IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO.

4, JULY/AUGUST 1986

697

Novel

Control Scheme for Current-Controlled PWM Inverters

MEMBER, IEEE,

AKIRA NABAE,

SATOSHI OGASAWARA,

AND

HIROFUMI AKAGI

Abstract-A high-performance current-controlled inverter must have a quick current response in transient state and low harmonic current content in steady state. However, in general, these requirements contradict each other. A novel control scheme is proposed which is based on the current deviation vector and satisfies both requirements. Experimental results showed good agreement with the anticipated performance.

I. INTRODUCTION

which quick current response and low harmonic current content to suppress torque ripples and acoustic noises are required. However, these two requirements contradict each other. That is, the switching mode, having a high current derivative, must be chosen to produce the high-speed current response while the switching mode, having low current derivative, must be chosen to suppress the high current harmonic content. For the latter purpose, many control scheme have been published. For example, Holtz et al. proposed the predictive controller [8], and it is an excellent control scheme. However, this controller is not simple because it includes complicated calculations. In this paper the authors propose a novel control scheme which is not a predictive control but a feedback control. It is able to suppress the high harmonic current in steady state and also solve the quick current response problem in transient
state.
II. PRINCIPLE OF CONTROL STRATEGY

limportant role in current-controlled PWM inverters in

HE CURRENT CONTROL strategy plays a most

Fig. 1. PWM inverter circuit.

TABLE I

RELATIONSHIPS BETWEEN v(k) AND (Sn, Sv, SW)

v(k)

k=O k=I k=2 k=3 k=4 k=5 k=6 k=7

(S.

S,

S.)

000

100

110

010

011

001

101

111

= 0. Next, the current deviation vector Ai is defined as

Ai=i*F-i

(2)

where 1* is the current reference vector. Substituting (2) into (1) produces

LdAi/dt + RAi= (Ldi*/dt + Ri* + eo) - v(k).

(3)

Fig. 1 shows a voltage source inverter circuit. The voltage and current equation is expressed as follows:

Generally, RAi can be neglected, compared with LdAildt. Expressing the parentheses on the right side of (3) as e, the following equation are derived:

v(k) =Ldi/dt +Ri+ eo

(1)

LdAi/dt

e - v (k)

(4)

where i is the current vector and eo is the inner induced voltage vector in the load-side. v(k) shows the inverter output voltage vector, and there are eight kinds of u(k), corresponding to the on-off state of the switching devices, as shown in Table I. In Table I, one or zero of switching functions Su, Su, S,, corresponds to the mode in which the upper side device or the lower side device is on-state, respectively. Then, v(O) = v(7)

e=Ldi*/dt + Ri*+eo

(5)

where e means a counter EMF vector at the load terminals, when i = i* is assumed. That is, e is the voltage vector which lets the load carry the current i* without any current deviation. However, the inverter can output only one voltage vector out of the eight discrete voltage vectors. Equation (4) shows that dAi/dt is determined by the choice of v(k). Here, dAi/dt is the most important variable which commands the harmonic current content in the steady state and Paper IPCSD 85-58, approved by the Industrial Drives Committee of the IEEE Industry Applications Society for presentation at the 1985 Industry the current response in the transient state. From (4), LdAi/dt Applications Society Annual Meeting, Toronto, ON, Canada, October 6-11. is shown as Fig. 2, when e is detected in the region between Manuscript released for publication December 21, 1985. u(1) and v(2). Fig. 3 shows the deviation-current derivative The authors are with the Faculty of Engineering, Technical University of vectors, derived from Fig. 2. In order to let Ai be smaller, it is Nagaoka, Kamitomioka-cho, Nagaoka, Niigata, Japan 949-54. IEEE Log Number 8608162. necessary to choose an output voltage vector v(k) such that the

0093-9994/86/0700-0697$01.00 1986 IEEE

698
U

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 4, JULY/AUGUST 1986

W(6)

V/(21

V/(6)VV/n VA6 jK=2

Vlo5
)

W2~~~K=

2)

V/A4)
W 4)

Fig. 4. Hexagon for region of e.

I rk=o 1

Fig. 2. Output voltage vector v(k) and ILdAi/dt k'

Cvik=6
k=3

lEEk-07

Iddti
k=6

CI]k= 2 CEM] k= 3 C [V] k=0,7

Fig. 5. Hexagon for region of Ai (e: [I], [III], [V]).
tI]k=0,7 CR) k= 4 [VI k= 5
/

k=2

Fig. 3. Current deviation derivatives IdAi/dt Ik*

nent to Ai. Next, assume that the Ai vector is detected in the

corresponding

IdAi/dtlk has the opposite direction compo=

position shown in Fig. 3. Then, k = 5 having the largest opposite direction component to Ai is chosen to attain the quick current response, and k 0 or 7 having the smallest opposite direction component is chosen to suppress the harmonic current. This is the principle of the proposed current control strategy.
III.

