Power Converter Topologies: Advanced AC Drive Systems

EE8412
Advanced AC Drive Systems Topic 3
Power Converter Topologies
Courtesy of ABB
Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006, ISBN: 0-471-73171-4
EE8412
EE8412 Advanced AC Drive Systems
Power Converter Topologies
Lecture Topics
1) Two-level Voltage Source Inverters 2) Cascaded H-bridge (CHB) Inverters 3) Neutral Point Lamped (NPC) Inverters 4) Current Source Converters
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Topic 3 Power Converter Topologies
Two-level Voltage Source Inverter

Inverter Configuration
P
g1
D1 D3 D5
S1
A
g3
S3
g5
S5 iA iB
Vd
Cd
B
D4 D6
O
LOAD
C g2
iC
D2
g4
S4
g6
S6
S2
Assumption: dc capacitor very large dc voltage ripple free

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Square Wave Operation
P
g1
D1
S1
A
g3
S3
D3
g5
S5
D5
iA
Vd
Cd
iB
B
D4
vg1 vg2 vg3 vg4 vg5 vg6 v AN

0
C
D6
iC
D2
Vd
g4
S4
g6
S6
N
g2
t t t
S2
v BN
0
v CN
0
Gating arrangements 60 apart Conduction angle: 180 Complementary gating: S1 on S4 off S3 on S6 off S5 on S2 off During first 60 period S1 on , VAN = Vd S6 on, VBN = 0 S5 on, VCN = Vd
v AB
0
Vd
2V d / 3 V / 3 d
v AO
0
iA
0
2
D1 S1
D4
S4
C u rre n t-ca rryin g d e v ice s in leg A
Why called two-level?
vAN = 0 or =Vd
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Inverter Output Voltage
Line-to-line voltage
v AB =
n =1, 5 , 7 ,11,13, ...
4Vd n cos sin n(t + ) n 6 6
Fundamental-frequency voltage 4Vd VAB1 = cos = 0.78Vd 6 2 rms voltage

1 V AB = 2
2 v AB d (t )
1/ 2
5 / 3 1 2 / 3 (Vd ) 2 d (t ) + ( Vd ) 2 d (t ) = 2 0
1/ 2
2 Vd = 0.816Vd 3
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Load Phase Voltage
Phase voltage calculation
v AO = (v AB vCA ) / 3 v BO = (v BC v AB ) / 3 v = (v v ) / 3 CO CA BC
Vd
P
g1
D1
S1
A
g3
D3
S3
g5
D5
S5 iA iB
Cd
B
D4 D6
O
LOAD
Fourier expression
C g2
iC
D2
v AO
2 = Vd sin (nt ) n =1, 5 , 7 ,11,13 , ... n
g4
S4
g6
S6
S2
rms value
1 V AO = 2
2 0
(v AO ) 2 d (t )
1/ 2
2 Vd = 0.47 Vd 3
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Modulating and Carrier Waves
v
vcr
vmA
Vcr
vmB
Vm
vmC
t
vcr Carrier wave (triangle)
Amplitude modulation index

ma = Vm Vcr
f cr fm
vm Modulating wave (sine)
Frequency modulation index

mf =
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Gate Signal Generation
vmA
vcr
v g1 vg 4
v AN
Vd
Phase A
v mA > v cr
v g1 > 0 (v g 4 < 0) v g 4 > 0 (v g1 < 0)
S1 on ( S 4 off ) S 4 on ( S1 off )
v AN = Vd
v mA < v cr
v AN = 0
Vg1 and Vg4 are complementary

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Line-to-Line Voltage vAB
v
v cr
vmA
V cr
v mB
Vm
v mC
t
P
S1 S3 S5
v AN
A
Vd
Vd
B
C
vBN
Vd
0
S4
S6
S2
v AB
0
v AB 1
Vd
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Waveforms and FFT
v AB
Vd
v AO
2Vd / 3
iA
ma = 0.8, mf = 15, fm = 60Hz, fcr = 900Hz Switching frequency fsw = fcr = 900Hz
V ABn / Vd
V AB1 = 0.49 Vd
mf
2
2m f 1
3m f 2
4m f 1
Low order harmonics, n < (mf -2), are eliminated

