Space Vector (PWM) Digital Control and Sine (PWM) Pulse Width Modulation modelling, simulations Techniques &

Analysis by MATLAB and PSIM (Powersys)

Tariq MASOOD.CH Qatar Petroleum Dukhan Qatar Prof. Dr. Suhail A. Qureshi University of Engineering & Technology Lahore Pakistan Dr. Abdel-Aty Edris (Manager Power Delivery R & D) EPRI USA Prof. Dr. Abdul Jabber Khan Rachna College of Engineering &Technology Gujranwala Pakistan Prof. Dr. RK Aggarwal University of Bath Bath _ UK Yacob Y. Al-Mulla IEEE Chair Doha Qatar

Author contact Details:

Email: maaat 2001@ ieee.org Ph:: 00974 560 75 72;; P.O Box 1000 52 Dukhan Qatar Abstract --- previous work conducted in the STATCOM/SVC (FACTS Devices) control domain with degree of precision and how to lead & Lag compensator will be implemented as control passageway to address power quality issues too. In this paper we have emphasized methodically the relationship between sinusoidal Pulse width modulation and Space vector modulations. The relationship involved the fundamental perception to create holistic approach for the new pacesetters for today. All the relationship provided Bidirectional Bridge for the transformations between carriers based frequency and space vector pulse width modulations. It is also reflected all the drawn conclusions are independent load type. Therefore both methods have been discussed along with their viability in power system control.

Introduction:For long period carried-based PWM methods [3] were widely used in the most applications. The PWM modulation has been studied extensively in the last decade. Hence, the main objective of PWM over here to achieve following objective considerably 1. wide linear modulation range 2. less switching loss 3. less total harmonic distortion in the spectrum of switching waveform 4. and easy implementation and less computational calculations With the emerging technology in microprocessor the SV PWM has been playing pivotal and viable role in power conversion. It is using space vector concept to calculate the duty cycle of the switches which is imperative implementation of digital control theory of PWM modulators. The comprehend relationship in between SV PWM and Sine PWM render a platform not only to transform from one to another but also to develop different performance PWM modulators. However, many attempts have been made to unite the two types of PWM methods [4],[5]. Furthermore, the SV pulse width modulation technique has been used in [6],[7]. 1. Characteristics of Six-step voltages source inverter 2. Purpose of Pulse width modulation 3. Voltage source inverter (VSI) and its operation stages with respective digital phenomenon stagewise

4. Switching characteristics 5. Modelling of space vector with MathCAD 6. Determine the switching time of each transistor at each operation sector ( S1 to S6) 7. Switching Time table at Each Sector ****************** 1. Characteristics of Six-step voltages source inverter This is called the six-step inverter, because it comprises with six "steps" in the line to neutral (phase) voltage waveform. Harmonics of order three and multiples of three are absent from the line to line and the line to neutral voltages and consequently, absent form the current Output amplitude in a three-phase inverter can be controlled by only change of DC-link voltages (Vdc) 2. Purpose of Pulse width modulation The major contribution of the PWM in power system conversion/delivery as bulleted below: Control of inverter output voltages And reduction of Harmonic components

sequence as shown below in the matrix.

Figure 1: Pulse width modulation waveform

Figure 2: waveforms of gating signals switching sequence, line to negative voltages for six-step voltage source inverter B. Space vector PWM Switching Sequence Three phase two level PWM inverter as shown in figure 2: the switch function is defined by where I = a, b ,c, 1 denotes E/2 at the inverter output (a, b c) with reference to point N 0 denotes E/2 and N is the neutral point of the bus [9]. SWi = 1, the upper switch SWi+ is on and bottom switch SWi- is off. SWi = 0, the upper switch SWi+ is off and bottom switch SWi- is on. S1, S3, S5 are opened the binary equation [1-1-1] and the bottom switches will be remained closed. S4, S6, S2 switches are opened the binary equation will be [000] and to upper switches will be remained closed. Both conditions the voltages will be zero V0 = V7 = 0 These switches are in operation with following stages

Figure 1A: Pulse width modulations VSI inverter out put voltage when Vcontrol > Vtri VA0 = Vdc/2 when Vcontrol < Vtri VA0 = -Vdc/2 Control of inverter output voltages PWM frequency is the same as the frequency of Vtri Amplitude is controlled by the peak value of Vcontrol. Fundamental frequency is controlled by the frequency of Vcontrol. What is modulation index (M)

m =

Vcontrol peak .of .(V A0 ) ------------= Vtri V dc 2

(1)