SELECTION

OF

SWITCHING MODE CURRENT

TO

SUPPRESS HARMONIC

A. Selection of Switching Mode

To suppress the harmonic current, it is necessary to choose switching mode so as to give small dAi/dt. Therefore, the switching mode to be chosen is limited to the vertices of the triangle including e, as seen in Fig. 4. That is, if e is detected in region [I], then the switching mode is chosen out of k = 0, 1, 2, 7. Next, it will be explained which mode should be chosen out of the four modes corresponding to vertices of the triangle including e. It is determined by the position of the Al
a

vector.

In Fig. 4, if the current deviation vector Ai increases in the opposite direction to ldAi/dt lk = 1, the mode k = 1 should be chosen. That is, in Fig. 5, if Ai is detected in regions 0, the mode v(l) is chosen. Fig. 5 shows the region to which Ai belongs. Similarly, if Ai increases in the opposite direction to IdAi/dt k = 2 or IdAi/dtlk = 0, 7, that is, if Ai is detected then the mode v(2) or v(0), v(7) should in 0, 0) or in be chosen, respectively. (The mode k = 0 or k = 7 is determined by judging which mode causes less switching over, compared with the present mode.) If Ai is kept within the hexagon of 6, the switching over does not occur. It is important that the v(k) chosen by this method makes lAil smaller wherever the position of e is within the triangle of [I].
0, 0, 0,

When e belongs to regions [III], [V], the choice of switching mode is the same as mentioned earlier. When e belongs to regions [II], [IV], [VI], the choice of switching mode takes place as shown in Fig. 6. In order to judge the region of Ai, the circuit is easily composed of comparators judging the polarity and amplitude of each phase current deviation Aiu, Ai,, and Ai,. Table II summarizes the relationships among the region of e, the region of Ai and u(k) to be chosen. In Table II, [I] [VI] are the regions of e vector as shown in Fig. 4 and 0 0 are the regions of Ai vector as shown in Figs. 5 and 6. In both figures, 6 expressing the size of the Al hexagon shows the window width of the window comparators [9], and it relates to the average switching frequency. That is, lAil is regulated so as to be within the 6 value. Fig. 7 shows the switching frequency feedback circuit. In Fig. 7, f,,* is the reference switching frequency to be determined by the switching device characteristics, and fs, is the feedback switching frequency. Both frequencies are compared, and the deviation is integrated. The output of the integrator increases, then 6 becomes smaller. On the contrary, it decreases, then 6 becomes larger. As a result, the average switching frequency is equalized to the reference switching frequency. B. Detection of the Region to which e Belongs To determine the switching mode, it is necessary to detect the region of the e vector. As mentioned earlier, it is possible to keep IAiI within 6 value even if the e vector belongs to any position among [I] [VI] shown in Fig. 4. Therefore, it is necessary to detect only the triangle to which e belongs and not to detect the amplitude and the correct position of e. Here, each phase deviation current is expressed by the new x, y, z axes rotated clockwise 30 to the u, v, w axes. The following relation exists between two coordinates:
-

[Zj 4

-1

](6)

NABAE et al.: CURRENT-CONTROLLED PWM INVERTERS

699
TABLE III DETECTION OF e

[I] k=2 [W] k=0,7

V[I] k=1

[V] k=5 [L] k=6 6

LnD

k=0,7

'0
/

u(k)
0,7

Ai' x
1 1 0 0 0 1 _ 1 0 0 1

Aily
0
1 1 1

Ai' z
0 0 0 1 1 1 1 0 _ 0
1 -

[k=0,7 C] Fig. 6. Hexagon for region of Ai (e: [II], [IV], [VI]).

TABLE
II

E[W]k= 4

[IElk=3

1
2

REGION Ai, e, AND SWITCHING MODES

3 4

Region
of e
[I] [II] [III]

Region of A i
0i
1

0 0 _ 0 1 _ -

[IV] [VI

[III]

[I] [II]

[VI] [VII [II [I] III] [II] [III] [III]

[V] [VI]

[IV]

0, 7 0, 7
6
1

3 0, 7 0, 7
1

2 2

2
3

0, 7
3

3
4

4
4 5

0, 7 0, 7 4
5 5 6

5 6

0, 7 0, 7
5 6 6

[IVJ [IV]

[V] [VI]

[V]

0, 7 0, 7

0, 7

Zero indicates minus, one indicates plus.

ff9*
Fig. 7. Switching frequency feedback circuit.

mentioned in Section II. The mode is uniquely determined from the region of Al as shown in Table IV. In Fig. 8, the two hexagons of Al are shown. A relationship exists between the two references; that is, h = 6 + a, where a is some margin. If Ai passes through the h hexagon, then the control system is switched over from the harmonic current suppression control system to the quick response current control system.
V. SYSTEM CONFIGURATION

