173977

Voltage Oriented Control of ThreePhase
BoostPWMConverters
Design,simulationandimplementationofa3phaseboostbattery
charger
MasterofScienceThesisinElectricPowerEngineering
SylvainLECHATSANJUAN
DepartmentofEnergyandEnvironment
DivisionofElectricPowerEngineering
CHALMERSUNIVERSITYOFTECHNOLOGY
Gteborg,Sweden,2010
VoltageOrientedControlofThreePhase
BoostPWMConverters
Design,simulationandimplementationofa3phaseboostbattery
charger
By
Supervisor
SaeidHaghbin,PhDStudent
Examiner
OlaCarlson,AssociateProfessor
Gteborg,Sweden,2010
VOLTAGEORIENTEDCONTROLOFTHREEPHASEBOOSTPWMCONVERTERS
DESIGN,SIMULATIONANDIMPLEMENTATIONOFA3PHASEBOOSTBATTERYCHARGER
SYLVAINLECHATSANJUAN
SYLVAINLECHATSANJUAN,2010
SE41296Gteborg
Sweden
Telephone:+46(0)317721000
Gteborg,2010
ABSTRACT
VoltageOrientedControlofThreePhaseBoostPWMConverters
Design,simulationandimplementationofa3phaseboostbatterycharger
ChalmersUniversityofTechnology
Inapluginhybridelectricvehicle,theutilitygridwillchargethevehiclebatterythroughthe
batterycharger.Forathreephasegridsupplyvoltage,threephaseboostrectifiersareacommonly
usedschemeforchargers.Bidirectionalpowertransfercapabilityandunitpowerfactoroperation
are interesting features that can be achieved by the method proposed in this thesis. Different
controlstrategieshavebeenproposedtocontroltheconverter.TheVoltageOrientedControlisone
ofthesemethodsbasedonhighperformancedqcoordinatecontrollers.
TheVoltageOrientedControlmethodforathreephaseboostrectifierhavebeendesigned
andsimulated.Moreover,animplementationofthesystemhasbeenstarted.Thesystemsimulation
hasbeendoneusingMatlab/Simulinksoftware.Feedforwarddecoupledcurrentcontrollerhasbeen
designedalongwithPulseWidthModulationschemetocontrolthebatterycharging.Thecontroller,
that is, a current controller and a DClink voltage controller, have been designed using a method
called Internal Model Control. The simulation results have been presented and the control system
performanceevaluatedinresponsetotheloadanddcbusvoltagestepchanges.
dSpace system have been used for practical implementation. The system is directly running a
Simulink model as a controller. The Simulink files have been developed for this purpose. A brief
explanationofthesystemconfigurationhasbeenprovidedfortheexperimentalsystem.
Key words : battery charger, decoupled controller, dSpace, Internal Model Control (IMC), Pulse
WidthModulation(PWM),threephaseboostPWMrectifier,VoltageOrientedControl(VOC).
iv
ACKNOWLEDGEMENTS
Firstofall,IwouldliketoexpressmysinceregratitudetoSaeidHaghbin,mysupervisor,for
histotalavailabilityduringthethesis,forhisunderstanding,technicalguidanceandfriendliness.
MygratitudealsogoestoOlaCarlson,forgivingmetheopportunitytodothisMastersThesiswork
intheElectricPowerdivisionofChalmersUniversityofTechnology.
A very special thanks to Stefan Lundberg and Massimo Bongiorno, for all help, their availability,
technicalguidanceandnicediscussions.
Thankstoalltheemployeesandstaffinthedivisionwhomademythesisworksuchapleasantstay.
Furthermore,IwouldliketothankMagnusEllsenforhisavailabilityandhelpforlaboratorysetup.
Finally,manythankstomyfellowMastersThesisstudentswith SamanBabaei,Thinley Gyeltshen,

Francisco Montes Venero, Peng Hou, Sergio Garcia Collino and Johan Andersson. Thanks for their
support, guidance and nice discussions. They also made my stay in Sweden an unforgettable
experience.
SylvainLechatSanjuan
Gteborg,Sweden
Wednesday,June16,2010
LISTOFSYMBOLS,SUPERSCRIPTS,SUBSCRIPTSANDABBREVIATIONS
ABBREVIATIONS
DPC
IC
IGBT
IM
IMC
PWM
PLL
PMSM
SVM
VFDPC
VFOC
VOC
SYMBOL
DirectPowerControl
InitialCondition
InsulatedGateBipolarTransistor
InductionMachine
InternalModelControl
PulseWidthModulation
PhaseLockedLoop
PermanentMagnetSynchronousMachine
SpaceVectorModulation
VirtualFluxDirectPowerControl
VirtualFluxOrientedControl
VoltageOrientedControl
U
E
and
Vpcc
Us
V
V*
iL
i
iCONV
iDC
iLOAD
Linevoltage
Linevoltage
Gridphasetogroundvoltageamplitude
dqcoordinatesoflineorgridvoltage(amplitudeinvarianttransformation)
Voltageatthepointofcommonconnection
Convertervoltage
Convertervoltage
Convertervoltagereferencefromcurrentcontroller
LinetoLinevoltage
LinetoNeutralvoltage
AmplitudeofLinetoNeutralvoltage
AmplitudeofLinetoNeutralvoltage
DClinkvoltage
VoltageacrossACsidecapacitor
Linecurrent
Linecurrent
Linecurrent,currentflowingintotheconverter
DClinkcurrent
Loadcurrent
Lineresistance
Lineinductance
DClinkcapacitor
Gridresistance
Gridinductance
BreakerSW1resistance
ACcapacitor
DCcapacitor
Loadresistance
Temporaryloadresistance
Voltageangle
Samplingfrequency
Samplingtime
vi

Switchingfrequency
Triangularwavefrequency(PWM)
Triangularwavefrequency(PWM)
Currentcontrollerbandwidth(rad/s)
Voltagecontrollerbandwidth(rad/s)
Activedampingconductance
Voltagecontrollerintegratorcoefficient
Voltagecontrollerproportionalcoefficient
Currentcontrollerintegratorcoefficient
Currentcontrollerproportionalcoefficient
PLLIntegratorcoefficient
PLLproportionalcoefficient
PLLbandwidth
Controllertransferfunction(PI)
Processtransferfunction
Openlooptransferfunction
Closedlooptransferfunction
Gridpower
Loadpower
SUPERSCRIPT,ACCENTS
, , ,
Estimatedvalues
Spacevector
dqcoordinatesystem
Referencevalueof
SUBSCRIPT,UNDERLINE
dqcoordinatesystem
dqcoordinatesystem,complexvalue
vii
TABLEOFCONTENTS
ABSTRACT
IV
ACKNOWLEDGEMENTS
LISTOFSYMBOLS,SUPERSCRIPTS,SUBSCRIPTSANDABBREVIATIONS
VI
1 INTRODUCTIONANDSCOPE
2 THREEPHASECONTROLLEDRECTIFIERS
2.1 Introduction
2.2 Universalbridgetopology
2.2.1 Steadystateoperation
2.2.2 Mathematicalmodel
2.2.3 Limitations
2.3 Controlstrategies
2.3.1 Introduction
2.3.2 DirectPowerControlandVirtualFluxDirectPowerControl
2.3.3 VoltageandVirtualFluxOrientedControl
2.3.4 Comparisonanddiscussion
2.4 PulseWidthModulation
2.4.1 SinusoidalPWM
2.4.2 Digitalimplementation
2.4.3 Deadtimeeffect
3 VOLTAGEORIENTEDCONTROLSIMULATION
18
3.1 IntroductionReferenceschosen
3.2 Systemblockdiagram
3.3 PWMSimulation
3.3.1 SimulinkimplementationofPWM
3.4 Currentcontroller
3.4.1 InternalModelControl
3.4.2 SynchronousPIcontrol
3.4.3 DesignofthesynchronousPIcontroller
3.4.4 Activedamping,voltagesaturation,antiwindup
3.4.5 Currentcontrollersimulation
3.5 DClinkvoltagecontroller
3.5.1 DClinkmodelandlinearization
3.5.2 Designofvoltagecontroller
3.5.3 Voltagesaturation,antiwindup,activedamping
3.5.4 Voltagecontrollersimulation
3.5.5 Simulationwithcurrentcontroller
3.5.6 Controllerimprovements
3.6 Stabilityanalysis
3
5
5
5
9
11
11
12
13
14
15
15
16
16
viii
18
19
20
20
22
22
22
23
25
27
30
30
30
31
33
36
39
41