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Harmonic Content
V AB n Vd
n =1
2m f 1
mf
4m f 1
3m f 2
3m f 4
ma
VAB1 versus ma is linear VAB1,max = 0.612Vd

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Space Vector Modulation (introduction)
V3
OPO
SECTOR III SECTOR II
V2
PPO
V ref
SECTOR I
V4
OPP PPP OOO
V1
POO
V0
SECTOR IV SECTOR V SECTOR VI
OOP r
V5
V6
r POP
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Space Vector Modulation (introduction)
Sector
VI V IV III II I I II III V IV VI
v AB
Vd
0
v AO
0
2V d / 3
iA
0
f1 = 60Hz, fsw = 900Hz, ma = 0.696, Ts = 1.1ms

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Cascaded H-bridge Inverters
CHB Inverter Fed MV Drive
Source: ASI Robicon
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Converter Topologies (5-level)
LOAD
O
A
S11 S31
E
S41 S 21
vH 1 E
Complementary Switch pairs: S11 and S41; S31 and S21;
S12
S32
E
S 42 S 22
vH 2 E
S12 and S42; S32 and S22;
Converters in cascade, but no switching devices in series.

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Converter Topologies (7- and 9-levels)
A
S11
S31
A
E
vH 1
S 41
S 21
vH 1
S12
E
S 42
S 32
vH 2
vH 2
S 22
E
vH 3
S13
E
S33
vH 3
S 43
S 23
N
vH 4
N
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Phase Shifted PWM
v cr 1
1.0
v cr 2
v cr 3
v mA
0 -1.0
# of voltage levels: m = 7 # of carriers: mc = m - 1 = 6 Phase shift: 360/ mc = 60

S11
S31
v g 11 v g 31
vH 1
E
v cr 1
v cr 2
v cr 3
Carriers: vcr1 and vcr1Carriers: vcr2 and vcr2Carriers: vcr3 and vcr3-
vH 1
S 41 S21
H1
v g 12 v g 32
vH 2
E
S12
E
S 42
S32
v g 13 v g 33
vH 3
E
vH 2
S 22
H2
v AN
3E
0
S13
E
S 33
v AN = v H 1 + v H 2 + v H 3
vH 3
S 43 S 23
H3
m=7
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Inverter Waveforms (7-level, phase shifted)
vH1
vH 2 vH3
vAN
3E 0
Switching occurs at different times fsw(device) = 60 mf = 600Hz Inverter phase voltage levels: 7 Low EMI Line-to-line voltage levels: 12 Close to a sinusoid Low THD
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vAB
6E 0
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Harmonic Spectrum (7-level, phase shifted)
V H 1 n / Vd
2m f 1
4m f 1 6m f 1
Lowest harmonics: around 2mf Lowest harmonics: around 6mf Containing triplen harmonics
VANn / Vd
6m f 3
6m f 9
6m f + 9
VABn / Vd
6m f 7
6m f 1
6m f + 7
No triplen harmonics Equivalent fsw(inverter) = 60(6mf ) = 3600Hz

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Harmonic Content (7-level, phase shifted)
V AB n Vd
y
0.3
y x
= 1.224
n=1
0.2
6m f 5
0.1
6m f 7
6m f 1 6 m f 11
0 0 0.2 0.4 0.6 0.8
ma
Inverter equivalent switching frequency: fsw(inv) = 6 fsw(device) Small filter size for sinusoidal outputs.
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Level Shifted PWM
1.0
vcr1 vcr2
0
vm
# of voltage levels: m = 5 # of carriers: mc = m - 1 = 4

2 3
vcr3 vcr4
-1.0
IPD
(a) In-phase disposition (IPD)

1.0
vcr1 vcr2
0
vm
vcr3 vcr4
-1.0 1.0
APOD
(b) Alternative phase opposition disposition (APOD)
vcr1 vcr2
0
vm
IPD provides the best harmonic profile.