Where, (VA0)1 : Fundamental frequency component of VA0 underlying issues of PWM implementations o Increase in power loss due to high switching operation PWM frequency. o Reduction of Available voltages o EMI problems due to high-order harmonics 3. Voltage source inverter (VSI) and its operation stages with respective digital phenomenon stagewise A. Gating signals, switching sequence and line to negative voltage. Six-step (VSI) operation Figure 3: Three-phase voltage source inverter

Stage # 1

Stage # 2 Output three phase voltages

Stage # 3

PWM frequency signal and control voltage signal

Stage # 4

Stage # 5 IGBT discontinuous mode of operation and output voltages after conversion

Stage # 6 Output voltages IGBT without compensations

Vab = VaN VbN = Vdc 3m sin t + 2 6

----------------------- (5)

Vbc = VbN VcN =

Six inverter voltages vectors for six step voltages source inverter operation sequence as Tabulated below. Voltage Switches Binary sequence sequence V1 5-6-1 1-0-1 V2 6-1-2 1-0-0 V3 1-2-3 1-1-0 V4 2-3-4 0-1-0 V5 3-4-5 0-1-1 V6 4-5-6 0-0-1 Table 1; switching operation sequence with respective switches state (NO/NC) Normal open/Normal close C. Carrier Based pulse Width modulations The universal representation of modulation signals are vi(t )(i = a, b, c) For three phases PWM carrier will be as mentioned: vi (t ) = ui (t ) + ei(t ) Where ei(t) is the injected harmonics and ui(t) is the fundamental signals. These are three-phase symmetrical sinusoidal signals. ua(t ) = m sin t ---------------------------- (2) Sine PWM output line-to-line voltages -Amplitude of line to line voltages (Van, Vbn, Vcn) --Fundamental frequency component is (Vab)1

Vdc 5 3m sin t + 6 2

---------------------- (6)

Vca = VcN VaN = Vdc 3 3m sin t + 2 2

--------------------- (7)

2 ub(t ) = m sin t + 3 4 uc(t ) = m sin t + 3

(Vab )1 ( rms ) =
= 6

3 4 Vdc 2 2

--------- --- --- (3)

------------------------------ (8)

---------- (4)

Vdc 0.78Vdc

--Harmonics Frequency components (Vab)h :: amplitudes of harmonics decrease inversely proportional to their harmonics order

(Vab )h (rms ) = 0.78 Vdc -------------------------------- (9)

h
Where h = 6n+1 and (n= 1, 2, 3 ) -Phase-voltages

Line-to-Line voltages ( Vab, Vbc, Vca) and line to neutral voltages (Van, Vbn, Vcn) -line to line voltages

Vdc [ m sin t + ei(t )] ---------------------- (10) 2 Vdc 2 VbN (t ) = m sin t + 3 + ei (t ) --------- (11) 2 VaN (t ) =
VcN (t ) = Vdc 4 m sin t + 3 2 + ei (t ) --------- (12)

PWM scheme can be divided in two operation modes. [1],[2] Continues pulse width modulation for the

1 umin(t) < ei(t) < 1 umax(t) m 2 3

therefore each carrier signal period, each output of the converters legs are switching between the positive or negative rail of the DC-link. Discontinues pulse width modulations for the discontinues width modulation scheme, in the linear modulation range, the zero-sequence Line to neutral phase voltages after conversion Where ei(t) is injected harmonics and "m" is the modulation index component

ei(t) = 1 umin (t).... or ei(t) = 1 umax (t)

in each carrier

2 1 1 Van = VaN VbN VcN ------------ (13) 3 3 3 1 2 1 Vbn = VaN + VbN VcN ------------- (14) 3 3 3 1 1 2 Vcn = VaN VbN + VcN ------------ (15) 3 3 3
in the linear modulation range the output line-to-line voltages are equal or less then the dc-bus voltage Vdc. However the possible modulation index m max = 2 in the linear range, and we have

cycle, one modulation signal will be equal to +-1 and the corresponding leg tied to positive or negative trail of the Dc-link with out switching action. Thus from average compare with continues PWM schemes to discontinues schemes can reduce the average switching frequency by 33% and cause less switching loss. Pulse width modulation methods and degree of freedom The way of assignment of the voltage vector to converters has the degree of freedom. Utilizing of property makes it possible to realize flexible controls [8]. a. Basic switching vectors & Sectors b. 6 active vector Axes of a hexagonal DC link voltage is supplied to the load Each sector (1 to 6): 60 degree c. Two zero vector (V0, V7) at origin No voltage is supplied to the load