3.6.1 Currentcontroller
3.6.2 Voltagecontroller
3.6.3 Completecontroller
3.6.4 NyquistandBodediagram
3.6.5 Conclusion
3.7 PhaseLockedLoop(PLL)
3.7.1 Design
3.7.2 Simulations
3.7.3 Improvementsandconclusion
3.8 Gridmodeling
3.9 Gridconnectedconvertersimulation
3.9.1 Simulationsteps,Simulinkblockdiagram
3.9.2 Verification
3.9.3 Simulationresults
4 VOLTAGEORIENTEDCONTROLIMPLEMENTATION
4.1
4.2
4.3
4.4
Blockdiagram
Principle
Simulinkmodelmodification
Runninganexperiment
41
41
42
43
46
48
48
48
52
53
55
55
56
58
63
63
63
64
67
5 CONCLUSIONSANDFUTUREWORK
70
REFERENCES
71
APPENDICES
74
A.ThreephasesystemCoordinatetransformations
74
A.1Voltageandcurrentdefinition
74
A.2Equivalenttwophasesystem, transformation(Clarke)
74
A.3Synchronouscoordinate,dqtransformation(Park)
75
A.4Simulation
76
A.5Impedanceinsynchronouscoordinates
77
B.Voltageandcurrentcontrol,continuoussimulation
79
B.1SimulinkcurrentcontroltestsBlockdiagram
79
B.2Continuousvoltagecontroller,simulationwithsaturation,antiwindup,active
damping
80
C.Digitalsimulation
81
D.Voltageandcurrentcontrol,discretetimesimulation
82
E.Stabilityanalysiscont.
83
E.1Simulations
83
F.Gridconnectedconvertersimulationcont.
91
F.1Dataandsimulations
91
F.2MatlabScript(VdcStep)
102
G.Implementation
104
ix
INTRODUCTIONANDSCOPE
1 INTRODUCTIONANDSCOPE
PHDPROJECT
The master thesis is part of a PHD project titled Integrated charger for plugin Hybrid
ElectricVehicles.
The PHD project is funded by the Swedish Hybrid Vehicle Centre (SHC1) and is doing by the PHD
student Saeid Haghbin under supervision of Associate Professor Ola Carlson. Moreover, Assistant
ProfessorSonjaLundmarkistheprojectcosupervisor.
ThescopeofthePhDprojectis:
Investigating and evaluating existing plugin HEVs in general and especially the charging
systems.Thiscollectionofavailableinformationalsoincludeslistingallaswellasthemost
interestingparametersofthecharger,i.e.speedofcharging,powerrating,cost,volumeand
weight,numberofphases,voltagelevels,easeofchargingandavailabilityofchargingplaces,
limitationsonpowerelectroniccomponents,powerfactor,harmonicdistortion,monitoring
equipment,standards,andpersonssafety.Thestudyshouldinvolvebatteryknowledge,so
thatthechargercouldbefullyadaptedtothebattery,givingalongbatterylifelength.
Suggestandevaluatepossibleintegratedchargers,meaningintegrationofthechargerand
theavailabledrivesystemusedforpropulsionofthevehicle.
Prototypebuildingincooperationwiththewholegroup(includingindustry).Oneprototype
coordinatorfromindustryadministratesthetask.Thetaskalsoincorporatespreparationsfor
labtesting.
MASTERTHESISSCOPE
ThethesisispartonthesubprojectOnBoardIntegratedCharging.Themaingoalisto
design,simulateandimplementa3phaseboostbatterychargerwithpowerfactorcorrection.
Figure1.1:RectifierschematicwithACmachine
The Figure 1.1 represent our system. The first idea was to usean AC motor on the ACside. Some
dataaregivenisTable1.1.
SHCiscomposedwiththreedifferentpartners:threeuniversitieswithLundInstituteofTechnology(LTH),
RoyalInstituteofTechnology(KTH)andChalmersUniversityofTechnology(CTH),TheSwedishEnergyAgency
(Energimyndigheten)andautomotiveindustrywithABVolvo,VolvoCarCorporation,SaabAutomobileAB,GM
PowertrainSwedenAB,ScaniaCVAB,BAESystemsHgglundsAB.
INTRODUCTIONANDSCOPE
POWERSOURCE
POWERLEVEL
BATTERYVOLTAGE
MATERIAL
3phase
50Hz
PMSM115V20%phasevoltage
15kW
320400VDC(nominalvalue350VDC)
Motor(KTHdevelopment)
IGBTRectifier
Battery
dSpacesystem
Hardware(indevelopment)
Pieceofsoftwaretodevelopforimplementation(probablyC)
Sensors(fullaccessI/V/Speed)
Table1.1:Scopedata
Atthebeginningofthesis,afirstplanhadbeenestablished.
1) Literaturereview(howthesystemwork/findliteratureresources)
2) Topologyselection(VFOCispreferredmethodregardingtothisspecificapplication)
3) Systemdesign(inductancevalue,switchingfrequency,controldesign)
4) SimulationwithMatlab/Simulink
5) AdditionofPMSMtothemodelandusingtheleakageinductanceofthemachineasenergy
storagedevice(Redesign/Resimulation)
6) Implementation
a. dSpacesystem
b. Softwaredevelopment
c. Hardwaretest(indevelopment)
7) Testinganddebugging/Report
Nevertheless,afteracoupleofweekswedecidedtosimplifythesystemtokeepagridconnected
rectifierandtrytoimplementitinthelaboratorytotestthecontroller.
Themaingoalofthethesisistodevelopandtestthecontrolalgorithmoftheconverter.
**
*
Wewillstartthisthesiswithanoverviewofthreephasecontrolledrectifiers(chapter2),with
steadystateoperation,modeling,limitations.Then,theoverviewwillfocusoncontrolstrategies,and
finally,aPulseWidthModulation(PWM)willbedescribe.
Chapter3willbethemainpartofthereportwithVoltageOrientedControldesignandsimulation.
Wewillseethecurrentandvoltagecontroller,stabilityanalysis,PhaseLockedLoop(PLL),andfinally
asimulationofgridconnectedconverter.
The last part chapter 4 will give the main guidelines for implementation of the controller using
dSpacesystem.
THREEPHASECONTROLLEDRECTIFIERS
2 THREEPHASECONTROLLEDRECTIFIERS
2.1 Introduction
Inthefollowingpart,wewillseesometopologiesfor3phaserectifiers.Butwecanstartto
explain why those topologies appeared. The high harmonic content and a low power factor cause
someproblemsinpowerdistributionsystem.Newstandardshavebeenintroducedbygovernments
or organizations to limit the harmonic content of the current drawn from the power line by
rectifiers.Consequently,newtopologieshavebeendeployedforrectificationapplications[9].
Wecanintroducedfivetopologies(Figure2.1).
The figure a) present a simple solution of Boost converter. The main drawback of this solution is
stressonthecomponentsandlowfrequencydistortionoftheinputcurrent.
Thetopologiesb)andc)usePWMrectifiermoduleswithaverylowcurrentrating(2025%levelof
RMScurrentcomparablewithe)topology).Hencetheyhavealowcostpotentialandprovideonly
thepossibilityofregenerativebrakingmodeb)oractivefilteringc).
Figured)presentsaconvertercalledaViennarectifier.Themainadvantageislowswitchvoltage,
butnontypicalswitchesarerequired.
Figuree)presentsthemostpopulartopology.Thisuniversaltopologyhastheadvantageofusinga
lowcost threephase module with a bidirectional energy flow capability, and it can also provide a
unity power factor (UPF). However, its disadvantages are a high perunit current rating, poor
immunitytoshootthroughfaults,andhighswitchinglosses[9].
Topologiesarecomparedinatable(seeTable2.1).Adioderectifierisalsoincludedtothetablefor
comparison.
Figure2.1:Threephaserectifiertopologies[9][13]
FEATURE
TOPOLOGY
Dioderec.
Rec.(a)
Rec.(b)
Rec.(c)
Rec.(d)
Rec.(e)
REGULATIONOF
DCOUTPUT
VOLTAGE
LOWHARMONIC
NEARSINUSOIDAL
DISTORSIONOF
CURRENT
LINECURRENT
WAVEFORMS
POWERFACTOR
CORRECTION
BIDIRECTIONAL
POWERFLOW
Table2.1:Threephaserectifiertopologies,performancecomparison[9][13]
REMARKS
UPF
UPF
UPF
2.2 Universalbridgetopology
2.2.1 Steadystateoperation
Figure2.2:Rectifierschematics[9]
Figure2.2showsbasicdiagramofthethreephaseboostconverter.uListhelinevoltageanduSisthe
bridge converter voltage controllable from de the dcside. We can draw a general phasor diagram
anddiagramsforbothrectificationandregenerationoperationatunitypowerfactor(UPF).
a)Generalphasordiagram
b)Rectification (atUPF)
c)Regeneration(atUPF)
Figure2.3:Phasordiagrams[9]
ThelinecurrentiLiscontrolledbythevoltagedropacrosstheinductanceLinterconnectingthetwo
voltagesources(lineandconverter).
WhenwecontrolthephaseangleandtheamplitudeofconvertervoltageuS,wecontrolindirectly
thephaseandamplitudeofthelinecurrent.Inthisway,theaveragevalueandsignofthedccurrent
issubjecttocontrolthatisproportionaltotheactivepowerconductedthroughtheconverter.The
reactivepowercanbecontrolledindependentlywithashiftofthefundamentalharmoniccurrentIL
withrespecttovoltageUL[9].
Remark : Inductors connected between the line and the rectifier input bring a current source
characteroftheinputcircuitandprovidetheboostfeatureoftheconverter[9].
2.2.2 Mathematicalmodel
DESCRIPTIONOFINPUTVOLTAGEANDCURRENT
Thethreephaselinevoltageandcurrentare
2
3
4
(2.1)
3
4
(2.2)
andsincethereisnoneutralconnection,weobtain
(2.3)
0.
A threephase system can be described with only two components and (real and
imaginaryrespectively).Furthermore,wecallaspacevectorthequantity([4][12])
(2.4)
.
3
1,RMSinvariant
1/2,powerinvariant
whereKisascalingconstant(amplitudeinvariant
3/2 RefertoAPPENDIXAfordetails).
RECTIFIERABCMODEL[9]
with theswitchingfunctiondefinedby:Si
1upperswitchON
withphase
0bottomswitchON
.
.
.
(2.5)
1
3
(2.6)
2
3
2
2
(2.7)
, , .
3
are0,1/3or2/3).
Therectifierindefinedbyfourequations,oneforeachphase(voltage)andoneforthecurrents(dc
link).
(2.8)
(2.9)
Thecombinationofthepreviousequationscanberepresentedasablockdiagram.
iLOAD
Figure2.4:Rectifiermodel[9]
RECTIFIER
EQUATIONS
WedefinetheamplitudeinvariantClarketransformation(seeAPPENDIXA)with([4][12])
(2.10)
1
1
2
1
2
0
3
2
3
2
(2.11)
Then,applyingthistransformationwecanfindthevoltageequationsincoordinates
3
2
(2.12)
(2.13)
RECTIFIER
EQUATIONS
Now,weneedtoapplytheParktransformation(seeAPPENDIXAand[4][12])whichis
where
isaspacevector(
(2.14)
).Weget
(2.15)
(2.16)
Andfinally,withseparationofRealandImaginarypartweobtain
(2.17)
(2.18)
3
2
(2.19)
INSTANTANEOUSPOWER[4]
Fromthewellknownrelation
forsinglephasermsvaluescaledphasors and
(*indicatescomplexconjugate),weknowthatinstantaneouspowerforthreephasesystemwill
beproportionalto
(2.20)
Notethattheformulaisindependentofthecoordinatesystem.
Fromthespacevectordefinitionweget(thetimeargument(t)isremovedforsimplicity)
3
1
2
3
3
Andfinally,theRealpartgivesustheactivepower
3
3
(2.21)
.
2
2
AndwithImaginarypartweobtainthereactivepower
3
3
2
2
(2.22)
1
.
3
Forideal,positivesequencespacevectors(voltageisreference)
and
where and areamplitude,theactivepowerisgivenby
3
3
3
(2.23)
2
2
2
Where and are rmsvalues. This previous relation will be use in the DClink voltage controller
design.
2.2.3 Limitations
MINIMUMDCLINKVOLTAGE
For proper operation of the rectifier, a minimum dclink voltage is needed to obtain
undistortedcurrentwaveforms.Tohaveafullcontroloftherectifier,itssixdiodesmustbepolarized
negativelyatallvalueofacvoltagesupply.Tokeepthediodesblocked,weneedtoensureadclink
voltagehigherthanthepeakdcvoltagegeneratedbythediodesalone.
Theoreticallyfordioderectifier,themaximumdcoutputvoltageisthepeakvalueoflinetolineRMS
voltage[9].
(2.24)
2
2. 3.
VDCLINK
VDIODERECTIFIER
1520%
Figure2.5:DClinkvoltagecondition
ItwillbebettertoselectaDClinkvoltageabout1520%morethan2 .
IMPORTANT:Thepreviousvoltage
correspondtotheconvertervoltage(Us).Thereisno
lineimpedancetakinginaccounthere.
Nevertheless,ifthereisnolineimpedance(R=0,L=0H)wecancontinuetowritetheequation
(2.24)accordingtotheamplitudeofsupplyvoltageEm:
(2.25)
.
2. 3.
3
ATTENTION : This is a true definition but doesnt apply in all situation [9] . The DClink voltage
dependsonthePWMmethod.Inourcase,wewilluseasinusoidalPWM.Inthiscasethemaximum
referencevoltageisVdc/2(Figure2.6[23]).
Figure2.6:Maximumsinusoidalreferencevoltage(convertervoltageUs)forsinusoidalPWM[23]
Finally,ourminimumDClinkvoltagewillbe
2
2
(2.26)
22
1.663
(2.27)
MINIMUMDCLINKVOLTAGEANDINDUCTANCE
Thebook[9](chapter11p434)definesaminimumDClinkvoltagetakinginaccounttheline
inductance value. The demonstration seems to be valid in our case for amplitude invariant (they
assume a maximum converter voltage equal to
(i.e. radius of switching hexagon). It will be
forpowerinvariant).TheydefineaDClinkvoltageas
(2.28)
WecanobservethatRisneglectedandifL=0(ifthereisnoinductancevoltage),wefindagainthe
equation(2.25)where
3 .
Fromthisequationwecangetthemaximuminductancevalueas
(2.29)
Alowinductancewillgiveahighcurrentrippleandwillmakethedesignmoredependentontheline
impedance (refer to 3.8 Grid modeling and 3.9.3 Simulation results). According to [9] , a high
valueofinductancewillgivealowcurrentripple,butsimultaneouslyreducetheoperationrangeof
the rectifier. The voltage drop across the inductance controls the current. This voltage drop is
controlled by the voltage of the rectifier but its maximal value is limited by the dclink voltage.
Consequently, a high current (high power) through the inductance requires either a high dclink
voltageoralowinductance(lowimpedance).
10
2.3 Controlstrategies
2.3.1 Introduction
ThecontrolofPWMconvertercanbeconsideredasadualproblemwithvectorcontrolofan
inductionmotorIM(seefigureandtablebelow).
ControlofPWMrectifier
IMcontrol
DPC
DTC
DirectPowerControl
DirectTorqueControl
VOC
FOC
VoltageOrientedControl
FieldOrientedControl
Figure2.7:PWMrectifierandIMcontrolduality
ControlofPWMrectifier
IMcontrol
Speedcontrolloopofvectordrive
dclinkvoltage
Referenceanglebetweenstatorcurrentandrotorflux
Referenceangleoflinevoltage
Table2.2:PWMrectifierandIMcontrolduality[9]
WecanclassifythePWMrectifiermethodintwocategories:voltagebasedandvirtualflux
basedcontrol(SeefollowingFigure2.8).
Figure2.8:Controlstrategies[9]
All these control strategies can achieve the same main goals, such as high power factor and near
sinusoidalinputcurrentwaveforms.
TheVoltageOrientedControl(VOC)guaranteeshighdynamicandstaticperformanceviaaninternal
currentcontrolloop.Butthequalitydependsmainlyonthecurrentcontrolstrategy.
The Direct Power Control (DPC) is based on the instantaneous active and reactive power control
loop.TherearenointernalcurrentcontrolloopandnoPWMmodulatorblock.Theswitchingstate
aredeterminedwithaswitchingtablebasedontheinstantaneouserrorsbetweenthecommanded
andestimatedvaluesofactiveandreactivepower.
TheVirtualFluxBasedControl(VF)correspondtoadirectanalogyofIMcontrol.
11
2.3.2 DirectPowerControlandVirtualFluxDirectPowerControl
The DPC method is similar to Direct Torque Control (DTC) for induction motor. Instead of
torqueandstatorfluxtheinstantaneousactiveandreactivepowersarecontrolled.
ThefollowingfigureshowstheschemeoftheDPCmethod.
Figure2.9:Blockscheme(DPC,VFDPC)[9]
The power estimation of DPC is based on the line voltage. An important disadvantages of the
methodidtheneedofcurrentdifferentiationtoestimatethispower.Otherrelevantpointscanbe
found([9]):
Needhighsamplefrequencybecausetheestimatedvaluearechangingallthetime.
Needhighinductancevaluebecausetheswitchingfrequencyisnotconstant.
Anonconstantswitchingfrequencymeanstroubletodesignaninputfilter.
Calculationofpowerandvoltageshouldbeavoidduringswitching(errors).
ThevirtualfluxmethodisanimprovementofVoltageOrientedControl(VOC).Thevirtualfluxisan
integrationoflinevoltageuL.
FortheVFDPC,wecansummariesthefollowingcharacteristics.
Nolinevoltagesensorsrequired.Furthermore,avoltagesensorlesslinepowerestimationis
muchlessnoisyduetonaturallowpassbehavioroftheintegrator.
Simpleandnoiserobustpowerestimationalgorithm,easytoimplementinaDSP.
Lowersamplingfrequency(asconventionalDPC).
Sinusoidallinecurrents(lowTHD).
NoseparatePWMvoltagemodulationblock.
Nocurrentregulationloops.
CoordinatetransformationandPIcontrollersnotrequired.
Highdynamic,decoupledactiveandreactivepowercontrol.
Powerandvoltageestimationgivesthepossibilitytoobtaininstantaneousvariableswithall
harmoniccomponents,whichhasaninfluenceforimprovementoftotalpowerfactorand
efficiency.
Easiercalculationsforpandqthanvoltagebasedmethod,nodifferentiationoflinecurrent.
ThetypicaldisadvantagesofVFDPCare:
Variableswitchingfrequency.
12
SolutionrequiresafastmicroprocessorandA/Dconverters.
2.3.3 VoltageandVirtualFluxOrientedControl
Figure2.10:VOCblockscheme[9]
TheVoltageOrientedControl(VOC)andVirtualFluxOrientedControl(VFOC)areclosetoField
Oriented Control for induction motor. The method is based on the transformation between
stationarycoordinates andsynchronousrotatingcoordinatesdq.Thisstrategyguarantees:
Fasttransientresponse
Highstaticperformanceviainternalcurrentcontrolloop.
Consequently,theperformancedependsonthequalityofthecurrentcontrolloop.
Wecanfindseveralstrategiesthatcanbeappliedforcurrentcontrol.Awidelyusedschemeforhigh
performancecurrentcontrolisthedqsynchronouscontroller,wheretheregulatedcurrentareDC
quantities.Thiseliminatessteadystateerrors.
VOCandVFOCprovidesomeadvantagescomparedtoDPC.
Low sampling frequency for good performance (cheaper A/D converters and
microcontroller)
Fixedswitchingfrequency(easierdesignofinputfilter)
Furthermore, VFOC provides improved rectifier control under nonideal line voltage condition
(becauseacvoltagesensorlessoperationismuchlessnoisythankstothenaturallowpassbehavior
oftheintegratorusedinthefluxestimator).
Bothmethodsalsohavesomedisadvantages:
Couplingoccursbetween activeandreactivecomponentsandsomedecouplingsolutionis
required.
CoordinatetransformationandPIcontrollersarerequired.
13
2.3.4 Comparisonanddiscussion
Thefollowingtablesummarizesthemaincharacteristicsofthedifferentcontrolstrategies.
TECHNIQUE
VOC
DPC
VFOC
VFDPC
ADVANTAGES
DISADVANTAGES
FixedswitchingFreq.(easierdesigninputfilter)
AdvancedPWMstrategiescanbeused
CheapA/Dconverters
Coordinate transformation and decoupling between