2
vcr3 vcr4
-1.0
POD
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(c) Phase opposition disposition (POD)

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Gating Pulse Arrangement (7-level, IPD)
vmA
vcr1 vcr2 vcr3

vcr3 vcr2 vcr1-
# of voltage levels: m = 7 # of carriers: mc = m - 1 = 6
v g11 v g31
vH 1
v g 12 v g 32
vH 2
v g 13 v g 33
vH 3 v AN
v AN = v H 1 + v H 2 + v H 3

fsw(device) << fcr (900Hz) fsw(device) Not the same for all switches. Device conduction angle not equal. Necessary to swap switching pattern.
m=7
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Inverter Output Voltages (7-level, IPD)
vH 1 vH 2 vH 3
v AN
2 4
Switching occurs at different times fsw(device) = fcr /mc = 600Hz (avg.) m=7
v AB
2 4
Close to a sinusoid Low THD, low EMI

m f + 16
VABn / Vd
m f 16
mf 8
mf 2
mf +8
Equivalent fsw(inv) = fcr = 3600Hz

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Neutral Point Lamped (NPC) Inverters
NPC Inverter Fed MV Drive Courtesy of Siemens

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Inverter Topology (three-level NPC)
id
DZ 1
S1
D1 D2
Cd1
S2 A
iA
B
C
Vd
iZ
DZ 2 S 3
iB iC
Cd 2
D3 D4
S4
Six clamping diodes: DA1, DA2 , DB1, DB2 , DC1 and DC2
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Switching State
Complementary Switch pairs: SX1 and SX3; SX2 and SX4;
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Space Vector Diagram
V15
Sector II V8
V14
Sector III
V9
V3
V2
V ref V7
Sector I
19 space vectors:
Zero vector: Small vectors: Medium vectors: Large vectors: V0 V1 V6 V7 V12 V13 V18
V16
V4
V0
V1
V13
V10
Sector IV
V5
V6
V12 Sector VI
V11
V17
Sector V
V18
Six sectors: I, II, III, IV, V, VI

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Simulated Waveforms (Space vector Modulation)
vg1 vg 4
2
3
v AZ
+E
0
-E
v AB
+2E
0
-2E
V ABn / Vd
THD = 41.0% 0.15 0.1 14 16 0.05 0 1 5 10 15 20 25 30 35 40 45 50 55 60 n 20 22 26 28
28
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Harmonic Spectrum (Space vector Modulation)
V AB n / Vd
ma
V AB n / Vd
ma
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Level-shifted PWM (four-level)
1 .0
v cr1
vcr 2
vcr 3
-1 .0
(a )
vg1 vg2 vg 3
(b )
v AN
0
3E
(c )
v AB
0
3E
(d )
iA
0
2 (e )
30
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Harmonic Content (four-level, IPD Modulation)
V AB n / Vd
ma
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Current Source Converters
PWM Current Source Converter Fed MV Drive Courtesy of Rockwell Automation

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Current Source Converters

Current Source Inverter
S1 S3 S5
g1
A
g3
g5
iw is ic
O
Switching devices: - Reverse blocking GCT
Id
B
v AB
LOAD
S4
S6
g6 g2
S2
Cf
Cf
Cf
g4
Function of output capacitor C: - Assist GCT commutation - Reduce harmonic distortion
Features: - Simple topology no antiparallel diodes - Reliable short circuit protection constant dc current - Very low dv/dt on motor terminals - Four quadrant operation
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PWM Techniques
1) Trapezoidal PWM (TPWM) 2) Selective Harmonic Elimination (SHE) 3) Space Vector Modulation (SVM)
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Switching Constraints
g1
P S1 S3 S5
g3
g5
iw
A
Id
- dc current Id cannot be interrupted, - Inverter output current waveform must be defined.

S4
S6 g6
N
S2 g2
g4
At any time instant, only two switches are turned on, one switch connected to the positive dc bus, and the other to the negative dc bus.
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Trapezoidal PWM (TPWM)
v cr vm
Vm
0
Vc r
2 3
v g1
vg2 vg3
t t t
t t
vg4 vg5 vg6 iw

