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2004' 35th A n n u l IEEE Power Electronics Specialists Conference Aachen, Cermanv.

2004

A Fast Algorithm for SVPWM in Three Phase Power Factor Correction Application

Yu Fang, Yan Xing and Yuwen Hu


AmPower Sci-kch Center
College of Automafion Engineahg
Nanjing University of Aaonautics and Ashonautics
Nanjing, 210016 P.R.China
Phone: +86-25-84890393, FAX: +86-25-84893500
Email: xingyan@nuaa,edu.cn

Abslrad-A novel algorithm for space vector pulse width looking up table, with the result that the efficiency of
modulation in three phase power factor correction applications SVPWM is limited.
i s proposed. The durations for the active vectors that formed This paper proposes a kind of algorithm called
the sector containing the desired reference voltage vector are Pre-decomposition Matrix, with which we need not the
calculated directly by matrix pre-decomposing,without looking
triangular function tables. So it is easy to achieve the accurate
up sinusoidal and tangential tables, based on TMS320F240.
Therefore running speed and control precise of the program durations of the activc: vectors and zero vectors respectively.
can be improved greatly. As a result the switching frequency This paper also gives a kind of methodology of determining
and power density of the rectifier will be increased considerably. sector for PWM rectifier.
A new method for detecting sector is given as well. Simulated
and experimental results are provided to verify the proposed 11. THEMATHEMATIC MODEL OF PWM RECTIFIER
algorithm in the end of the paper.
A . The model in fhree-dimensional sfufionary4-6-c sysfem
1. INTRODUCTION Three-phase PWM rectifier topology is seen in fig. I, we
With the development of power electronic technology, can define switch function as follows,
PWM rectifier is extensively employed. Decrease of input
current THD and increase of power factor are always
people's desire. Three phase rectifier is widely applied to
inverter or high power UPS as front-end DC supplies. Due to
si =
1I i phase upper switch is on
0 i phase bottom switch is on
, i =a,b,c

Hence, the mathematic model of PWM rectifier is :


the fast computation ability of DSP, digital controller X=Ai+BU
becomes tendency. PWM technology mainly contains
Sinusoidal PWM, Space Vector PWM(SVPWM), and so on. where,
It is easy for SPWM to realize digital control and achieves a X = [i- i.a is< v,]'
good linearity. However, the utilization efficiency of DC
voltage is much lower, only 0.866. ri =[(I,
U'b U, -I*]'
In order to increase voltage utilization rate, people change 0 S.-&
the carrier from sinusoidal waveform to trapezoidal
waveforms or saddle waveforms. Saddle waveforms are the
hest method for suppressing harmonic and easy to be
achieved by virtue of digital control.
In some sense, SVPWM is equivalent to SPWM injected
by the 3rd harmonic. In this way, phase voltages are not
sinusoidal waveforms but saddle waveforms. With the result
that modulation index can reach 1.1547. What is more,
line-to-line voltage is still sinusoidal because of the 3rd
harmonic counteracting interactively between phase voltages
Hence, SVPWM can achieve 15% more basic component
than SPWM, i.e., efficient use of DC supply is high, as close
to 1, presented in [I-31.
It is necessary to justify the area of the reference and get
the durations of the active vectors when you want to gain
your ends by SVPWM. Generally, such calculation in polar
coordinate system contains nonlinear algorithm. Since
TMS320F240 is a fixed point chip, it is hard to accomplish
I , ,
the satisfying dynamic responses and precise results; what's Fig. 1. Main circuit of thrcc-phasc PWM rectifier
more, it will take up a lot of memory to employ the method of

02004 IEEE.
0-7803-8399-0/04/$20.00 976
2004 351h A n n u l IEEE Power Elecrronicr Specialisrs Conference Aachen, Germany. 2004

u
s0 = E m cos(0t) of eight kinds of state, among which there are six kinds of
active state, i.e., non-zero vectors, and two kinds of zero
Lisb = E m cos(wt - 2rr / 3 )
vector (V6ppand Vnnn),as seen in fig2 (a). In order to meet
usc = E m cos(wt + 22 /3) satisfaction with some certain phase angle relation between
the input current and input voltage, and keep output DC
s'=(so+sb+sc)/3 voltage constant, the reference voltage vector URf must be
B. The model in two dimensionalstationav a-B system configured out by DSP. The following presents how to obtain
such voltage reference with SVPWM based on DSP.
the mathematic model in the two dimensional stationary To get U n f , two steps must he taken. The first is to
coordinate system can he obtained by applying the following determine the sector in which URris; the second is to figure
so-called a-p transformation as seen in equation (3) to the out the respective durations for which switching states
phase voltages. corresponding to two active vectors are applied.
Tobc lop = F[ 2 I -112
1 0 312 4 1 2
-112