activeandreactivecomponentsisrequired
Complexalgorithm
InputpowerfactorlowerthanforDPC
NoseparatePWMblock
Nocurrentregulationloop
Nocoordinatetransformation
Gooddynamics
Simplealgorithm
Decoupledactiveandreactivepowercontrol
Instantaneous variables with all harmonics
components estimated (improve power factor
andefficiency)
Highinductanceandsamplefrequencyneeded
Powerandvoltageestimationshouldbeavoidatthe
momentofswitching
Variableswitchingfrequency
FastmicroprocessorandA/Dconvertersrequired
FixedswitchingFreq.(easierdesigninputfilter)
AdvancedPWMstrategiescanbeused
CheapA/Dconverters
Coordinate transformation and decoupling between

activeandreactivecomponentsisrequired
Complexalgorithm
InputpowerfactorlowerthanforVFDPC
Simple and noise resistant power estimation Variableswitchingfrequency

algorithm,easytoimplementinaDSP
FastmicroprocessorandA/Dconvertersrequired
LowersamplingfrequencythanforDPC
Low THD of line currents with distorted or
unbalancedsupply
NoseparatePWMblock
Nocurrentregulationloop
Nocoordinatetransformation
Gooddynamics
Simplealgorithm
Decoupledactiveandreactivepowercontrol
Table2.3:Controlstrategiescomparison[9]
VOCvs.VFOC
OneoftheonlyadvantagesofVFOCagainstVOCisthatVFOC provides improved rectifier control
under nonideallinevoltagecondition (becauseac voltagesensorlessoperationismuchlessnoisy
thankstothenaturallowpassbehavioroftheintegratorusedinthefluxestimator).
SwitchingFrequency
AFIXEDswitchingfrequencyisrequiredinourprojectmainlybecauseitmeans:easierdesign(input
filterforeg.)andthesamplefrequencycanbelower.OnlyVOCorVFOCcanprovidethisfeature.
Powerfactor
DPC has better power factor than VOC but has variable switching frequency. DPC also means
complicatedcalculationsforpandq(needdifferentiationoflinecurrent,riskofinstability).
AgoodpowerfactorcanbeachievedwithVFDPCandthemethodhaslotsofadvantagesbutaswe
wantafixedswitchingfrequency,VOCorVFOCshouldbechosen.
Iftheswitchingfrequencycanbevariable,theVFDPCstrategyisobviouslythebestsolution(butthe
costcanbecomeaproblem.ThemethodneedfastmicroprocessorsandA/Dconverters).
14
2.4 PulseWidthModulation
ThePulseWidthModulationusedinoursystem,asinusoidalPWMwillbeused.
2.4.1 SinusoidalPWM
Sinusoidal modulation is
based on a triangular carrier signal.
The idea is to compare three
sinusoidal reference voltages Ua*,
Ub* and Uc* to this triangular wave.
By comparison, the logical signals Sa,
Sb and Sc, which define switching
instants of power transistor, are
generated. Operation with constant
carrier signal concentrate voltage
harmonics
around
switching
frequency and multiple of switching
frequency.
Figure2.11:SinusoidalPWM
Vdc/2
Vdc/2
Figure2.12:SinusoidalPWMbasicwaveforms
Maximumsinusoidalreferencevoltage
UsingasinusoidalPWM,themaximumreferencevalueisVdc/2.
Figure2.13:Maximumsinusoidalreferencevoltage(sinusoidalPWM)[23]
Maximumslope
Theslopeofthetriangularwaveshouldbehigherthantheslopeofthereferencevoltage.Wecan
write
15
(2.30)
2.4.2 Digitalimplementation
Synchronoussampling[4]
In a digital current control system, the current is sample with interval Ts. To avoid
electromagnetic interference (EMI) due to ON/OFF switchings of the valves, it is useful to
synchronize the sampling with converter switching. Current sampling are taken in between
switchings.Thiscoincidewiththepositiveandnegativepeakvaluesofthetriangularwaveform.
Usingsynchronoussampling,approximatelythemeanvalueofthecurrentisobtained.Thus,
notonlyEMIisavoided,butalsothecurrentrippleisreduced.Thismethodcanbeeffectiveenough
toavoidlowpassfilteringbeforesampling.
Wewillselectthesamplefrequencyas:
(2.31)
(
istheswitchingfrequency,
Samplingtime
Figure2.14:AsymmetricPWMSynchronoussamplingillustration[23]
Twosamplescanbeacquiredovereachswitchingperiod.Accordingto[4]afastsamplingenables
higher bandwidth of the current controller, then its possible to reduce the sampling rate for
exampletotheswitchingrate:
(orless).
2.4.3 Deadtimeeffect
Whenwespeakaboutimplementationofconverter,weneedtoinjectdeadtime(delay)in
PWM signals to avoid short circuit in DClink (i.e. both transistor of one leg are conducting). The
systembecomessaferbut,theperformanceareaffected.
Thisistemporaryalossofcontrol.Forexampleinaninverter,theoutputvoltagewaveformdeviates
fromthatforwhichitisoriginallyintended.Sincethisisrepeatedoverandoverforeveryswitching
operation, its detrimental effect may become significant in PWM inverters that operate in high
switchingfrequency.Thisisknownasthedeadtimeeffect.Duringthedelaytime,bothtransistorsof
the leg cease to conduct. Another consequence of the deadtime effect is the appearance of
undesirableharmonics([31][32]).
Wecanfindseveralstrategiesfordeadtimeinjection.Anexampleisgivenbelow.
16
Figure2.15:Onelegwithtransistors B1andB2 On/Offstates,deadtimeTd[32]
17
VOLTAGEORIENTEDCONTROLSIMULATION
3 VOLTAGEORIENTEDCONTROLSIMULATION
3.1 IntroductionReferenceschosen
As we explain in the previous section, Voltage Oriented Control (VOC) or Virtual Flux
OrientedControl(VFOC)shouldbechosen.WedecidedtostartwithaVOC.
Beforegoingfurtherinthedesignandsimulationofthecontroller,weneedtoprecisesome
importantreferenceschoseninthisreport.
3PHASESYSTEMDEFINITION
3
4
COORDINATETRANSFORMATION
1
(2.10)(2.11)
and
and
(3.1)(3.2)
YoucanrefertoAPPENDIXAfordetails.WeonlyuseAMPLITUDEINVARIANTinthisthesis.
Indeed,aftertransformationfromABCtodqcoordinates,thedcomponentsisequalto ,andthe
qcomponentequaltozero.
POWER,CURRENTDIRECTION
Wechoseareferenceasshowninthefollowingschematic,thecurrentisflowingfromthe
gridtotherectifier.
Figure3.1ReferenceforI,P,Q
18
3.2 Systemblockdiagram
ThevoltageorientedcontrolschemeisshownFigure3.2.
Figure3.2:Systemblockdiagram
Firstofall,thelinevoltageUabcneedtofeedthePLL(PhaseLockedLoop,see3.7Phase
Locked Loop (PLL)) and the voltage angle calculated is used for threephase to dqcoordinate
transformationoflinecurrentandvoltage.
Secondly,thedqcoordinatevaluesandtheDClinkvoltagevalueareusedinadecoupledcontroller
whichwillbedescribedinthesection3.4Currentcontrollerand3.5DClinkvoltagecontroller.
Finally, the reference voltages created by the controller are sent to the PWM block (Pulse Width
Modulation)tocreatetheswitchingpatternsSabc(S=1meansupperswitchON,lowerswitchOFF;
S=0meansupperswitchOFF,lowerswitchON).
Remark : The reference voltage from the controller correspond to the converter voltage Us (see
designofthecurrentcontrollerinsection3.4Currentcontroller).
The system will be simulated in Matlab/Simulink. According to the previous figure, we will have
fourmainpartsinthemodel:thePLL,adecoupledcontrollercomposedbyacurrentandvoltage
controller,aPWMblock,andarectifiermodel(withgridimpedanceRandLincluded).
19
3.3 PWMSimulation
A description of the sinusoidal PWM implemented here is available in section 2.4 Pulse
WidthModulation.
3.3.1 SimulinkimplementationofPWM
PWMblockusingswitch
TheamplitudeoftriangularwaveshouldbeVdc/2.ButVdcisnotconstantinourcase.We
shouldfirstnormalizedthereferencevaluebyVdc/2andcomparethisvaluewithatriangularwave
withanamplitudeof1.ThefollowingfigureshowtheSimulinkblockdiagram.
Figure3.3:SimulinkPWMblock
PWMblockwithoutswitch
We can also use a PWM block without switching to create the switching pattern. The
referencevoltageisnormalizedbyVdc/2toobtainasignalwithinarange[1;+1],thendivideby2
andtranslatetogetsignalintherange[0;+1]liketheswitchingfunctionSabc.Thissimplemodel
can be useful in Simulink to reduce the simulation time if needed. In a complete simulation with
controller,thebehaviorofthesystemissimilarusingFigure3.3orFigure3.4.
Figure3.4:SimulinkPWMblockwithouttriangularwave
20
Synchronizationverification
Wehavetocheckwhichcarrierwaveweshouldhave(att=0,triangleamplitudeis1or0?).
Weneedtobesurethatwesampleeverytriangularwavepeak(weneedtocheckifatt=0,Matlab
takeasampleornot).
Wecanverifyitbysamplingthetriangularwave,usingasampleandholdblock.Thesignalsbefore
andaftersamplingareplottedbelow.Aswecansee,wesampleoneachtrianglepeak(bluepoint).
2
/2
Figure3.5:Synchronizationverification
21
3.4 Currentcontroller
This section is mainly based on the reference [4] and [14] . We are giving a summary for
controller design based on Internal Model Control (IMC) with synchronous PI control (decoupled
controller).
To make the following more understandable, a first schematic for decoupled controller is given
Figure3.6withthecurrentcontrollerandthedclinkvoltagecontroller(describeinsection3.5DC
linkvoltagecontroller).
Figure3.6:Decoupledcontroller(currentanddclinkvoltagecontroller)
3.4.1 InternalModelControl
Internal Model Control (IMC) is a method for controller design, for which the resulting
controllerbecomesdirectlyparameterizedintermsoftheplantmodelparametersandthedesired
closedloopbandwidth.
Forexample,thecontrollertransferfunctionwillbe
(3.3)
thatis,alowpassfilterwithbandwidth, isanestimationoftheplant(process),andntheorder
orG.
A brief tutorial is available in [14] , Chapter 6, page 83. This method is used for the following
controllerdesign.
3.4.2 SynchronousPIcontrol
PI controllers are inherently incapable of giving zero steady state control error for a
sinusoidalreference.Theintegralactionremovestheerroronlyifthereferencevalueisconstantin
steadystate.
Using Clarke and Park transformations, the current measurements are transformed to DC
quantities,then,asimplePIcontrollercangivegoodresults(butnotalwaysoptimalperformances).
Mainqualitiesfordqframecurrentcontrollerarethen:
fastdynamicresponse,
22
goodaccuracycurrenttracking,
lesssensitivetoparametervariations.
(Sources:[4][9]).
3.4.3 DesignofthesynchronousPIcontroller
Figure3.7:Synchronouscoordinatesschematic(seeAPPENDIXAA.5)
Synchronouscoordinatesequation(notation,
(3.4)
Andthesystemtransferfunction
is
(3.5)
Figure3.8:Currentcontrolwithinnerdecouplingloop
Crosscouplingcancellation
The first step in the controller design is to cancel the cross coupling initiated by the term
(sincemultiplicationby mapsthe axison axisandviceversa).Thiseasilypossibleifwe
haveanaccurateestimationof whichis .
According to [9] , a PI current controller has no satisfactory tracing performance for the coupled
systemdescribedbyequations(2.17)(2.18).Forhighperformanceandaccuracycurrenttrackingwe
needtocancelthiscrosscoupling.Weselect as
(3.6)
with theestimatedvalueof .Then,if

and
weget
23
(3.7)
with
thedecoupledsystemtransferfunctionfrom to .
Controllertransferfunction
Asthecomplextransferfunctionisafirstorder(representingtwononinteractingfirstorder
systeminthe and directions),aPIcontrollerisenough:
(3.8)
BasedonIMCmethodof[14],wecanwrite
(3.9)
with (rad/s)thecurrentcontrollerbandwidthwherethepoleof
estimationof
.Finally,weobtainthePIcoefficients:
and
For this inner current control loop, the bandwidth

belowthesamplingfrequency(Fs[Hz])[14]).
10
isplaced,and
the
(3.10)(3.11)
should be selected smaller than a decade
(3.12)
Decoupledcurrentcontroldesign
In order to establish the decoupled current control diagram, we have to continue with
equation(3.6).Wedefine ,complexintegratorstatevariableas:
(3.13)
Then,wecanwritetherealandimaginaryparttogetourreferencevoltageanddrawourcurrent
controllerblockdiagram:
24
(3.14)
(3.15)
Referencevoltages
Figure3.9:Currentcontrollerblockdiagram
Comments:Inoursystem,thelinecurrent issplitintoaqcomponent andadcomponent .