1 u min (t ) ei(t ) 1 u max (t ) Where u min = min (ua (t ), ub(t ), uc(t ) ) and u max = max(ua (t ), ub(t ), uc(t ) ) it is clear that the ei(t)
harmonics did not appear in the line-to line voltages. Therefore ei(t) is usually called the zero sequence signal. Hence it can be calculated.

ei (t ) =

1 (ua(t ) + ub(t ) + uc(t ) ) ------- (16) 3

ei(t) = 0 yields sinusoidal PWM. In the linear range from the equation (4) , (5) |ui| <1 we have mmax = 1 and the maximum line to line voltages are

3 Vdc when the m 2

> 1 the over modulation will occur. ei(t ) 0 Non-sinusoidal PWM occurs, when ei(t) is the suitable such as ei(t) = m/6sin(wt) all the tops of ui(t) cut by ei(t). m max =

2 3

, and maximum line to line

(V7, 111) (V0, 000)

voltages reach Vdc in linear range. Therefore the different ei(t) leads to different carrier pulse width modulators for three phase converters. 4. Switching characteristics:-

Figure 1; Basic switching vectors and sectors Comparison between sine wave PWM and space vector pulse width modulation.

Vq1 := 0 + Vbn cos ( 30) Vcn cos ( 30)

Space vector PWM Generates less harmonics distortions Provides more efficient use supply of voltages Locus of reference vector is the inside of a circle with radius of 1 Vdc
3

Sine waver PWM Generates high harmonics distortions Provides Less efficient use supply of voltage Locus of reference vector is the inside of a circle with radius of
1 2

Vq1 = 0

Vq := Van + Vq = 230
:= atan
= 0.332

3 2

Vbn

3 2

Vcn

Vq Vd

Vdc time sine

3

Voltage utilization: space vector PWM= 2 wave 5.

Modelling of space vector with MathCAD d. Step # 1 determination of Vd, Vq, Vref and angle (a) e. Step # 2 determination of time duration T1, T2, T0 f. Step # 3 determination of switching time of each transistor (S1 to S6)

1 1 1 Van 2 2 2 := Vbn Vq 3 0 3 3 2 2 Vcn Vd 0 = Vq 265.581 Vd

Vref := Vd + Vq
Vref = 265.581
2 2

A. Step # 1 Coordinates d-q Power transformation in the principle ways :abc to dq values refer to figure 2

Figure 3: space vector calculation

Figure 2: voltage space vector and its components in (d,q)

Vd , Vq , Vref

Line_Voltage := 400 Van Vbn Vcn 230

Vd := Van Vbn cos ( 60) Vcn cos ( 60)
Vd = 668.11

Figure 4: space vector Locations

Vd1 := Van
Vd1 = 0

1 2

Vbn

1 2

Vcn

 3 sin( ) 3 sin 3 T 1 = Tz ) sin( 3 T 0 = Tz (T 1 + T 2) T 1 = Tz

sin

------------------ (21)

------------------- (22)

Figure 5: Time Duration Calculations

Tz :=

1 50
Vref
2 400 3

= 57 0.996 = 56.772

a :=

3 a = 0.996 T1 := Tz a sin 3
sin
T2 := Tz a sin ( ) sin

T1 = 0.015

T2 = 7.487 10

T0 := Tz ( T1 + T2)

T0 = 2.577 10

b.