1 (3) A . Decomposition matrix determine the durations of


Expression (4) is the mathematic model in Stationary a-p active vectors
System:
X ~ =PAMXM + B&ca (4) TABLE I SWITCHING STATES AND THEIR A-B COORDINATES

where, XCP=[ia ip Ydcf vx I sa I sb I sc I a-p system

An#=[
-R,IL,
a: -",I"
0
-:]
-S. V," 1 I 0 0

B o a = [ l l L ~ IILx IiC]',

It is obvious that the some variables have been decoupled.


As shown in fig.2 (a), the phase angle y of the reference
111. SPACEVECTOR MODULATIONEMPLOYED IN PWM voltage in the space vector plane are usually determined by
RECTIFIER tany. The calculations of TI and T2 can be done through
inverse trig functions, which obviously deal with nonlinear
calculations. So it is hard to achieve the satisfying dynamic
response and accurate results with fixed-point DSP and MCU.
What is worse, it will lake up a lot of memory to employ
look-up table. These limit the efficient use of the SVPWM.
However, the method of decomposition matrix proposed in
this paper can simplify the calculation process and effectively
transform the nonlinear calculation to the linear one.
Table I lists six active victors' coordinates in stationary
a-Psystem. The X-coordinate of V, is just the component of
axes a, defined as V,, , while the Y-coordinate of V, is just
the component of axes p, defined as VXp In practice, the
Decomposition Matrix is composed of a and p components of
. . . . . . two active vectors which form the a and p components of Uw
I , , , , ,

(4 j (WI)j (011) /(Ill!(0111; (WII j respectively. Hence the durations of active vectors can he
(C)
attained. The basic principle of this algorithm is described as
Fig.2 (a)Space Vectors for threc-phasc PWM rectifier follows:
(b)Hardware-Dctcrmined SV PWM wavcform pancm in scctor IV 1
(c) Sofhuare-Dctemincd SV PWM wavcform pattern in sector IV U~=--(TIYI+T~',*M) (6)
TS
Where, URf is normalized by Vdc. In stationary a-P system,
the expression can he written as follows:
As shown in fig.1, every bridge leg has two states,
Assuming that the state is 1, when the upper switch is on; and
the state is 0, when the lower switch is 1. So three legs consist (7)

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2004 35lh Annual IEEE Power Electronics Specialists Conference Aachen. Germany, 2034

Finally we can get, Ithe 4" sector with bardware-implemented pattern; while
tig2(c) shows the switching patterns as rule as table 3 is given
when URtisalso in thi: 4Ihsector with software- implemented
Ipattern.

Let OF ACTIVE A N D ZEROSTATES


TABLE 111 CHOICE M DIFFERENT SECTOR

Where, D, is named Decomposition Matrix. It is obvious


that each sector has its respective decomposition matrix, so
we can get six decomposition matrices. If they are added into
program in the form of tables, the corresponding De,, can be
obtained easily through looking up tables based on the sector
in which the URf is. With the help of high-performance
processing capabilities of DSP, the durations ofTl and T2are 1v. SIMULATION AND EXPERIMENTAL RESULTS
easily achieved. By substituting TI and T2 to Ts-TI-T2, we A IKVA prototypi: is designed in laboratory. DC output
can get the duration of To for zero vector. Finally switch voltage is 15OV. input three phase voltage is 5OV RMS, L, is
signals can be generated as shown in fig.2(b) or fig.2(c). 8mH, R, is O.Olobrns, C is 2 2 0 0 p , switching devices
choose IRFP264 and switching frequency is IOKHz. In this
B. Sector determination
system, double loop control 1 are employed.
Defining: Simulation bas baen completed by MATLAB6.5 [4].

