in which the vector falls into according to rules given in Subsection B. SVPWM block calculates the switching times according to Table.2 and generates SVPWM signals as explained in Subsection D. Inverter block represents the three-phase inverter model using ideal switches. Induction motor is modeled as shown in Fig.7 with three separated blocks. However, R-L load model is not shown here. The motor parameters are given in Appendix.

Simulation results shown in Fig.8 through Fig.10 have been obtained for modulation index of 0.65 and output frequency of 10Hz. Fig.8 illustrates output line voltage of the inverter (Vab) which is applied to an R-L load. As can be seen the output voltage waveform has five levels. Corresponding three-phase line currents are shown in Fig.9. Although 1kHz of switching frequency is used the current waveforms have sinusoidal shape. This is one of the most important advantages of multilevel inverters. The line voltage waveform and its frequency spectra are demonstrated in Fig.10. As can be seen the output voltage waveform has main harmonic at 10Hz. The other harmonics are around switching frequency. The simulation has been repeated for an output frequency of 50Hz and modulation index of 0.7. The results for the line output voltage and current waveforms are given in Fig.11 and Fig.12, respectively. Fig.13 illustrates the line output voltage waveform and its spectra. The harmonics appear around the switching frequency and its multiples beside the main harmonic.

Fig.8 The line output voltage waveform for fo=10Hz and m=0.65

Fig.10 The line output voltage waveform and its spectrum for fo=10Hz and m=0.65.

Fig.9 Three-phase line output current waveforms for fo=10Hz and m=0.65

Fig.11 The line output voltage waveform for fo=50Hz and m=0.7

IV. SIMULATION RESULTS FROM THREE-LEVEL INVERTER Simulation results have been taken for various operating conditions feeding a passive load for R=100 and L=0.1H. Switching frequency of 1kHz was used in the model. DC link voltage of the cascade inverters was taken as 500V.

Simulation has been repeated for an induction motor load. Fig.14 shows three-phase motor currents fed by the threelevel inverter at 10 Hz output frequency. Modulation index is taken as 0.65 considering constant v/f steady-state operation. All motor results have been taken at no-load condition. Corresponding line voltage and motor speed and

torque waveforms are given in Fig.15 and Fig.16, respectively. Similar results are shown in Fig.17 and Fig.18 for an output frequency of 50 Hz. Fig.19 and Fig.20 illustrates three-phase motor currents and motor speed and torque waveforms for an output frequency of 65 Hz.

Fig.15 The motor line voltage waveform for fo=10Hz

Fig.12 Three-phase line output current waveforms for fo=50Hz and m=0.7

Fig.16 Motor speed and electromagnetic torque at fo=10Hz

Fig.13 The line output voltage waveform and its spectrum for fo=50Hz and m=0.7

Fig.17 Three-phase motor currents for fo=50Hz

Fig.14 Three-phase motor currents for fo=10Hz

control algorithm used in the three-level inverter can be easily applied to multilevel inverters with more than three levels. It has been shown that high quality waveforms at the output of the multilevel inverter can be obtained even with 1kHz of low switching frequency. APPENDIX Ratings of the three-phase, 4-pole, 380 V, 50 Hz squirrel cage induction motor are: Frequency range: 0-65Hz Stator resistance (Rs): 7 Rotor resistance (Rr): 6 Stator leak. inductance (Lls): 0.52mH Rotor leak. inductance (Lllr): 0.52mH Magnetizing inductance (Lm): 0.5mH Rotor inertia (J): 0.0085kgm2 PN: 1.1kW TN: 7.62 Nm REFERENCES [1] [2] P.M. Bhagwat and V.R. Stefanovic, Generalized Structure of A Multilevel Inverter, IEEE Trans. on I.A., Vol. IA-19, n.6, 1983, pp. 1057-1069. S.K. Mondal, J.O.P Pinto, B.K. Bose, A NeuralNetwork-Based Space Vector PWM Controller for a Three-Level Voltage-Fed Inverter Induction Motor Drive, IEEE Trans. on I.A., Vol. 38, no. 3, May/June 2002, pp.660-669. S.K. Mondal, B.K. Bose, V. Oleschuk and J.O.P Pinto, Space Vector Pulse Width Modulation of Three-Level Inverter Extending Operation Into Overmodulation Region, IEEE Trans. on Power Electronics, Vol. 18, no. 2, March 2003, pp.604611. M. Manjrekar and G. Venkataramanan, Advanced Topologies and Modulation Strategies for Multilevel Inverters, Power Electronics Specialists Conference, Vol. 2, 23-27 June 1996, pp. 10131018. A. Nabae, I. Takahashi and H. Akagi, A New Neutral-Point-Clamped PWM Inverter, IEEE Trans. on I.A., Vol. 17, No.5, September/October 1981, pp.518-523. Yo-Han Lee, Burn-Seok Suh, Chang-Ho Choi, Dong-Seok Hyun, A New Neutral Point Current Control for a 3-level Converter/Inverter Pair System, IEEE Trans on I.A., Vol. 3, 1999, pp. 1528-1534. A. Kocalmis, Modelling and Simulation of A Multilevel Inverter Using SVPWM, MSc Thesis, Institute of Science, Firat University, 2005.

Fig.18 Motor speed and electromagnetic torque at fo=50Hz

[3]
Fig.19 Three-phase motor currents for fo=65Hz

[4]

[5]

[6]

Fig.20 Motor speed and electromagnetic torque at fo=65Hz

[7]

V. CONCLUSIONS The space vector PWM algorithm for a three level voltage-fed inverter using cascaded H-bridges inverter has been modelled and simulated using Simulink/MATLAB package program. Simulation results have been given for both R-L and induction motor loads using 1kHz switching frequency with various output frequencies. The proposed