determinestheactivepowerflowwhereas thereactivepower.Theunitpowerfactor(UPF)
conditionismetwhenthelinecurrentvector isalignedwithlinevoltage .Inthiscase,wehave
0).
toset tozeroinourcontroller(
Figure3.10:VectordiagramofVOCLinecurrentandvoltage[9]
Furthermore,wecanwritedowntheequationforpowerandseethatthereactivepowerissetto
zero.Fromthepowerequationsestablishedinsection2.2.2Mathematicalmodelwecanwrite
3
3
3
(3.16)
2
2
2
3
3
3
(3.17)
2
2
2
Nowifwesetthereference tozeroandweknowthatthelinevoltagevectorisalignedwiththed
axis,so
0 .Finally,weget
3
(3.18)
2
0
3.4.4 Activedamping,voltagesaturation,antiwindup
ACTIVEDAMPING
Asitsfullyexplainedin[4](section1.4p24),thecurrentcontrolerror couldbedecrease
beincreasingR.Therefore,wecanaddainnerfeedbackloopwhichaddRa(justusingsignal,thereis
no energy transfer or more losses). This method improve disturbance rejection capability because
25
thedynamicsarespeededupfromL/RtoL/(R+Ra).ActivedampingisalsousedwhenRandLvalue
arenotestimatedprecisely.
Thisactivedampingisnotimplementedinthisthesis.
REFERENCEVOLTAGESATURATION
Wehave treated thecurrent controlloopasanidealandlinearsystem. In practice,thisis
notcorrectbecausethereferencevoltageislimitedtoanupperandlowervalue.Forlargestepof
the dcurrent, the controller might demand a large voltage vector (outside the switching hexagon
that defines the switching possibilities). This exceeds the realizable voltage modulus of a PWM
converter([4][14]).
The saturation is applied on the modulus of the complex value of the reference voltage
,thatis,
.
The saturation value depends on the DClink voltage. The maximum value of reference voltage is
Vmax=Vdc/2.
The simplest method to create the saturation [Vdc/2 ; Vdc/2] in Simulink is to normalized the
modulusofreferencevoltagebyVdc/2beforethesaturationblock.Then,thesaturationblockisthe
setto[1;1](itmeansasaturationbetweenVdc/2andVdc/2).Finally,wemultiplybacktheoutput
ofthesaturationblockbyVdc/2.
Figure3.11:ReferencevoltagesaturationSimulinkimplementation
INTEGRATORANTIWINDUP
Principle
As we said in the previous section, for large step of the dcurrent, the controller might
demand a too large voltage vector (outside the switching hexagon). This exceeds the realizable
voltagemodulusofaPWMconverter([14]).
Wecall thereferencevoltage.ThePIcontrolleris:
Once become limited ( ), the integrator part of the PI controller can introduce a phenomenon
calledintegratorwindup.Anintegratorwindupgenerallymanifestitselfbyanovershoot(tothestep
response).Inordertoavoidwindup,theintegratorpart shouldnotbeupdatedwithtoolargeerror
.Weshouldfeedtheintegratorwithanothererror ,sothat
.
26
Then,writingthedifference
wecanobtain
.
Thefollowingcontrollerresults:
(source:[4][14])
Inourcase
Forthedecoupledcontroller,thefollowingequationhavebeenfound:
aftersaturation,wecanwrite:
Nowwecall thevalueof
Bywritingthedifference
,wecanfind :
(3.19)
ThePIcurrentcontrollerwillbecreatedasfollow.
Figure3.12:PIcontrollerwithantiwindup
3.4.5 Currentcontrollersimulation
BLOCKDIAGRAM
Thesimulationhavebeendonefollowingthefollowingequations(equation(2.8)ofsection
2.2.2Mathematicalmodel):
Foreachphaseweknowthatthecurrentisequalto
Also,wecandrawthefollowingdiagramblock(Figure3.13).
Id*willbechosen;
27
UaUbUcarelinevoltage;
EdEqarethedqtransformationofUaUbUc.
Figure3.13:Blockdiagramforcurrentcontroltests
Remark:ThetestscanalsobesimulatedindqbutwevedecidedtostayinABCframetomodelthe
rectifierandthegridimpedancetobeascloseaspossibletotherealsystem.
SIMULATION
Thesystemhavebeensimulatedincontinuousanddiscrete(onlythecontinuoussimulation
isshownhere).Nosaturationorantiwinduparepresentinthissimulation.Theywillbeaddedlater.
Parameters
Value
R()
0.1
L(H)
5e3
(rad/s)
250
Em(V),phtogndamplitude(=Ed)
1152
Id*(A)
3
Id*step(A)at0.025s
3
Iq*(A)
0
Fsw(kHz),switchingfrequency
20
/ (rad/s)
1.26e4
PIcontroller,Kpi
62.8
PIcontroller,Kii
1.26e3
Table3.1:Currentcontrollersimulationparameters
Thebandwidthofthecurrentcontrollerhavebeenselectedat:
2
(wechoseto
takeadecadesmallerthantheswitchingfrequency).
isselectedequalto .
TheSimulinkblockdiagramisavailableinAPPENDIXBB.1,Figure0.7.Wealsoadvicetoread
thesimulationofcoordinatetransformationinAPPENDIXAA.4before.
28
Figure3.14:Currentcontrolsimulation
Remark:Thevalueofiqiszerowhenazoomisdone(evenifaqcurrentisvisibleintheprevious
figure).
29
3.5 DClinkvoltagecontroller
3.5.1 DClinkmodelandlinearization
DCLINKMODEL
TheDClinkvoltageismodeledasapurecapacitor.Thiscapacitorisanenergystoragewhere
thestoredelectricalenergyinJouleis
1
(3.20)
.
.
2
Thetime derivativeofthisstoredenergyshouldbeequalto thesumofinstantaneousgridpower

andloadpower[14].
(3.21)
Figure3.15:Energytransfer
As we can see, the previous equation is not linear with
respecttoVdc.
LINEARIZATION
The design of the voltage controller is facilitated thanks a feedback linearization. The
feedbacklinearizationtransformsthenonlineardcvoltagedynamicstoaequivalentlinearsystem,
onwhichtraditionallinearcontrollerdesigncanbeapplied.
Wenowchooseanewstatevariable .
(3.22)
Then,equation(3.21)becomes
1
(3.23)
.
2
which is linear with respect to . The physical interpretation is that the energy is chosen to
representthedclinkvoltagedynamicsinsteadofthevoltageitself.Othertypeoflinearizationcan
befound[14].
3.5.2 Designofvoltagecontroller
Systemtransferfunction
Following[14]andtheInternalModelControlmethod,wecanwrite
2
3
(3.18)
(3.24)
where isthedcurrent,andthegridvoltage
.Thecoefficient comesfromtheamplitude
invarianttransformation(seesection2.2.2Mathematicalmodelaboutpowercalculation).
1
3
(3.25)
2
2
30
1
2
Then,thesystemtransferfunction
3
2
2
2
is
(3.26)
Figure3.16:Voltagecontrolloop
istheestimationof
and
where
giveusaproportionalcoefficient
:
(3.27)
3
(rad/s)isthebandwidthofthevoltagecontroller.Then,
(3.28)
with
(Em is the amplitude of the threephase input voltage in the model section
2.2.2Mathematicalmodel)
Wewillchoose atleastadecadesmallerthanthecurrentcontrolbandwidth.
10
(3.29)
As we can see there is no integrator part in the controller. In our controller, we will add a small
integratorpartwithgain (forexample
0.01).
3.5.3 Voltagesaturation,antiwindup,activedamping
SATURATION,ANTIWINDUP
Exactlyasthecurrentcontroller,wehavetoaddasaturation(oncurrentid*)andananti
windupishighlyrecommended(usefulisthesaturationlimitisreached).
Inthiscasewecanwrite:
31
with
.Ifwedothesamecalculationthanthecurrentcontrollercase,wecanfind:
(3.30)
Then,thePIvoltagecontrollerschemewillbeasbelow.
Figure3.17:PIcontrollerwithantiwindup
ACTIVEDAMPING
Previously,wefoundasystemtransferfunction
(equation(3.26))as
whichhasapoleattheorigin.[14]advicetoaddanactivedampinginthiscase,toplacethepoleat
,with thebandwidthofthevoltagecontroller.
Systemtransferfunction
Basedon[14],wecanfindthefollowingequationsandblockdiagram(Figure3.18).Wecan
startagainwithequation(3.25):
1
3
(3.25)
2
2
Wechosetodefine with
(3.31)
where is the active conductance that provides active damping. Then, by substituting equation
(3.31)into(3.25),thesystemmodelbecomes
1
3
3
(3.32)
2
2
2
Thesystemtransferfunctionbecomes
3
(3.33)
3
Aswecansee,westillhaveafirstordersystembutthepolecanbechosenwith .Placingthepole
wecanfind as
at
3
0
0
3
(3.34)
32
FollowingthepreviousIMCmethod,weobtain
(3.28)
with
(3.35)
(3.36)
Figure3.18:Voltagecontrolloopwithactivedamping
3.5.4 Voltagecontrollersimulation
The system represented in Figure 3.19 is first simulated without saturation, then with
saturation,andfinally,anantiwindupisadded.ThesimulationparametersandSimulinkschemeare
presentedbelow.
Parameters
Value
C(F)
2200
(rad/s)
250
1152
20
/
(rad/s)
1.26e3
PIcontroller,Kpv
0.0057
PIcontroller,Kiv
0.01
Vdcreference(V)
400
Rload()
500
Table3.2:Voltagecontrollersimulation
33
Figure3.19:VoltagecontrollerSimulinkblockscheme
Figure3.20:VoltagecontrolWithoutsaturation
34
Figure3.21:VoltagecontrolWithsaturation15A
Figure3.22:VoltagecontrolWithsaturation15Aandantiwindup
Withoutsaturation(Figure3.20)
Wecanseeafastresponse,asmallerrorclosetozero(0.0001Vat3second).But,weobserveavery
highcurrentabout800A.Weneedtoaddthesaturationhere.
Withsaturation(Figure3.21)
Theerrorhasbeenincreasedlightly(Error0.06VwithRload=500,Error0.1VwithRload=50).
Weobservethattheerrordependsonthesaturationupperandlowervalueanddependsalsoon
theload.
As the current is now limited the response is much slower. Finally, we also observe the so called
integratorwindupduetothesaturation.
35
Withsaturationandantiwindup(Figure3.22)
Wenowincludethebackcalculationantiwindupandaswecansee,theovershootdisappeared.The
errorisalsoreduce.
Withsaturation,antiwindupandactivedamping(APPENDIXBB.2,Figure0.8,Table0.1)
Inthissimulation,theactivedampingdoesntinfluencethesystem.
3.5.5 Simulationwithcurrentcontroller
Thewholesystemcannowbesimulated.Therectifierismodeledaccordingtothefollowing
Simulinkscheme(Figure3.23andFigure3.24)anddata(Table3.3)
PARAMETERS
VALUE
R()
0.1
L(H)
5e3
C(F)
2200
(rad/s)
250
1152
20
Rload()
500
Vdcreference(V)
400
/ (rad/s)
1.26e4
/
(rad/s)
1.26e3
Vcontroller,Kpv
0.0057
Vcontroller,Kiv
0.01
Icontroller,Kpi
62.8
Icontroller,Kii
1.26e3
Isaturation(A)
15
Vdcstepat0.03(V)
50
Table3.3:Currentandvoltagecontrollersimulationparameters
36
Figure3.23:SimulinkblockschemeGridimpedanceanddclinkmodel
In the previous figure, the signals uabc_ref come from the controller (after dqtoabc
transformation).
Figure3.24:SimulinkblockschemeController
37
Figure3.25:Controllersimulationresults
IntheFigure3.25,weobserveaveryhighcurrentwhenthesystemstart(idreaches70A),
andwecanseealsoasmallovershootonVdc.Thisisduetothecapacitorcharging.
NowweapplyasmallsteponVdcreference(50V),andwecanseethatthedcurrentreachesthe
saturationlimit(15A)whenVdcisincreasingtowardsthereferencevalue(450V).Finally,whenVdc
reachesthereferencevalue(withoutovershoot),thecurrentisstabilizearound1.3A(steadystate
value).
DISCRETESIMULATION
All the previous design and simulation have also been implemented in discrete time since
the controller will be discrete in reality. You can find a discrete simulation of the controller (same
schemeasFigure3.24)inAPPENDIXD.
38
3.5.6 Controllerimprovements
FILTERS
Figure3.26:Decoupledcontrollerwithfilter
)andVdqtheconvertervoltage.Wereceiveda
dqrepresentthelinevoltage(grid,or
pieceofadviceregardingthefeedforwardtermdqinthecontrollerFigure3.26.Thisfeedforward
couldturnthesystemunstableifsomehighfrequencyoscillationsappearondq.
To remove any high frequency oscillations, we decided to add a filter for each feedforward. We
chose a first order discrete filter with a bandwidth a decade lower than the current control
bandwidth:
10
(3.37)
If the grid is stiff enough, the bandwidth of the filter can be equal to the current controller
bandwidth.
INTEGRATORS
Wecanseeinthepreviousschemethattwointegratorareincascade,anintegratorinthe
voltagecontrollerandoneinthecurrentcontroller.Thecurrentcontrollerintegratorcanprobably
beremoved(then,theantiwindupalso).
LOADCOMPENSATION
Inthepapers[11],aloadcompensationhasbeenproposedtominimizedtheinfluenceof
rapid changes of the converter load. The feedforward information (see schematic on Figure 3.27)
abouttheactualconverterloadhasalsocontributedtoimprovethetransientresponseoftheDC
linkvoltage.Thiscompensationisnotimplementedinthisreport.
39
Figure3.27:Improvementproposedin[11]
40
3.6 Stabilityanalysis
We decided to do a small stability analysis with the current controller only, voltage
controller,thenbothvoltageandcurrentcontrollertogether.Furthermore,theanalysisisdonefor
).Ina
threedifferentvoltagecontroller.First,onlyaproportionalcontrolleristakinginaccount(
secondtime,theintegrationpartisadded(
0.01).Andfinally,theactivedampingcoefficient
isadded.
3.6.1 Currentcontroller
Ifthecrosscouplingcancellationisideal,thatis,
,wesawinsection3.4.3Designof
thesynchronousPIcontroller(andseeFigure3.8)thatthesystemtransferfunctionbecomes
1
(3.7)
Ifwesee asadisturbancethatweneglect,weobtainthefollowingdiagram
Figure3.28:stabilityanalysisofcurrentcontrol
Now,followingtheIMC,wesawthatthecontrolleriscalculatedwith
Theopenandclosedlooptransferfunctionarenotedrespectively
Furthermore,if
1
and
and
(3.38)
(3.39)
,wecanobtaintheopenandclosedlooptransferfunction
(3.40)
(3.41)
isafirstordersystem,lowpassfilter,withacutofffrequency rad/s.
Thereisonlyonepolefor
anditslocatedat
(negativeRealpartoftheImaginarydomain
meansstability).
3.6.2 Voltagecontroller
PROPORTIONALCONTROLONLY
We consider again the Figure 3.16 without load disturbance

