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U W
+ a
O h
> H
r L
~~ ~
Then the next problem to solve is development of with the proposed dead-time compensator, Compensation
the dead-time compensation method, as otherwise an is made in the rotating reference (d-q) frame. The ac
inverter output voltage distortion arises. Its current control loop is eliminated. The dead-time
distortion causes a torque ripple which prohibits a compensator receives the current reference signals Iq*
highly responsive speed control system. and Id* from the speed controller and the field
In PWM VSIs, there is an inherent source of the current generator, respectively. It also receives the
output waveform distortion in the power stage which is motor frequency w l , from the input signal to the two-
caused by the dead-time.C8j, c 9 3 This is the short phase oscillator. The dead-time compensator produces
time which elapses between switching one device in an a compensating signal, which is a space vector added
inverter leg off and switching the other one on, which to the voltage reference in the d-q frame. Here, the
ensures that both do not conduct simultaneously. voltage referece is concerned with generating a signal
Overcoming the inverter dead-time in the slip frequen- for the fundamental output voltage, while the
cy vector control type without using the ac current compensating signal is concerned with generating a
control loop has been the target of a lot of research signal mainly for the required harmonic compensation.
and development. 3 , c The reason why the compensating signal is concerned
Table 1 shows dead-time compensation methods with the harmonic is described in section 3 . There-
previously employed in the V/F and slip frequency fore, the compensating signal should be a space vector
control schemes. In these schemes, no ac current loop which must be produced corresponding to the region
control is used. Therefore, dead-time compensation where the motor current may be found in the stationary
must be made either by supplying a compensating signal frame. The method is performed by a feed forward in
produced by the output current to the voltage the d-q frame.
reference, which is the current feedback type, or by The advantages of this method include inverter
supplying a compensating signal directly produced by output voltage distortion correction for both
the deviation signal between the voltage reference and fundamental and harmonic components in the d-q frame.
detected voltage to the voltage reference, which is Thus, it allows control implementation in the d-q
the voltage feedback type. Compensation of these two frame at a slower sampling rate, with a conventional
schemes is made in a stationary reference frame which imcroprocessor, than when implementation is performed
then leads to the same problem as for the slip in the stationary reference frame. Therefore, it can
frequency vector control type, including the ac help to provide a fully digital, vector-controlled
current control loop. TO overcome this, the authors speed regulator with just a current component loop for
propose the dead-time compensation method shown at the PWM VSIS.
bottom of Table 1. The principle of the dead-time compensation is
detailed in the next section.
U W
+ a
O h
> H
r L
~~ ~
Then the next problem to solve is development of with the proposed dead-time compensator, Compensation
the dead-time compensation method, as otherwise an is made in the rotating reference (d-q) frame. The ac
inverter output voltage distortion arises. Its current control loop is eliminated. The dead-time
distortion causes a torque ripple which prohibits a compensator receives the current reference signals Iq*
highly responsive speed control system. and Id* from the speed controller and the field
In PWM VSIs, there is an inherent source of the current generator, respectively. It also receives the
output waveform distortion in the power stage which is motor frequency w l , from the input signal to the two-
caused by the dead-time.C8j, c 9 3 This is the short phase oscillator. The dead-time compensator produces
time which elapses between switching one device in an a compensating signal, which is a space vector added
inverter leg off and switching the other one on, which to the voltage reference in the d-q frame. Here, the
ensures that both do not conduct simultaneously. voltage referece is concerned with generating a signal
Overcoming the inverter dead-time in the slip frequen- for the fundamental output voltage, while the
cy vector control type without using the ac current compensating signal is concerned with generating a
control loop has been the target of a lot of research signal mainly for the required harmonic compensation.
and development. 3 , c The reason why the compensating signal is concerned
Table 1 shows dead-time compensation methods with the harmonic is described in section 3 . There-
previously employed in the V/F and slip frequency fore, the compensating signal should be a space vector
control schemes. In these schemes, no ac current loop which must be produced corresponding to the region
control is used. Therefore, dead-time compensation where the motor current may be found in the stationary
must be made either by supplying a compensating signal frame. The method is performed by a feed forward in
produced by the output current to the voltage the d-q frame.