Switching time duration at any sector [T1,T2,T0]

Figure 6: Time Duration Calculations B. Step # 2 Determination of Time duration [T1,T2,T0] a. Switching time duration at sector # 1
T

T 1 =

3 Tz Vref n 1 sin + Vdc 3 3

V
0

ref

= V 1dt +
0

T 1+T 2

T1

V 2dt + V 0dt
T 1+T 2

Tz

=
-------- (17)

3 Tz Vref sin Vdc 3 3 Tz Vref n sin cos cos sin 3 3 Vdc

3 Tz Vref n 1 sin + 3 Vdc

Tz Vref = (T 1 V 1 + T 2 V 2)
------------ (18)

Tz =
Where,

Vref 1 ......and .... = 2 fs Vdc ---------- (19) 3

T1 = =

And 'fs' is the fundamental frequency cos( ) Tz | Vref | sin( )

3 Tz Vref n 1 n 1 cos sin + sin cos Vdc 3 3

T 0 = Tz T1 T 2
Where " n =1" through 6 (that is, sector 1 to 6)

cos( ) 1 2 2 3 = T 1 Vdc + T 2 vdc sin( ) ----- (20) 0 3 3 3 where,0 60

0 60

6.

Determine the switching time of each transistor at each operation sector ( S1 to S6)

Figure 10; SV PWM switching patterns at sector # 4

Figure 7; SV PWM switching patterns at sector # 1

Figure 11; SV PWM switching patterns at sector # 5

Figure 8; SV PWM switching patterns at sector # 2

Figure 12; SV PWM switching patterns at sector # 6 Figure 9; SV PWM switching patterns at sector # 3 7. Switching Time table at Each Sector
Upper switches Lower switches (S4, S6, S2)

Sector

(S1, S3, S5) S1 = T1+T2+T0/2 S3=T2+T0/2 S5=T0/2 S1 = T1+T0/2 S3=T1+T2+T0/2 S5=T0/2 S1 = T0/2 S3=T1+T2+T0/2 S5=T2+T0/2 S1 = T0/2 S3=T1+T0/2 S5=T1+T2+T0/2 S1 = T2+T0/2 S3=T0/2 S5=T1+T2+T0/2 S1 = T1+T2+T0/2 S3=T0/2 S5=T1+T0/2

S4 = T0/2 S6=T1+T0/2 S2=T1+T2+T0/2 S4 = T2+T0/2 S6=T0/2 S2=T1+T2+T0/2 S4 = T1+T2+T0/2 S6=T0/2 S2=T1+T0/2 S4 = T1+T2+T0/2 S6=T2+T0/2 S2=T0/2 S4 = T1+T0/2 S6=T1+T2+T0/2 S2=T0/2 S4 = T0/2 S6=T1+T2+T0/2 S2=T2+T0/2

conf. Rec IEEE-IAS Annual Meeting seattle, 1992 pp. 1002-1009. [8]. Tatshito Nakajima, Hirokazu Suzuki. Multiples Space vector control for self commuted power converters. IEEE Trans. On power delivery, vol. 13, No. 4, October 1998. [9]. Keliang Zhou and Danwei Wang Relationship between space-vector modulation and three-phase carrier-based PWM: a comprehensive analysis. IEEE Trans. On Industrial Electronics vol. 49, no.1, February 2002.

Acknowledgement:I do appreciate for the powersys - France Management and technical team for their technical support and assistance to accomplish this project. powersys France has render full support with their software PSIM 7.0 latest version for the period of two years to analyse the viability of PSIM in digital control system. References:[1]. T.M.Rowan, R.J.Kerman and T.A.Lipo, 'operation of naturally sampled current regulators in transition modes', IEEE Trans. Ind. Applicat., vol.23, pp. 586-596, July/Aug. 1987. [2]. V. Kaura and Blasko, "New method to extend linearity of sinusoidal PWM in the over modulation region," IEEE Trans. Ind. Applicat., vol.32, pp. 11151121, sept/Oct. 1996. [3]. S.R Bowes, "New sinusoidal pulse width modulated inverter," proc. Inst. Elect. Eng. Vol. 122, pp. 1279-1285, 1975. [4] J. W. kolar, H. Ertl and F.C Zuch Minimizing the current harmonics rms value of three-phase PWM converter system by optimal and suboptimal transition between continues and discontinuous modulation, in proc IEEE PESC91, June 1991, pp.372-381. [5]. D. Jenni and F. Wueest, Minimization parameters of space vector modulations, in proc. 5th European conference power electronics and applications, 1993, pp.376-381. [6]. V.Blasko, analysis of Hybrid PWM based spacevector and triangle-comparison methods, IEEE Trans. Ind. Applicat, vol. 33, pp 756-764, may/June 1997. [7]. D.G.Holmes the general relationship between regular-sampled pulse-width modulation and space vector modulation for hard switched converters in