followingdiagram.Thesystemtransferfunctionis(equation(3.26))
41
and we obtain the
Figure3.29:stabilityanalysisofvoltagecontroller
and
(3.42)
(3.43)
isafirstordersystem,lowpassfilter,withacut
Asthepreviouscase,if
and
,
offfrequency rad/s.
Thereisonlyonepolefor
anditslocatedat
(negativeRealpartoftheImaginarydomain
meansstability).
PROPORTIONALANDINTEGRALCONTROL
As we explain during the voltage controller design, we decided to add a small integration
constant.
and
.
3
3
3
(3.44)
3
3
(3.45)
1
3
WITHACTIVEDAMPINGGA
Inthiscase,weconsiderthefollowingdiagram.
Figure3.30:stabilityanalysisofvoltagecontrollerwithactivedamping
3
3
3.6.3 Completecontroller
Tostudythecompletecontroller,weconsiderthefollowingdiagram.
42
(3.46)
(3.47)
Figure3.31:stabilityanalysisofcontroller
Wecannowwritetheopenandclosedlooptransferfunction
and
:
(3.48)
(3.49)
Thefollowingtablesumupthedifferenttransferfunctionsofthecontroller.
PCONTROL
PICONTROL
PIANDACTIVEDAMPINGGA
Table3.4:Transferfunctions
3.6.4 NyquistandBodediagram
We can now plot the Nyquist and bode diagram for the complete controller. The Nyquist
diagram should be plot for the openloop transfer function
. Bode plot are given for the
closedlooptransferfunction
.
ThefollowingtableshowsthedatausedforMatlabscript.
PARAMETERS
VALUE
R()
0.05
L(H)
3e3
C(F)
2200
(rad/s)
250
1152
10
Rload()
500
/ (rad/s)
6.283e+003
43
/
(rad/s)
628.3
Vcontroller,Kpv
0.0028
Vcontroller,Kiv
Givenlater
Icontroller,Kpi
18.8496
Icontroller,Kii
314.1593
Ga
Givenlater
Table3.5:Calculationdata
PARAM.
Kpv
Kiv
Kpi
Kii
Ga
Pole1
Pole2
VALUE
0.0028
0
18.8496
314.1593
0
5575.1
708.1
Figure3.32:PcontrolNyquistplotofopenloop
Figure3.33:PcontrolBodeplotofclosedloop
44
PARAM.
Kpv
Kiv
Kpi
Kii
Ga
Pole1
Pole2
Pole3
VALUE
0.0028
0.01
18.8496
314.1593
0
5575.6
704.1
3.5
Figure3.34:PIcontrolNyquistplotofopenloop
Figure3.35:PIcontrolBodeplotofclosedloop
45
WITHACTIVEDAMPINGGA
PARAM.
Kpv
Kiv
Kpi
Kii
Ga
Pole1
Pole2
Pole3
VALUE
0.0028
1.7801
18.8496
314.1593
0.0028
5575.1
708.1
628.3
Figure3.36:PIGacontrolNyquistplotofopenloop
Figure3.37:PIGacontrolBodeplotofclosedloop
3.6.5 Conclusion
AllthepreviousNyquistplotshowstability,thebluecurveisfarenoughfromthepoint1.
Thephasemarginsareabout84deg (agoodphase marginishigherthan60deg). The Gainmargin
46
arealsogoodinourcases(infinite).Nevertheless,wefeelthatthedelaymarginisreallytoosmall
comparedtothesystemtimeconstant.
ATTENTION,thisanalysisisprobablytoosimplistic.Weassumedthattheconverterandgrid
parametersareperfectlyknownanditsnotcorrectinreality.Thecrosscouplingcannotbeperfectly
cancelledandthe estimatedvaluesarenotexactlyequalto therealvalues, that is:
,
,
,
.
Anotherimportantpointisthattheanalysishavebeendoneincontinuoustimeandshould
bealsodoneindiscretetimeinordertobeclosetotherealsystem(discretecontroller).
MoreNyquistandBodegraphareplottedinAPPENDIXE.
47
3.7 PhaseLockedLoop(PLL)
ThePLLisanimportantandcriticalpartofthesystem.Itsaimistogivethevoltageangleof
thethreephasesystem(UaUbUcFigure2.4).Thisangleisthenusedforallthedqtransformations
inthemodel.
3.7.1 Design
ThePLLwasdesignaccording([4][14]).
(3.50)
(3.51)
where and are gain parameters and the error signal ( is the Ki, and is the Kp of a PI
controller). The main difference is that in our case, with doriented control, the error signal is
selectedas:
insteadof
(chosenforfluxorientedcontrol).
Followingtheanalysisofthethesis(orcompendium),wecanfindthefollowingPIparametersand
thefollowingscheme.
2
,
,
(3.52)(3.53)(3.54)
where can be seen as the bandwidth of the PLL (rad/s), and

modulus.
is the estimated grid voltage
Figure3.38:PLLscheme
Comments:
ThePIcoefficientscanbefixedorcalculatedinSimulinkaccordingtotheestimatedvalue(or
measuredvalue)
Thereferencevalue(
2. . 50
/ )canbealsoincludedasainitialconditioninthe
PIcontrollerintegrator.
ThefirstselectionofthePLLbandwidthisabout20Hz.Itwillbeadjustlater.
3.7.2 Simulations
Themodelwasimplementedincontinuousfirst,thenindiscreteusingthefollowingscheme
foradiscreteintegrator:
48
Figure3.39:Discreteintegrator(APPENDIXC.Digitalsimulation)
The sample frequency is chosen as :
frequency,20kHz).
2.
2.
(Fsw is the switching
Simulation1:Balanced3phasesystem
Figure3.40:SimulationBlockScheme
Theresultsshowthattheoriginalangleandtheanglefromthepllareequal(angularfrequencyis
alsothesame,314.1593rad/s).
49
Figure3.41:SimulationBalanced3phasesystem
50
Simulation2:Unbalanced3phasesystem
NowwecreateavoltagediponphaseCat0.025s(30%dip,70%ofthevoltageleft).
Figure3.42:SimulationUnbalanced3phasesystem
Nowanoscillationisproducedandwecanseeasmalloscillationontheta_plltoo.
Simulation3:Balanced3phasesystem,noise
Wecomebacktoabalancedgridandweaddnoisetothe3phasevoltages(randomnoise
for A, square wave for B, sawtooth wave for C, at different frequencies). We can see on the
simulationbelowthattheanglesaresimilar(asmallerrorabout0.03degcanbeseenwithazoom).
NoisephaseA
NoisephaseB
NoisephaseC
Randomwaveform
squarewave
sawtoothwave
Atdifferentfrequencies:100,150,200,250,1000,5000,10000Hz
Table3.6:Noiseparameters
51
Figure3.43:SimulationBalanced3phasesystem,noise
Remarkandconclusion
We saw that the coefficients and can be calculated in Simulink according to .

Nevertheless,thiscancreateasimulationissueatbeginningofthesimulation.Weassumethatfora
firstimplementationandastiffgrid,fixedcoefficientscanbeeasilyused.Anothersolutioncouldbe
tostartwithfixedcoefficientsthenswitchtovariablevalues.
Toremovetheoscillationsontheta,weadvicetoreducethePLLbandwidthto5Hz.
3.7.3 Improvementsandconclusion
As indicated in some papers (for example, see [30] in the case of amplitude distortion,
frequency distortion, phase distortion, harmonics, phase loss, random noise, the conventional PLL
presented here is not enough. For example, they use a controlled moving average algorithm to
extract andaphaselocker.
Figure3.44:PLLproposedby[30]
52
3.8 Gridmodeling
Figure3.45:Gridconnectedconverter
The aim of this part is to modify the model introduced in section 2.2.2 Mathematical
model(Figure2.4)tosimulateagridconnectedconverter.Wearegoingtoaddthegridvoltageand
impedanceEg,RgandLg.AswitchwillbemodeledwitharesistorRb(highvalueforanopenswitch,
verysmallvalueforaswitchclosed).Wecanwritefourequationsasbelow.
Firstequation:ig
(3.55)
Secondequation:i
(3.56)
Thirdequation:Vc
(3.57)
Fourthequation:
(3.58)
Withthesefourequations,wecanestablishtheschemeFigure3.47toreplacethesimplegridmodel
ofFigure3.46(establishinsection2.2.2MathematicalmodelFigure2.4).
Figure3.46:Simplegridmodel(phaseA)
53
Figure3.47:SimulinkNewgridmodel(phaseA)
WecanalsowritemoresimpleequationsforamodelwithoutCac.
(3.59)
Thenifweinjectdi/dtofthefirstequationinthesecond:
1
(3.60)
(3.61)
Wecanremarkthatif istoobigcompareto
,thevoltageVppcwillbehighlydependenton
thecurrentIandwillvary.Intheotherhand,if isverysmallcompareto
,thelasttermof
theequationcanberemovedand
ismorestable.
54
3.9 Gridconnectedconvertersimulation
Thissectionshowsthesimulationsresultsofthecompletesystembuiltwith(Figure3.49):
ADISCRETEblock
Samplingsystem(sampleandholdblock)
PLL
Decoupledcontroller
PWMblock(sinusoidalPWM)
AnasymmetricPWMisusedhere,aswesawinthesection2.4.1SinusoidalPWM,wehave
2
2
.
Gridandrectifiermodel
Wearenowusingthemodelpresentedinthepreviouspart3.8Gridmodelingwithsmall
unknowngridimpedance andaswitch(beaker)
.Wealsoaddasecondswitchin
theoutputaswecanseeinFigure3.48.
Figure3.48:Singlephaseschematic
3.9.1
Simulationsteps,Simulinkblockdiagram
SIMULATIONSTEPS
Thesimulationiscomposedbythreesteps.InthestepI:SW1andSW2areopen,stepII:
SW1closedandSW2open,stepIII:SW1andSW2closed.
Step :Synchronization
SW1andSW2areopen.
Thevoltage
issenttothePLLandthevoltageangle iscalculated.
AllIGBTsareOFF(therectifierbecomesasimplethreephasedioderectifier).Nocurrentis
flowingintotherectifier.
Thecontrollerisinstandbymode.Alldiscreteintegratorsaredisabled.Allintegratorsshould
bedisabledwhenallIGBTsareOFF.Otherwise,theintegratorpartofthecontrollerwilltry
tosettheerrortozerobutsincetherearenoswitchesactivated,theerrorcannotbesetto
zero.Theintegratorvaluewillincrease.
DClinklinkcapacitorischargedtothereferencevalue
(inthesimulation,thisaction
isdonebysettingtheInitialCondition to
into theintegratorof theDClink model).
ATTENTION,thevalue
shouldrespecttheconditionexplainin2.2.3Limitations:
2
where
istheLinetoNeutralamplitudeof
.
,
,
55
Theloadisnow
.Thisresistorissettoahighvaluetoavoidthedischargeof
_
Step :ClosingSW1
TheACsidecapacitor(filter)ischarged(smalltransient).
AllIGBTsareOFFandthecontrollerisinstandbymode(nointegration).
As
2
,thereisnocurrentflowingintotherectifier.
,
Step :ClosingSW2andSTART
SW2isclosed.
cannowbeneglectedsince
.
_
_
ThecontrollerisfullyactivatedandtheIGBTscanbeturnedON.
SIMULINKBLOCKDIAGRAM
Figure3.49:ToplevelSimulinkmodel
The Figure 3.49 shows the top level block diagram of Simulink. You can find the details of
differentblockinAPPENDIXF.
Beforepresentingthesimulationresults,wehavetoprecisetwoimportantpoints,thatare,howthe
IGBTOFFstateandhowthedisabledintegratorsaremodeledinSimulink.
IGBTOFFstate
WhentheIGBTsareOFFinoursimulation,nocurrentisflowingintotherectifier(DClinkvoltageis
highenoughandthebodydiodeoftheIGBTsareblocked).Consequently,wedecidedtoforcethe
currenttozerowiththeFigure0.39inAPPENDIXF.
Disabledintegrators
Theintegratorsaredisabledbyforcingthevaluetozero(anothersolutioncouldbetosetKitozero).
YoucanseetheSimulinkblockinAPPENDIXF,Figure0.35.
3.9.2
Verification
In this subsection, we verify that the equation presented in the second Chapter (2.2.3
Limitations).
56
Gridvoltage
400 (LinetoLine)
230.9 (PhasetoGround)
2230.9
326.6 (PhasetoGroundamplitude)
MinimumDClinkvoltage
The minimum DClink voltage is found with the equation (2.27) of section 2.2.3
Limitations.
2
2
2 326.6
653.2 .
Thisminimumvaluehavebeenverifyinoursimulation.IntheSimulinksimulation,wefound
aminimumDClinkvoltagearound660V.
Finally,foroursimulationwewillselect
700 .
Thisvalueisprobablyabitlowforanexperiment.Inreality,itwillbebettertoselect15%
or20%more(about750Vor790V.Referto2.2.3Limitations).
Inductancevalue
Theequation(2.29)ofsection2.2.3Limitationsappliedinoursystembecomes:
3
Aswesawduringthevoltagecontrollerdesign,section3.5.2Designofvoltagecontroller
equation(3.18),thedcurrentiscalculatedby
2
3
Then,insteadystatewecanwritetheequalityofpower
(3.62)
Finally,thecurrentbecomes
2
3
700
2
3 326.6 150
(3.63)
6.668
6.7
This value is totally verified in the following simulation. We can now calculate the
inductance.
3
700
326.6
3
2 50 6.7
0.1131
Wethinkthatthisvaluetoohighaccordingtoresultsreadinsomepapers.Wedecidedto
selecttheinductancearound3mH(itcouldbe5mHor10mH).
57
3.9.3
Simulationresults
SIMULATION1AND2
ThefollowingTable3.7presentasummaryofthesimulationparameters.Alltheparameters
forthisSimulation1arepresentedinAPPENDIXF,Table0.3.
Thesimulationisperformedwithapproximation:
We assume that the
voltage is equal to the grid voltage (Figure 3.48). That is only
trueifthegridimpedanceissmallenoughcomparedtoimpedanceRL.
Weassumethatweknowexactlytheconverterparameters,thatis:
;
;
GRIDANDCONVERTER
Grid
(V),linetolineRMS
(),gridresistance
(H),gridinductance
()
(H)
(F)
(V)
STEP(V)
()
PWM
Triangularfreq. (kHz)
Mode
VALUE
400
1e3
1e5
0.05
3e3
2200e6
700
30
150
TIME
STEPII:SW1closingat(s)
STEPIII:IGBTsONat(s)
stepat(s)
CONTROLLER
,currentcontroller
,currentcontroller
,voltagecontroller
,voltagecontroller
Samplefreq.
2 (kHz)
VALUE
10
Asymmetric
VALUE
0.005
0.01
0.025
VALUE
37.6991
628.3185
0.0028
0.01
20
Table3.7:Summaryofsimulation1parameters
Thebasicwaveformsareplottedin Figure3.50.All voltagesarephasetogroundvoltages.
without
For this simulation1, we selected a small grid impedance and we observe a voltage
distortions,andwecansaythat
andthegridvoltage areequal(stiffgrid).Wewillseethe
influenceofthegridimpedanceinthesimulation3.
On the current plot (iabc), when the breaker SW1 is closing at time 0.005s, no current is
flowingintotherectifier.Then,attime0.01s,weactivatetheIGBTs,wecloseSW2andthesystemis
starting.Weobserveasmallrippleonthecurrentduetotheswitching.Thisrippleincreasesifthe
switchingfrequencydecreasesorifthelineinductancedecreases.
isstarting.Thecurrentisreachingthesaturationlimitof
Finally,attime0.025s,thestepon
15A and the DClink voltage is increasing linearly from 700V (initial condition) to 730V. Another
withsaturationlimitinthecurrent
Simulationhavebeendonewithabiggerstepof100Von
controllerabout50A(seeAPPENDIXF,Figure0.27).
Furthermore,weobserveasmallovershootontheDClinkvoltage
.Thisovershootmay
increase if the switching frequency decrease. On Simulation2 Figure 3.51a., we plot the DClink
voltageforaswitchingfrequencyselectedat3kHz.Weobserveoscillations.Theseoscillationscanbe
removebyadjustingthePIcontrollercoefficients.ThecalculationforthePIcoefficientsdependson
thebandwidth and selectedasfollwow:
2 /10and
2 /100.
58
Nevertheless, when we select a switching frequency 3kHz, we modify the bandwidth (