1
vwt=uwr
Vwt=Llu.sin(~/3)-Lsin(~/6) ,
V~~=-Uw.sin(lr/3)-(~sin(K/6)

Sign(x) =
1 x>o
Voltage loop employs PI regulator so as to keep output
voltage constant. Inner loop adopts predictive current control
method [5] in order to achieve unity power factor. Fig.3
shows the simulation waveforms ofthe PWM outputs, i.e. the
rectifier inputs, of the PWM waveform pattern in fig.2(c)
{o x<o ' after the carrier has been taken out with a low-pass filter, and
N = Sign(Vwt)+2Sign(V,,,2)+4Sign(Vw,) (IO) fig.4 shows the corresponding experimental waveforms. The
upper and the bottom waveforms in the two figures are two of
the sector in which URris depends on the expression (IO) . the three PWM outputs. The waveform in the middle is the
The corresponding relations between value N and sector are deference between the two, representing the line-to-line input
seen in table 2. voltage applied to three phase bridge. It is clear that
simulation and experimental waveforms are uniform.
TABLE 11 DETERMINATION
OF SECTOR The results in stable state are given in fig.5. From the first,
OF BASED ON N
let the prototype start to work in PWM rectifier. As shown in
the fig3 (a), DC voltage changes from zero to negative value
and then changes fcnn negative value to positive till to
desired value (15OV). This indicates that three-phase HPF
PWM rectifier has zwo point in RHP and PI regulator can
C. Switchingpatterns
We use space vector PWM waveform generator of
TMS320F240 DSP to generate space vector PWM outputs. It
greatly simplifies the generation of symmetric space vector
PWM waveforms. In fact, there are two kinds of realization
methods that we can do. One is called hardware-implemented
switching pattern, the other is called software-implemented
switching pattern. In the former method the sequence of
active vectors can be selected arbitrarily. That is to say, only
one switch will change its state every time, whether to choose
active vectors anticlockwise or clockwise. While in the latter
method, it is necessary to meet satisfactions with some
certain rules to select the active vectors, so that only one
switch state will be changed. Table 3 shows the sequences of
active and zero states and switching time in all six sectors.
Note that fig2(b) shows the switching patterns when URfis in Fig.3 SVPWM sirnulalion outputs with carrim filtered out

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2004 35th Annual I E E E Power Electronics Specialists Conference Aachen, Germany, 2004

keep DC output voltage constant. Fig.S(b) shows that input


AC currents trace down the input voltages to achieve unit
power factor. This verifies the predictive current controller.
and the proposed algorithm.
Fig.6 shows the experimental waveforms of input voltage
and current of phase A. it can be concluded that this
algorithm called Decomposition Matrix do a good job.

. . . . . . . . .

. . .. . . . - Fig.6 Chl Current waveform ofphasc A(I0Aidiv)


.. .. .. . . . . . Ch2 Voltage wavcform of phase A(SOV/div)
, . . . .

. . .
L .' . . . . j. . . . . .. . . 1: .
..................
. : A V. CONCLUSION
. . . . A novel SVPWM algorithm has been described and
verified. It has been implemented for PWM converter using
digital signal processor TMS320F240. The simulation and
experimental results indicate that converter that adopts the
proposed algorithm can achieve satisfactory performance.
Fig.4 SVPWM cxperimcnt oulputs This algorithm simplifies the programs and speeds the
with carrier filtered out processing, besides, guarantees the precise results.
The total numbers of instructions for implementing this
algorithm are less than 100 and consuming time is lower than
5ps. Hence the proposed algorithm is valid.

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[4] R Organdie, M Palaniapan. Inductor voltage controlled variable power
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Spcccialisu Conf.[C].ltaly,Junc I996.23O-237
[5] Maan.Predictive current control of distribution static compcnsator for
reactive power conpensation. IEE Proe.Gener.Transm.
Distrib. 1999,146(5):5 15-520
16) Juc Ru Sheng. A Navcl PWM Rectifier.Transactions of China
Elechotechnical SocietY,ZOO2,NO. epp.48-52
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I
D 0.01 om ow 001 o.0~ offi om 0.08 0.m ot

o 0.01 o.m om OM om 0.m 007 om 0.09 0.1

(b) Input vallages and currents


fig.5 the vollage and current wavcforms

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