reference, which is the current feedback type, or by The advantages of this method include inverter
supplying a compensating signal directly produced by output voltage distortion correction for both
the deviation signal between the voltage reference and fundamental and harmonic components in the d-q frame.
detected voltage to the voltage reference, which is Thus, it allows control implementation in the d-q
the voltage feedback type. Compensation of these two frame at a slower sampling rate, with a conventional
schemes is made in a stationary reference frame which imcroprocessor, than when implementation is performed
then leads to the same problem as for the slip in the stationary reference frame. Therefore, it can
frequency vector control type, including the ac help to provide a fully digital, vector-controlled
current control loop. TO overcome this, the authors speed regulator with just a current component loop for
propose the dead-time compensation method shown at the PWM VSIS.
bottom of Table 1. The principle of the dead-time compensation is
detailed in the next section.
DEAD-TIME I
COMPENSA -
SPEED
Iq
1,
-
CURRENT
COMPONENT
DETECTOR
!ip 3/2 -
Fig. 1 Fully digital speed control system with current controller
using dead-time compensator.
DEAD-TIME I
COMPENSA -
SPEED
Iq
1,
-
CURRENT
COMPONENT
DETECTOR
!ip 3/2 -
Fig. 1 Fully digital speed control system with current controller
using dead-time compensator.
L J
Rotating
Reference 0 t
Frame Time
(d-q)
0 n n n n n n n ILt
Two- Axis
Frame VfP*
W-P)
0 1 -t
I
(b) Compensating vector corresponding to space
current vector
3-2 Evaluation
L J
Rotating
Reference 0 t
Frame Time
(d-q)
0 n n n n n n n ILt
Two- Axis
Frame VfP*
W-P)
0 1 -t
I
(b) Compensating vector corresponding to space
current vector
3-2 Evaluation
CURRENT
J
I I1 ' I
SPEED tOr
Fig. 4 Simulation model of proposed control system for evaluating torque ripples
caused by inverter dead-time.
461
Simulations are carried out for the dead-time
td=30 p s , switching frequency fc=l.7Wlz, and dc source
voltage Vdc=600 V. Fig. 5 shows characteristics
between torque ripple caused by the dead-time and
output frequency where torque ripple p is defined as
0.2T \
\ \
\\\y""
......-
ut
Ccinpensotion
\~ /
-: Rated Load
_----:No Load
the ratio of torque ripple to rated torque of the
motor. It can be seen here that the torque ripple due =L
to the dead-time decreases logarithmically as the
inverter output frequency increases. This is because
the ratio of the error voltage to the inverter output \ i.
a
voltage decreases with the output frequency. It also Tim
can be seen that torque ripple at no load is larger
than that at rated load without compensation. This is
because almost all of the zero-cross point waveform
distortion affects the torque current component in the
d-q frame, when the motor condition is no load. On
the other hand, when the motor is running at the rated Outplt Frequency f (Hz)
load, the above mentioned distortion affects the field
current component in the d-q frame. However the motor
flux shows hardly any correspondence to the current Fig. 5 Characteristcs between torque ripple caused
component ripple. Therefore the torque ripple is by inverter dead-time and output frequency.
smaller than that at no load.
CURRENT
J
I I1 ' I
SPEED tOr
Fig. 4 Simulation model of proposed control system for evaluating torque ripples
caused by inverter dead-time.
461
Fig. 7 shows characteristics between the torque Fig. 9 shows experimental results of the inverter
ripple and compensating signal delay angle at 10% of output voltage references and the output currents
the rated motor speed. The effect of sampling delay under the same conditions as Fig. 8. From comparison
time in the microprocessor on the compensation of the computed and measured results, in the two
accuracy can be evaluated from this result. The delay figures, the computed motor current waveform shapes
angle is obtained as the product of the delay time and accord very well with measurements. Thus the
the inverter output frequency. The compensating simulation model can be applied to evaluate accuracy
signal delay time produces torque ripple in the motor and sensitivity of the proposed inverter dead-time
because of the deviation from the intended amplitude compensation method.
of the compensating signal resulting from the phase
delay angle. As a result, compensation for the signal - 7 - 0
/
/
No Lood ,'
/
,'Rated food ,
~
.