2
)
3 2 /10
andwemodifythePIcontrollers.Forexample,ifweselectthebandwidthwith
and
3 2 /100,theoscillationsarehighlyreduced(Figure3.51b.).
Figure3.50:Simulation1results
b.
a.
Figure3.51:Simulation2withswitchingfrequency3kHz
a.
voltage
b.
withbandwidth
/
59
SIMULATION3INFLUENCEOFTHEGRIDIMPEDANCE
Thesimulation3havebeendonetoshowtheinfluenceofthegridimpedanceonthesystem.
Wemultipliedby10both and .
GRIDMODIFICATION
VALUE
(),gridresistance
1e2
(H),gridinductance
1e4
Table3.8:Simulation3Newgridimpedanceparameters
Asweexplaininsection3.8Gridmodeling,if istoobigcomparetothetotalinductancevalue
,thevoltage
willbehighlydependentonthecurrentandwillvary.TheFigure3.52a.shows
the effect of the grid impedance, the voltage is distorted. Despite that, the system is still working
well even if this voltage is used by the PLL to calculate the voltage angle. Figure 3.52b. shows the
voltageangleundersimulation3condition,thereisnovisibledistortion.
b.
a.
Figure3.52:Simulation3withnewgridparameters
a.
voltage
b.VoltageangleTheta
SIMULATION4TESTWITHACTIVEDAMPINGGA
Theresultsofsimulation4isplottedinAPPENDIXF,Figure0.28.Thesimulationparameters
are the same as simulation1 with the following modification on controller parameter. We also re
writetheequationtofindthem(equationXXXsection3.5.3Voltagesaturation,antiwindup,active
damping).
PARAMETERMODIFICATION
,voltagecontroller
activeconductance
,voltagecontroller
Table3.9:Simulation4
VALUE
0.0028
0.0028
3.5457
We can see on Figure 0.28 that the controller doesnt work properly anymore, some oscillation
appearonDClinkvoltageandthecurrentiscompletelydistorted.
We observed that the simulation becomes stable again by reducing the controller parameters
values.TheFigure0.29showsasimulationwiththefollowingmodifiedparameters:
60
PARAMETERMODIFICATION VALUE
,voltagecontroller
0.0028
activeconductance
2.8216e005
,voltagecontroller
0.0355
Table3.10:Simulation4modifiedparameters
TheSimulinkdiagramisgiveninAPPENDIXF,Figure0.41.
SIMULATION5ESTIMATEDPARAMETERS , ,
For simulation5, we now assume that

;
;
. One by one, we modify
(increaseanddecrease)theestimatedvalueandverifytheeffectonthewaveforms.
Resistanceinfluence
Acoupleoftestshavebeendoneandwedidntseeanyproblemduetoabadestimationof
thelineresistance.
Testswith equalto Comments

Novisibleinfluence
0,instability
.
Novisibleinfluence
Table3.11:Resistanceinfluence
Inductanceinfluence

SeeFigure0.30inAPPENDIXF.
Distortedreferencevoltage
Vdcoscillations
Distortedreferencevoltage
.
Vdcoscillations
Distortedlinecurrent
Table3.12:Inductanceinfluence
Capacitorinfluence

Linecurrentoscillation
.
Vdcoscillation
Novisibleinfluence
Table3.13:Capacitorinfluence
Conclusion
Aswecanseeintheprevioustables,inductanceandcapacitorestimationaremorecritical
thanresistanceestimation.Nevertheless,wesawinsimulationthatabadestimationwithan
errorabout2040%isnotproblematic.Thewaveformsareprettysimilar.
61
SIMULATION6LOADSTEP
Simulation6isdonebymodifyingtheloadresistancefrom150to30,thatcorresponds,
toaloadaskingsuddenlyfor16kW(30)insteadof3kW(150).
Figure3.53:Simulation6results
Theinputpower(blue)iscalculatedwiththefollowingequation(3.18):
3
2
Theoutputpower(black)asbelow(equation(3.62)):
Aswecanseeinthepreviousfigure(Figure3.53),anovershootappearsinthedcomponentsofthe
current(6Aovershoot).Nevertheless,thisovershootisnotsovisibleonthe3phasecurrent.
Regarding the DClink voltage, we observe a small drop (5.5V, 0.7%). The controller is acting and
after a couple of millisecond, the error is set to zero again. The controller performance seems to
goodfordisturbancerejection.
62
VOLTAGEORIENTEDCONTROLIMPLEMENTATION
4 VOLTAGEORIENTEDCONTROLIMPLEMENTATION
4.1 Blockdiagram
Thesetuppresentinthelabcanrepresentedwiththefollowingblockdiagram.Itshowsone
powerstage,electronicstage,andsoftwarestage.
Figure4.1:Laboratorysetup
MATERIAL
dSpacesystem
Computer
Matlab/Simulink
COMMENTS
DS1103
PC
RealTimeWorkshop
libraryanddSpacelibrary
ControlDesksoftware
Usedforrealtimecontrol
Measurementbox
Voltageandcurrent
Emittercard
Opticalemitters
ReceivercardandIGBTdrivers Opticalreceivers
Table4.1:Labmaterial
Thissetupisnotrunningyet.Noexperimentshavebeendoneinthisthesis.
4.2 Principle
FromyourSimulinkmodel(seenextsection),MatlabgeneratesaCcodeandsendittothe
hardware(dSpaceDS1103)connectedtothePC.
63
Then, using Control Desk software, you can build an interface with control panel : knobs, control
buttons.Youcanalsoaddvisualizations:led,gauge,graphandsoon.
Tobeabletorunoursystem,somemodificationneedtobedoneonourSimulinkmodel.
4.3 Simulinkmodelmodification
ThetoplevelSimulinkmodelforimplementationisshowinFigure4.2.
Figure4.2:ToplevelSimulinkmodelfordSpaceimplementation
ADC
Figure4.3:ADCexample(seeAPPENDIXG. Figure0.42)
TheimportantinformationusingADCandDACisshowninthefollowingtable.Youneedtomultiply
by10avaluefromADC,anddivideby10beforesendingtoDAC.
ADC
Inputvoltage Correspondance
range
inSimulink
10V+10V
1+1
Simulink
value
1+1
Table4.2:ADC/DACvaluerange
64
DAC
Outputvoltage
range
10V+10V
PWM
The PWM block have been replaced by the dSpace PWM block DS1103SL_DSP_PWM3. This is a
sinusoidal symmetric PWM (Ftriangle = Fswitching = Fsampling). You can modify the carrier wave
(triangle)andthedeadtimeduration.
PWMstopallowstoenable(PWMstop=0)ordisable(PWMstop=1)thePWMblock.Thissignal
needs double type and not Boolean (but following Simulink help it should be Boolean). The
Termination and Initialization values of the block should be set (see next section for explanation
aboutTerminationandInitialization).
The input range for duty cycle abc is [0;+1]. Finally, we have to send our threephase reference
voltage to this block but a scaling block is needed. This block is included to the control block and
showninFigure4.4.
Figure4.4:Scalingblock
CONTROLSYSTEMANDPLL
YoucanfindthedetailofthisblockinAPPENDIXG.Figure0.43.Youcanseethatthescalingblock
presented above is included to this block. The control is totally similar to the one presented in
Chapter3exceptthat:
Allthesample&holdblockhavebeenremovedbutthesystemisstilldiscrete.
Thesampletime"Ts"isreplacedby"1"(inherited).
Theenablesignalismaybenotuseful.Itcouldberemoved.Itdependshowwillberunthesystem.
Butifitsused,theoutputportUabc_refrange[0;1]shouldbesettothefollowingcharacteristics:
Resetwhendisabled
Initialoutput=0.
Inthisconfiguration,whentheblockisdisabled,theoutputwillbezeroandthePWMblockwillsee
zerodutycycleandwillopentheswitches.
TRIGGERSIGNAL,SYNCHRONIZATION
Thesample&Holdhavebeenremoved.Now,weneedtospecifywhenacquireasample.Weknow
thatweneedtosampleonthepeakofthetriangularwaveofthePWM,ideally,oneverypeakthat
istheasymmetricPWM.
Weguessthatmorethanonesolutionispossibletorunthesystem.Butforsimplicity,aswesaid
above,wedecidedtousethePWMblockDS1103SL_DSP_PWM3usingasymmetricPWM.
Furthermore, this block is link to an interruption DS1103SLAVE_PWMINT. The interruption is

generated every POSITIVE PEAK of the triangular wave of block PWM3 as shown in Figure 4.5.
Consequentlywehave:Finteruption=Fsampling=Ftriangle=Fswitching.
65
Figure4.5:MatlabHelpfromdSpace,PWMinterruption[33]
TheinterruptisgeneratedthatcanbeshiftednearlyoverthewholePWMperiodbyspecifyingthe
interruptalignment(Source:dSpaceHelpinMatlab[33]).
InSimulink,ablockDS1103SLAVE_PWMINTisavailable.TotriggerthewholeSimulinkmodel,we
havetolinkthisblockto anotherblockcalledTimerTaskAssignmentasshowninthetoplevel
modelFigure4.2.Finally,everyinterruptionsignal,ONEsamplewillbeacquired.
Nevertheless,theoverrunconditionshouldbechecked.Weneedtobesurethatthecalculation
(inthecontroller)isfinishedbeforeanewsampleisacquired.
CONTROLSIGNALGO
The GO signal (Figure 4.2) is used to activate the integrator part of the controller (see section
3.9.1Simulationsteps,Simulinkblockdiagramforexplanation).Itisalsousedtoenableordisable
PWMblock.
HOWTOFORCEIGBTSOFF
ItspossibletoforceIGBTsOFFdisablingtheblockControlsystemandPLLsincetheoutputwillbe
zerowhendisable(ifsetcorrectly).AzerovaluewillbesenttothePWMblockandtheswitches
willbeopen.
AnothersolutioninpresentedinFigure4.6andispresentinthemainblockdiagraminAPPENDIXG.
Figure0.43.
66
Figure4.6:HowtoforceIGBTsOFF(completediagram:APPENDIXG.Figure0.43)
TheswitchesareactivatedbytheGOsignalinourmodel.
IfGO=0
Output=0
IGBT=OFF
IfGO=1
Output=Ubacrange[0;1] IGBT=ON
4.4 Runninganexperiment
To run an experiment we need to introduce some important points that are :
STOP/PAUSE/RUNmechanism,simStatevariable,InitializationandTerminationvalue,howtobuilda
modelandwhichparametersshouldweused,andhowtouseControlDesksoftware.
A tutorial is also available in [37] , and we also advice to use the dSpace Help in Simulink (more
usefulthanthedSpacebooks).
SIMSTATEVARIABLE
The simState variable is an internal variable that allows to read or set the simulation state of the
application[33].Thisvariableiscreatedwhenthesystemisbuilt(seehowtobuildamodelinthe
following).
Itcantakethefollowingvalue(TableXXX).
SimulationState simStatevariable
STOP
0
PAUSE
1
RUN
2
Table4.3:simStatevalues
STOP/PAUSE/RUNMECHANISM
TheSTOP/PAUSE/RUNmechanismdependsonthesimStatevariable.Bycontrollingit,youcanstop,
pauseorrunyourexperiment.
In our case, we chose to control it via Control Desk. When your system is built and your variable
descriptionfile(.sdf)isopenedinControlDesk(seenextparagraph),youcanfindthisvariablein
themaingroupofvariable.
ThefollowingfigureshowsapartofcontrolpanelinControlDesk,thesimStateislinkedtoPush
Buttons.
67
simStatevariable
Enable
GOsignal
Figure4.7:ControlPanelinControlDesk
IneachSimulinkblock,youcanspecifyanInitializationandTerminationvalue.Thefollowingtable
showsthelinkswiththesimStatevariable.
STATE
SIMSTATE
RESULT
STOP
0
Terminationcodeexecuted.Terminationvalueareused.
PAUSE
1
IfthepreviousstatewasinRUN,noTerminationvaluesareused,the
currentoutputsarekept.
IfthesystemwasinSTOPmode,theInitializationvaluesareused.
RUN
2
IfthesimulationwaspreviouslyinthePAUSEmode,theexecutionof
theapplicationisreenabled.
IfthepreviousstatewasSTOP,thestatesofthemodelareresetto
theirinitialvaluesandtheexecutionoftheapplicationisrestarted.
Table4.4:RelationbetweenapplicationstateandInitializationandTerminationvalues
SIMULATIONPARAMETERSANDBUILDMODEL
WhenyourSimulinkmodelismodified,youcanBUILDthemodelfromSimulinkusing:
//Tools/RealTimeWorkshop/BuildModel(orCTRL+B)
Butbeforethat,youmayneedtomodifytheConfigurationParametersasfollow:
PARAMETERS
VALUE
Solver/Step
Fixed
Solver/StopTime
INF
Optimization/blockreduction
Disable
RealTimeWorkshop/SystemTargetFile rti1103.tlc
Table4.5:ConfigurationParametersbeforeBUILD
Before pressing CTRL+B (build), we advice to open Control Desk software. In this case, Control
Deskwillautomaticallydetectthatanewfilehavebeenbuilt(variabledescriptionfilewithextension
.sdf).
Then,anewexperimentshouldbecreated,andthe.sdffileshouldbeaddedtoexperiment.
Youcan nowcreatea newlayout.Sinceyou havethe layout open,youcanaddbuttons,knobs,
display, gauge, numeric input (to write a value) and so on. After that, you can link your Simulink
variables (or labels) to graphical instruments, for example, a button to control this variable or a
68
graph for visualization. The variables are visible in the Tool Window in the bottom part of the
ControlDeskinterface.
ATTENTION!
When you build the model, the Ccode generated is automatically sent to your hardware and the
applicationSTARTTORUN(simState=2).So,asyoucanseeintheFigure4.2,thesignalGOandthe
Enablearesettozero.Consequently,whenoursystemisbuiltandstartrunning,thePWMisOFF
andthecontrollerisdisabled.
69
CONCLUSIONSANDFUTUREWORK
5 CONCLUSIONSANDFUTUREWORK
Controllerlabtests
IntheChapter3,somesimulationswerepresented.Thecontrollerseemstobecorrectand
stable.Wesupposethatsomelabtestscannowbeachievedwithagridconnectedconverterwith
simpleresistiveload.
The Simulink file prepared for implementation may need to be slightly modified but the idea was
presentedinChaper4withsomekeypointtorunanexperimentwithdSpace.Atutorialisavailable
atthereference[37].
Stabilityanalysis
Inthisreport,asimplestabilityanalysishavebeendone.Nevertheless,thisanalysisisquite
simplistic (with approximations) and have been realized in continuous time only. It should be also
completeindiscretetimebecausethecontrollerisimplementedindiscretetime.
Deadtime
As we explain in the first part (2.4.3 Dead time effect), the performances of the converter
are affected by injection of deadtime in the PWM signals to avoid short circuit of the DClink. We
suppose that some simulations of this deadtime and some compensation should be done before
testingthecontrollerinthelaboratory.
Modulationmethod
The modulation method could be improved. In our system, we decided to implement a