0
Id
2 3
Number of pulses per half cycle: Np = 7

36
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Harmonic Content
(TPWM)
I wn I
w1
0.8 0.6 0.4
n=1
0.2
n=5 n=7
0 0.2 0.4 0.6 0.8
Np = 15 Fundamental does not change much with ma
I wn I
ma
n=5
w1
0.16 0.12
n=7
0.08 29 23 0.04 25 0 0.2 0.4 0.6 0.8
n = 11 n = 17
n = 13
19
ma
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Inverter Waveforms (TPWM)
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Selective Harmonic Elimination (SHE)
iw
1
2 3
Id
1 2
6
Not all the switching angles are independent. Only two harmonics can be eliminated with 5 pulses per half cycle. Number of harmonics to be eliminated: k = ( N p 1) / 2 No modulation index control the magnitude of inverter output current is controlled by the dc link current Id
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Inverter Waveforms (SHE)
Harmonic eliminated: 5th and 7th
Harmonic eliminated: 5th

40
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Space Vector Modulation (SVM)
j
SECTOR III
r I3

SECTOR II
r I4
r I ref
r I2
SECTOR IV
r I0
SECTOR I
r I5
SECTOR V
r I1
r I6
SECTOR VI
Definition of - six active current vectors and one zero vector; - six sectors.
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Simulated Waveforms (SVM)
iw
2
is
v AB
2 4
42
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Harmonic Content (SVM)
I wn I w1
n=1
0.08
0.06
19 0.04
0.02
n =5
7 11
17
0 0 0.2 0.4 0.6 0.8
13
ma
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Current Source Rectifier

Converter Topology
Ld g1 S1 S3 S5
id
vs
Ls
is
iw
A
B
L O A D
vd
C Utility Supply Cf
S4
S6
S2
Switching devices: Reverse blocking GCT
Function of filter capacitor Cf: To assist GCT commutation; To reduce line current THD.
44
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Current Source Rectifier

PWM Techniques
1) Selective Harmonic Elimination (SHE) 2) Space Vector Modulation (SVM)
Experimental Waveforms (SHE with 5th and 7th harmonic elimination)
ma = 0.7 ma = 0.95 Trace A: current in switch S1 Trace B: Rectifier input current iw Trace C: Line current is
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EE8412 Advanced AC Drive Systems
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Power Converter Topologies: Advanced AC Drive Systems

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EE8412

Advanced AC Drive Systems Topic 3

Power Converter Topologies

EE8412 Advanced AC Drive Systems

Power Converter Topologies

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

Assumption: dc capacitor very large dc voltage ripple free

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

vg1 vg2 vg3 vg4 vg5 vg6 v AN

C u rre n t-ca rryin g d e v ice s in leg A

Why called two-level?

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

4Vd n cos sin n(t + ) n 6 6

Fundamental-frequency voltage 4Vd VAB1 = cos = 0.78Vd 6 2 rms voltage

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

2 = Vd sin (nt ) n =1, 5 , 7 ,11,13 , ... n

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

vcr Carrier wave (triangle)

Amplitude modulation index

vm Modulating wave (sine)

Frequency modulation index

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

v g1 > 0 (v g 4 < 0) v g 4 > 0 (v g1 < 0)

Vg1 and Vg4 are complementary

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

Low order harmonics, n < (mf -2), are eliminated

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

VAB1 versus ma is linear VAB1,max = 0.612Vd

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

Topic 3 Power Converter Topologies

Two-level Voltage Source Inverter

f1 = 60Hz, fsw = 900Hz, ma = 0.696, Ts = 1.1ms

Topic 3 Power Converter Topologies

Cascaded H-bridge Inverters

CHB Inverter Fed MV Drive

Source: ASI Robicon

Topic 3 Power Converter Topologies

Cascaded H-bridge Inverters

Complementary Switch pairs: S11 and S41; S31 and S21;

S12 and S42; S32 and S22;

Converters in cascade, but no switching devices in series.

Topic 3 Power Converter Topologies

Cascaded H-bridge Inverters

Topic 3 Power Converter Topologies

Cascaded H-bridge Inverters

# of voltage levels: m = 7 # of carriers: mc = m - 1 = 6 Phase shift: 360/ mc = 60

Topic 3 Power Converter Topologies

Cascaded H-bridge Inverters

Topic 3 Power Converter Topologies

Cascaded H-bridge Inverters

No triplen harmonics Equivalent fsw(inverter) = 60(6mf ) = 3600Hz