. -. ... -- - . -.
..-
-.-:I I__--
-15 -10 -5 0 5 IO 15
Compensoting Signol Deloy Angle 6 (deg)
k=O.O k=0.5 k-1.0 k=1.25
Fig. 7 Characteristics between torque ripple and Compensating Signal Amplitude k 1p.u.)
compensating signal delay angle.
Fig. 9 Experimental results of inverter voltage
references and output currents.
Fig. 8 shows simulation results of the inverter
output references and the output currents under the
condition that the motor is running at 10% of the
rated speed at no load. For under-compensation k=0.5, 4. EXPERIMENTAL RESULTS
the motor currents are trapezoidal shaped. On the
other hand, for over-compensation k=1.25, the motor
currents are convexly shaped. The ripple due to Fig. 10 shows motor currentsiu, iw, voltage
undesired compensation appears on the torque and field references v *, Vd", and current components Id, Iq
current components in the d-q frame. The torque with and w?thout the compensation when dead-time
current component ripple is larger than the field td=30 p s , sampling time Ts=l.Bms, and carrier
current component ripple at no load. It also contains frequency fc=1.7kHz. As shown in the figure, an
six times the output frequency. excellent compensation result is obtained at this
slower sampling rate.
0.1 ./dh
Torque =
current
V
Phase
Reference
Motor
Current
Compensating Signal Amplitude k (P.u.) (a) without compensation (b) with compensation
Fig. 8 Simulation results of inverter voltage Fig. 10 Experimental results of proposed inverter
references and output currents. dead-time compensation method.
468
Fig. 7 shows characteristics between the torque Fig. 9 shows experimental results of the inverter
ripple and compensating signal delay angle at 10% of output voltage references and the output currents
the rated motor speed. The effect of sampling delay under the same conditions as Fig. 8. From comparison
time in the microprocessor on the compensation of the computed and measured results, in the two
accuracy can be evaluated from this result. The delay figures, the computed motor current waveform shapes
angle is obtained as the product of the delay time and accord very well with measurements. Thus the
the inverter output frequency. The compensating simulation model can be applied to evaluate accuracy
signal delay time produces torque ripple in the motor and sensitivity of the proposed inverter dead-time
because of the deviation from the intended amplitude compensation method.
of the compensating signal resulting from the phase
delay angle. As a result, compensation for the signal - 7 - 0
/
/
No Lood ,'
/
,'Rated food ,
~
.
. -. ... -- - . -.
..-
-.-:I I__--
-15 -10 -5 0 5 IO 15
Compensoting Signol Deloy Angle 6 (deg)
k=O.O k=0.5 k-1.0 k=1.25
Fig. 7 Characteristics between torque ripple and Compensating Signal Amplitude k 1p.u.)
compensating signal delay angle.
Fig. 9 Experimental results of inverter voltage
references and output currents.
Fig. 8 shows simulation results of the inverter
output references and the output currents under the
condition that the motor is running at 10% of the
rated speed at no load. For under-compensation k=0.5, 4. EXPERIMENTAL RESULTS
the motor currents are trapezoidal shaped. On the
other hand, for over-compensation k=1.25, the motor
currents are convexly shaped. The ripple due to Fig. 10 shows motor currentsiu, iw, voltage
undesired compensation appears on the torque and field references v *, Vd", and current components Id, Iq
current components in the d-q frame. The torque with and w?thout the compensation when dead-time
current component ripple is larger than the field td=30 p s , sampling time Ts=l.Bms, and carrier
current component ripple at no load. It also contains frequency fc=1.7kHz. As shown in the figure, an
six times the output frequency. excellent compensation result is obtained at this
slower sampling rate.
0.1 ./dh
Torque =
current
V
Phase
Reference
Motor
Current
Compensating Signal Amplitude k (P.u.) (a) without compensation (b) with compensation
Fig. 8 Simulation results of inverter voltage Fig. 10 Experimental results of proposed inverter
references and output currents. dead-time compensation method.
468