sinusoidalPulseWidthModulationmainlyforitssimplicityandacceptableperformances.Weadvice
totestitinthelab.Nevertheless,asimulationwithSpaceVectorModulation(SVM)shouldbealso
simulated and a deep comparison to sinusoidal PWM could be done. The SVM is known for its
effectiveness,simplicityforimplementation,harmonicsreduction.
Controlmethod
AlastpossibleimprovementcouldbedonebyimplementingaVirtualFluxOrientedControl
(VFOC).Itcouldimprovetheperformanceundernonideallinevoltageconditions.Furthermore,this
methodcouldbeusefulifamachineisaddedtothemodel(ACside)becausemachinemodelsare
generallydonewithfluxorientedreference.
Wealsoadvicetoimplementaloadcurrentcontroller.Readingsomepapers,wesawsome
batterychargerconfigurationwithanotherstageaftertherectifier(onmorelegwithtwoIGBTsfor
DCDCconversion).Aloadcurrentcontrollerwasresponsibleoftheswitchesforthisstage([3]).
70
REFERENCES
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SourceConverter.IEEETransactionsonPowerElectronics,1997.Vol.12,issue:1.Pages:116
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[2] BOYIN,ORUGANTIR.,PANDAS.K.,BHATA.K.S.ASimpleSingleInputSingleOutput(SISO)Modelfor
a ThreePhase PWM Rectifier. IEEE Transactions on Power Electronics, 2009. Vol.24, issue: 3.
Pages:620631.
[3] BOJRUPMARTIN.AdvancedControlofActiveFiltersinaBatteryChargerApplication.PhdThesis,
Department of Industrial Electrical Engineering and Automation (IEA), Lund Institute of
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[5] HENGCHUN MAO, BOROYEVICH D., LEE F.C.Y. NovelReducedOrderSmallSignalModelofaThree

Phase PWM Rectifier and Its Application in Control Design and System Analysis. IEEE
TransactionsonPowerElectronics,1998.Vol.13,issue:3.Pages:511521.
[6] HITI S., BOROYEVICH D., CUADROS, C. Smallsignal modeling and control of threephase PWM
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[7] H.S. KIM, H.S. MOK, G.H. CHOE, D.S. HYUN, S.Y. CHOE. Design of Current Controller for 3Phase
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1998.Vol.1.Pages:503509.
[8] JASINSKI M., ANTONIEWICZ P., KAZMIERKOWSKI M.P. Vector control of PWM rectifier inverter fed
inductionmachineacomparison.CompatibilityinPowerElectronics,IEEE2005.Pages:91
95.
[9] KASMIERKOWSKI MARIAN P., BLAABJERG F., KRISHNAN R. Control in power electronics, selected
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[10] KASMIERKOWSKI MARIAN P. Current Control Techniques for ThreePhase VoltageSource PWM
Converters:ASurvey.IEEETransactionsonIndustrialElectronics.Vol.45,issue:5.1998.Pages:
691703.
[11] KNAPCZYK MICHA, PIENKOWSKI KRZYSZTOF. High Performance decoupled control of PWM rectifier
with load compensation. Politechnika Wrocawska, Instytut Maszyn, Napedw i Pomiarw
Elektrycznych.2007.11p.Availableat:
http://www.imne.pwr.wroc.pl/Wydawnictwa/PNIMNIPEnr60/Napedy/pdf/4%20Michal%20KNA
PCZYK%20Krzysztof%20PIENKOWSKI%202.pdf
[12] LUNDBERG STEFAN. Lecture slides : ENM075 Electric Drives II. Department of Energy and
Environment,ChalmersUniversityofTechnology,Gteborg,Sweden.2009.
[13] MALINOWSKI MARIUSZ. Sensorless Control Strategies for ThreePhase PWM Rectifiers. PhD
Thesis,WarsawUniversityofTechnology,FacultyofElectricalEngineering,InstituteofControl
andIndustrialElectronics.Warsaw,Poland.2001.128p.
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[14] OTTERSTEN ROLF. On Control of BacktoBack converters and Sensorless Induction Machine
Drives. PhD Thesis, Department of Electric Power Engineering, Chalmers University of
Technology,Gteborg,Sweden.2003.165p.ISBN:9172912960.
[15] RODRIGUEZ J.R., DIXON J.W., ESPINOZA J.R., PONTT J., LEZANA, P. PWMRegenerativeRectifiers:State
oftheArt.IEEETransactionsonIndustrialElectronics,2005.Vol.52,issue:1.Pages:522.
[16] RUNXIN WANG, JINJUN LIU. Redefining a NewFormed Average Model for ThreePhase Boost
Rectifiers/Voltage Source Inverters. Applied Power Electronics Conference and Exposition,
2009.Pages:16801686.
[17] WANG XU, HUANG KAIZHENG, YAN SHIJIE, XU BIN.SimulationofThreephaseVoltageSourcePWM

rectifier Based on Space Vector Modulation. Control and Decision Conference, Chinese, IEEE
2008.Pages:18811884.
[18] WEI KEXIN, WANG SHUIMING. Modeling and Simulation of ThreePhase Voltage Source PWM
Rectifier.InternationalConferenceonAdvancedComputerTheoryandEngineering,IEEE2008,
Pages:982986.
[19] YU FANG, YONG XIE, YAN XING.StudyoncontrolstrategyofthreephasehighpowerfactorPWM

rectifier.InternationalConferenceonElectricalMachinesandSystems,IEEE2008.Pages:1832
1837.
PowerElectronics
[20] ERIKSON ROBERT W., MAKSINMOVI D. Fundamentals of Power Electronics. Second Edition.
SpringerScience,USA.2001.883p.ISBN:9780792372707.
[21] MOHAN N., UNDELAND T., ROBBINS W. Power Electronics, Converters, Applications and Design.
SecondEdition.JohnWiley&Sons,Inc.USA.1995.802p.ISBN:0471305766.
[22] MUHAMMAD H. RASHID.PowerElectronicHandbook,Devices,Circuits,andApplications.Second

Edition.Burlington,MA:Academic.2006.1172p.ISBN:9780120884797.
Availableat:http://www.sciencedirect.com/science/book/9780120884797(Chalmerslibrary).
PWM
[23] BONGIORNO MASSIMO, SANINO A. Lecture slides : ENM100 Power Electronic Solutions for Power
Systems. Department of Energy and Environment, Chalmers University of Technology,
Gteborg,Sweden.2009.
CarrierbasedPWM
[24] HAVA AHMET M., KERKMAN RUSSEL J., LIPO THOMAS A. CarrierBased PWMVSI Overmodulation
Strategies : Analysis, Comparison, and Design. IEEE Transactions on Power Electronics, 1998,
Vol.13,issue:4,pages:674689.
SVM
[25] ANALOG DEVICES APPLICATION NOTE AN3117. Implementing Space Vector Modulation with the
ADMC331.AnalogDevicesInc.,January2000.
[26] DORIN O. NEACSU.SpaceVectorModulationAnIntroduction.TutorialatIECON2001,the27th

AnnualConferenceoftheIEEEIndustrialElectronicsSociety.2001.
Availableat:http://www.et.upt.ro/admin/tmpfile/fileM1224954797file490353adde0d4.pdf
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[27] JINWOO JUNG. Project #2 Space Vector PWM inverter. Project performed at Mechatronic
Systems Laboratory, Department of Electrical and Computer Engineering, The Ohio State
University,USA.2005.Availableat:
http://www2.ece.ohiostate.edu/ems/PowerConverter/SpaceVector_PWM_Inverter.pdf
PLL
[28] AMUDA L.N., CARDOSO FILHO B.J., SILVA S.M., SILVA S.R., DINIZ A.S.A.C. Widebandwidthsingleand
threephase PLL structures for gridtied PV systems. Photovoltaic Specialists Conference, IEEE
2000.Pages:16601663.
[29] CHUNG S.K. Phaselocked loop for gridconnected threephase power conversion systems.
ElectricPowerApplications,IEEProceedings.2000.Vol.147,issue:3.Pages:213219.
[30] SALAMAH A.M. Threephase phaselock loop for distorted utilities. IET Electric Power
Applications,2007.Vol.1,issue:6,pages:937945.
Deadtime
[31] JONG WOO CHOI, SUNG IL YONG, SEUNG KI SUL.Inverteroutputvoltagesynthesisusingnoveldead
time compensation. IEEE Applied Power Electronics Conference and Exposition, 1994. Vol.1,
Pages:100106.
[32] SEUNGGI JEONG, MINHO PARK. The analysis and compensation of deadtime effects in PWM
inverters.IEEETransactionsonIndustrialElectronics,vol.38,no.2,1991.Pages:108114.
dSpace
[33] dSpaceHelpinSimulink.
[34] JUSTIN D. LANGDON. Design and Adaptive Control of a Labbased, Tirecoupled, Quartercar,
Suspension Test Rig for the Accurate Recreation of Vehicle Response. MSc Thesis, Virginia
Polytechnic Institute and State University, USA. January 31, 2007. Available at:
http://scholar.lib.vt.edu/theses/available/etd02132007
112050/unrestricted/Langdon_Thesis_Rev_Final_ETD_2007.pdf
[35] KIRAN KUMAR GUNDA. Adjustable Speed Drives Laboratory Based on dSpace Controller. MSc
Thesis, Department of Electrical & Computer Engineering, Louisiana State University and
AgriculturalandMechanicalCollege,USA.2008.
[36] Laboratory Tutorial, Massachusetts Institute of Technology, Department of Mechanical

Engineering, 2.737 MechatronicsSpring 2006, February 14, 2006. Available at:
http://web.mit.edu/2.737/www/labs/General/tutorial.pdf
[37] NICANOR QUIJANO, KEVIN PASSINO. A Tutorial Introduction to Control Systems Development and
ImplementationwithdSPACE.Dept.ofElectricalEngineering,TheOhioStateUniversity,USA.
2002.Availableat:http://www2.ece.ohiostate.edu/~passino/dSPACEtutorial.doc.pdf
73
APPENDICES
APPENDICES
A.ThreephasesystemCoordinatetransformations
A.1Voltageandcurrentdefinition
Firstofall,wecandefinethevoltageandcurrentofathreephasesystem:
3
4
3
(positivesequencehere)
3
4
Foranythreephasesystemcomposedofpositiveandnegativesequencewehave
Ifthesystempresentanasymmetry,azerosequenceappearsandisdefineasthemeanvalue
Agoodthingisthattherewillneverbeanyzerosequenceinthecurrents,providedthatthereisno
neutralconnection.
A.2Equivalenttwophasesystem,
transformation(Clarke)
A threephase system can be described with only two components and (real and
imaginaryrespectively).Furthermore,wecallaspacevectorthequantity
2
.
3
where isascalingconstant.ThetransformationfromABCto(Clarketransformation)
dependingonthescalingconstant is:
74
APPENDICES
and
Amplitudeinvariant
RMSvalueinvariant
Powerinvariant
1
1
2
3
A.3Synchronouscoordinate,dqtransformation(Park)
Wecannowdefineatransformationofthepreviousspacevector
(wenow
dropthetimeargument(t)forsimplicity)with
where
.Thistransformationmakes
similartofixedcomplexphasor.Thistransformation
is called dqtransformation and can be regarded as observing the space vector from a coordinate
system rotating with the frequency (synchronous coordinate or dqcoordinate). We denote the
spacevectorinsynchronouscoordinatesas
.
Figure0.1:Relationbetween
frameanddqframe(rotating)[23]
Giving dcsteady state quantity, the synchronous coordinates are very useful for analysis,
implementationofcontrolalgorithm(controllerdesigniseasierondcquantities).
Wecanwrite
and
Source:[4]
75
APPENDICES
A.4Simulation
These transformations and the theta angle (voltage angle) are very critical for all the
simulations in the project. To be sure that we have the correct angle, we created this angle first,
then,athreephasevoltagesystemiscreatedaccordingtothisangleaswecanseeinthefollowing
blockdiagram.
Emwillbetheamplitude
ofthe3phasevoltages
(amplitudeinvariant
transformation).
2 50
/
Figure0.2:Threephasesystemsimulation
Thetransformationsareimplementedasbelow.
Figure0.3:
transformation
Figure0.4 : dqtransformation
Thesimulationresultsareplottedonthefollowingfigure.
76
APPENDICES
Figure0.5:Simulationofcoordinatestransformations
Simulationcomments:
Thetaispositive.
Voltageisplacedonthedaxis.
Betasignalisdelay(lag).
Weverifyadirectthreephasesystem(Afirst[0rad],Binsecond[2/3rad],Cthird[4/3
rad]).
A.5Impedanceinsynchronouscoordinates
We assume in the report (current controller design) that the impedance is :

.Wecanprovethisrelationwiththefollowing.
isageneralspacevector,itstransformationinsynchronouscoordinatesis
anditstimederivativeistransformedas
Then,usingthederivativeoperation
weget
IntheLaplacedomain,thefollowingsubstitutionismade:
compleximpedanceofaninductorinsynchronouscoordinatesis
77
.Thisimpliesthatthe
APPENDICES
Figure0.6:Illustration
Source:[4]
anddqimpedance
78
APPENDICES
B.Voltageandcurrentcontrol,continuoussimulation
B.1SimulinkcurrentcontroltestsBlockdiagram
Figure0.7:SimulinkcurrentcontroltestsBlockdiagram
79
APPENDICES
B.2 Continuous voltage controller, simulation with saturation, anti

windup,activedamping
Figure0.8:VoltagecontrollerSimulationwithsaturation,antiwindup,activedamping
NEWPARAMETERS VALUE
Ga
0.0057
Kiv
7.1205
Table0.1:Newparametersforvoltagecontrollerwithactivedamping
80
APPENDICES
C.Digitalsimulation
DISCRETEINTEGRATOR
Asthecontrollerwillbedigital,wedecidedtosimulatethecontrolsystemindiscretetime.
Theintegratorhavebeenimplementedasbelow.
U:input/Y:output
Wecanalsodrawtheblockschemewiththe
followingequation:
Figure0.9:Discreteintegrator
REMARKFORSIMULINKSIMULATION
Inasimulationwherediscreteandcontinuousblocksareusedatthesametime,inorderto
comebackfromdiscretetocontinuous,weshouldaddazerotothediscretesignalwithsampling
timeINFasbelow.Then,theoutputsignalistreatedascontinuousbySimulink.
Discrete
Continuous
Figure0.10:Simulinkdiscretetocontinous
81
APPENDICES
D.Voltageandcurrentcontrol,discretetimesimulation
Figure0.11:Controllersimulationresults(discrete)
Table0.2:Voltageandcurrentcontrol,discretetimesimulation
Parameters
R()
L(H)
C(F)
(rad/s)
Rload()
Vdcreference(V)
/ (rad/s)
/
(rad/s)
Vcontroller,Kpv
Vcontroller,Kiv
Icontroller,Kpi
Icontroller,Kii
Isaturation(A)
Vdcstepat0.03(V)
TriangularwaveFrequ.(kHz)
Samplingfrequency(kHz),FS=2Ftri
Value
0.1
5e3
2200
250
1152
20
500
400
1.26e4
82
1.26e3
0.0057
0.01
62.8
1.26e3
15
50
20
40
APPENDICES
E.Stabilityanalysiscont.
E.1Simulations
Figure0.12:NyquistofLi
Figure0.13:Bodeof Li
83
APPENDICES
Figure0.14:BodeofSi
Figure0.15:NyquistofLv(Ponly)
84
APPENDICES
Figure0.16:BodeofLv(Ponly)
Figure0.17:BodeofSv(Ponly)
85
APPENDICES
Figure0.18:BodeofLvi(Ponly)
Figure0.19:NyquistofLv(PI)
86
APPENDICES
Figure0.20:BodeofLv(PI)
Figure0.21:BodeofSv(PI)
87
APPENDICES
Figure0.22:BodeofLvi(PI)
WITHACTIVEDAMPINGGA
Figure0.23:BodeofLv(PIGa)
88
APPENDICES
Figure0.24:BodeofLv(PIGa)
Figure0.25:BodeofSv(PIGa)
89
APPENDICES
Figure0.26:BodeofLvi(PIGa)
90
APPENDICES
F.Gridconnectedconvertersimulationcont.
F.1Dataandsimulations
GRID
VALUE
Frequency(Hz)
50
(V),linetolineRMS
400
(V),linetoneutralRMS
230
(V),linetoneutralamplitude 327
(),gridresistance
1e3
(H),gridinductance
1e5
BREAKERSW1
VALUE
Rb_open()
1e5
Rb_close()
0.01
Cac(nF)
1
Closingattime(s)
0.005
IGBTsON/OFFSIGNAL
VALUE
IGBTsONattime(s)
0.01
ONstate
1
OFFstate
0
PLL
VALUE
Bandwidth(Hz)
20
Bandwidth (rad/s)
125.6637
48.3510
0.7695
DISCRETESYSTEM
VALUE
Samplefreq.
2 (kHz)
20
Sampletime (s)
5e005
SIMULATION
VALUE
SolverStep
Variable
1/ 10
Stepmax
Fastersolver
Ode23tb
Tolerance
1e3
PWM
Triangularfreq. (kHz)
Mode
CONVERTER
()
(H)
(F)
(kHz),switchingfreq.=Fc
()
()
_
(V)
STEP(V)
Stepat(s)
Power
/
(W)
CONTROLLER
()
(H)
(F)
2
/10(rad/s)
2
/100(rad/s)
,currentcontroller
,currentcontroller
,voltagecontroller
,voltagecontroller
Saturationcurrentcontrol(A)
Filter
/10 (rad/s)
Table0.3:Parametersofsimulation1
91
VALUE
10
Asymmetric
VALUE
0.05
3e3
2200e6
10
150
1e5
700
30
0.025
3267
VALUE
R
L
C
1.2566e+004
1.2566e+003
37.6991
628.3185
0.0028
0.01
15
1.2566e+003
APPENDICES
Figure0.27:Simulation1100VStepon
,saturationlimit50A(currentcontroller)
92
APPENDICES
Figure0.28:Simulation4withactivedamping
93
APPENDICES
Figure0.29:Simulation4withactivedamping,modifiedcontrollerparameters
94
APPENDICES
Figure0.30:Inductanceinfluence Test:
Figure0.31:Inductanceinfluence Test:
0.9
Figure0.32:Capacitorinfluence Test:
95
0.9
APPENDICES
Figure0.33:SimulinkDISCRETEBLOC
96
APPENDICES
Figure0.34:SimulinkDISCRETEBLOCK/PLL
Figure0.35:SimulinkDISCRETEBLOCK/DECOUPLEDCONTROLLER/DiscretePIVController
Figure0.36:SimulinkGRIDANDRECTIFIERMODEL/eg_abc
97
APPENDICES
Figure0.37:SimulinkDISCRETEBLOCK/DecoupledController
98
APPENDICES
Figure0.38:SimulinkPWMblock
Figure0.39:SimulinkGRIDANDRECTIFIERMODEL/GridPhaseB
99
APPENDICES
Figure0.40:SimulinkGRIDANDRECTIFIERMODEL
100
APPENDICES
Figure0.41:SimulinkDISCRETEBLOCK/DecoupledControllerwithactivedamping
101
APPENDICES
F.2MatlabScript(VdcStep)
close all; clear all; clc
%***********************************************************************
% GRID / BREAKER / COMMAND
%***********************************************************************
grid_f = 50;
w = 2*pi*grid_f;
% Line frequency
Urms = 400;
% Line-to-line RMS voltage
Vrms = 400/sqrt(3); % Line-to-ground RMS voltage
Eg = Vrms*sqrt(2)
% Phase-to-ground voltage amplitude
Rg = 1e-3;
% 1e-2
Lg = 1e-5;
% 1e-4
%BREAKER
Rb_open = 1e5;
%ATTENTION VALUE
Rb_close = 0.01;
Cb = 1e-9 ; %Cac - ATTENTION VALUE (NEED DESIGN FILTER, avoid resonnance
frequency)
%STEP breaker SW1 command : 0/1
breaker_step_time = 0.005; %Close switch at...
breaker_initial_value = 0;
breaker_final_value = 1;
%Or more than 0
%IGBTs ON/OFF SIGNAL (To activate switching)
IGBTONOFF_step_time = 0.01;
IGBTONOFF_initial_value = 0;
IGBTONOFF_final_value = 1;
%***********************************************************************
% CARRIER BASED PWM PARAMETERS
%***********************************************************************
Carrier_amp = 1;
% Triangular wave Amplitude
Carrier_f = 10e3; % Triangular wave frequency = Fsw
Tc = 1/Carrier_f; % Triangular wave period
%***********************************************************************
% CONVERTER PARAMETERS
%***********************************************************************
R = 0.05;
% Line Resistance
L = 3e-3;
% Line inductance
C = 2200e-6;
% DC bus capacitor
Fsw = Carrier_f;
% Converter switching frequency = Triangular wave f
Rload = 150;
% Output load, Pout about 800W
Rload_temp = 1e5; % Temporary output load to avoid discharge of C
Vdc_ref = 700;
% Output voltage reference
initial_condition_integrator = Vdc_ref; % IC model integrator
102
APPENDICES
%***********************************************************************
% CONTROLLER PARAMETERS
%***********************************************************************
Ts = 0.5*Tc; % Sample time, half of triangular wave period, Fs = 2*Fc
Fs = 1/Ts;
%ESTIMATED PARAMETERS
R_hat = R;
L_hat = L;
C_hat = C;
% probably, C_hat = C OK
Vpcc_hat = Eg ; % Ph-to-gnd - Possible for stiff grid, otherwise, Vpcc <
Eg
%CURRENT PI Regulator (thesis, state-variable W=Vdc^2)
alphaI = Fs/10*2*pi;
% Bandwidth in rad/s
Kpi = alphaI*L_hat
Kii = alphaI*R_hat
%VOLTAGE PI Regulator (thesis, state-variable W=Vdc^2)
alphaV = Fs/100*2*pi;
% Bandwidth in rad/s
Kpv = alphaV*C_hat/(3*Vpcc_hat)
Kiv = 0.01
%SATURATION (TO MODIFY, depends on rectifier limit)
Isaturation_upper_limit = 50; %saturation on Iref, V PI controller
Isaturation_lower_limit = -50;
%FEEDFOWARD Ed_hat/Eq_hat FILTER
alphaf_ff = alphaI/10;
%***********************************************************************
% PLL PARAMETERS
%***********************************************************************
%Gain gamma1&2 : calculated in simulink (we assume Ed_hat and Eq_hat can
change)
Fbandwidth_pll = 20;
%bandwidth in Hz
rho_pll = 2*pi*Fbandwidth_pll; %bandwidth in rad/s
gam1 = (rho_pll^2)/Vpcc_hat
gam2 = 2*rho_pll/Vpcc_hat
%***********************************************************************
% TESTS
%***********************************************************************
%INPUT STEP
input_step_time = 0.025;
input_step_value = 100;
103
APPENDICES
G.Implementation
Figure0.42:ADCblock
104
APPENDICES
Figure0.43:Controlblock
105

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Voltage Oriented Control of ThreePhase

Finally,manythankstomyfellowMastersThesisstudentswith SamanBabaei,Thinley Gyeltshen,

where and areamplitude,theactivepowerisgivenby

Coordinate transformation and decoupling between

Coordinate transformation and decoupling between

Simple and noise resistant power estimation Variableswitchingfrequency

Figure2.15:Onelegwithtransistors B1andB2 On/Offstates,deadtimeTd[32]

with theestimatedvalueof .Then,if

For this inner current control loop, the bandwidth

should be selected smaller than a decade

Comments:Inoursystem,thelinecurrent issplitintoaqcomponent andadcomponent .

Thetime derivativeofthisstoredenergyshouldbeequalto thesumofinstantaneousgridpower

We consider again the Figure 3.16 without load disturbance

and we obtain the

where can be seen as the bandwidth of the PLL (rad/s), and

is the estimated grid voltage

(Fsw is the switching

We saw that the coefficients and can be calculated in Simulink according to .

Nevertheless, when we select a switching frequency 3kHz, we modify the bandwidth (

For simulation5, we now assume that

Testswith equalto Comments

Testswith equalto Comments

Testswith equalto Comments

Furthermore, this block is link to an interruption DS1103SLAVE_PWMINT. The interruption is

The modulation method could be improved. In our system, we decided to implement a

[5] HENGCHUN MAO, BOROYEVICH D., LEE F.C.Y. NovelReducedOrderSmallSignalModelofaThree

[17] WANG XU, HUANG KAIZHENG, YAN SHIJIE, XU BIN.SimulationofThreephaseVoltageSourcePWM

[19] YU FANG, YONG XIE, YAN XING.StudyoncontrolstrategyofthreephasehighpowerfactorPWM

[22] MUHAMMAD H. RASHID.PowerElectronicHandbook,Devices,Circuits,andApplications.Second

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[36] Laboratory Tutorial, Massachusetts Institute of Technology, Department of Mechanical

We assume in the report (current controller design) that the impedance is :

B.2 Continuous voltage controller, simulation with saturation, anti

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