Consider two cases when the present value of k is 0 or 7, or 6. when k has the values of 1 1) When k = 0, 7: The vector e and the vector LdAi/dt are equal from (4). Then, the region of e is uniquely detected by only the sign (plus or minus) of the deviation-current derivatives on x, y, z axes. I 6: As explained in the previous 2) When k paragraph, the switching mode is chosen out of four modes corresponding to the vertices of the triangle including e. Therefore, if the output voltage is v(l), it can be regarded that e belongs to the region [I] or [VI]. The sign of the deviationcurrent derivative on the z axis is used to judge the region [I] or [VI]. Plus or minus sign corresponds to the region [VI] or 6, the [I], respectively, from (4). In the case of k = 2 region of e is also detected in the same way. Table III summarizes the results. In both case, notice that only the sign of dAi/dt is used and the amplitude of dAi/dt is not used to detect the region of e. This means that the e detection circuit can be composed of a simple configuration.
=

Fig. 9 shows the control circuit configuration. Each phase current deviation is attained from the difference between each phase current reference and each phase feedback current. The region to which At belongs is judged by the vector comparator. The sign of each phase deviation current derivative and present switching mode are input to ROM1, and the region to which e belongs is judged by Table III. The signals of regions Al and e and the present switching mode are input to ROM2. The switching mode which gives the low harmonic current content is chosen by Table II. The mode to attain quick current response is chosen by Table IV through the output signal of the vector comparator, and it is switched over through the Ai amplitude comparator and compared with the reference value h. The comparator of fs and fsA' calculates 6 and keeps the average switching frequency constant. The low-pass filter (50 ,uts) in the e region detection circuit is effective in killing the noises caused by the derivator. Fig. 10 shows the experimental 1l.5-kW permanent magnet synchronous motor servo system. The motor ratings are given in Table V.
VI. EXPERIMENTAL RESULTS

QUICK RESPONSE CURRENT CONTROL SCHEME If Ai becomes large in transient state, it is necessary to switch over to the quick response current control system. For this, it is necessary to choose the switching mode in which the dAi/dt has the largest opposite direction component to Ai, as
IV. SWITCHING OVER
TO

A. Steady State Fig. 11 shows the comparison of harmonic current between the conventional hysteresis comparator control scheme and the proposed control scheme in steady state. Both average

700

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 4, JULY/AUGUST 1986

TABLE IV REGION OF Ai AND SWITCHING MODE (QUICK CURRENT RESPONSE SYSTEM) Ai

v(k)
2 3

o o o o (

5 6

'I

Fig. 8. Hexagon to switching over two states.

. to drive circuit
_v

0F

Fig. 9. Control circuit configuration.

PS: Position Sensor

TG: Tacho Generator

Fig. 10. Experimental ac servo system.

TABLE V RATING OF PERMANENT MAGNET SYNCHRONOUS MOTOR

Rated output Rated speed Rated current Number of poles Armature resistance Armature inductance Armature linkage flux due to permanent magnet Moment of inertia

1.5 kW 1200 r/min 12.6 A (crest value) 4 0.75 0 5.8 mH

0.35 Wb 50.1 kg cm2

switching frequencies are 2 kHz. The proposed control scheme shows lower harmonic current content. Fig. 12 shows the comparison of the motor acoustic noise level between both control schemes in the "no-load" operation. The proposed control scheme shows the lower acoustic noise level, especially in the low-speed region.
B. Transient State Fig. 13 shows the transient response characteristics. Highspeed current response of about 2 ms is attained to about 60 A

NABAE el al.: CURRENT-CONTROLLED PWM INVERTERS

701
nent magnet conclusions.

synchronous

motor servo

system

verified these

REFERENCES

f=OHz

6A/div.2ms/div

f=OHz

6Aldiv.2ms/div

[1]

(a)
Fig.
11.

(b)

Comparison

of harmonic current in

steady

state.

(a) Hysteresis

comparator control scheme. (b) Proposed control scheme.

three-phase inverters," IEEE Trans. Ind. Gen. Appl., vol. IGA-5, pp. 672-678, 1969. [2] V. K. Heintze, H. Tappeiner, and M. Weibelzahl, "Pulswechselrichter zur Drehzahlsteuerung von Asynchronmachinen," Siemens Rev., vol. 45, no. 3, p. 154, 1971. [3] A. Schonung and D. Stemmler, "Static frequency changers with subharmonic control in conjunction with reversible variable speed ac drives," Brown Boveri Rev., pp. 557-577, Aug./Sept. 1974. [4] A. Abbondanti, J. Zubek, and C. J. Nordy, "Pulse width modulated inverter motor drives with improved modulation," IEEE Trans. Ind. Appl., vol. IA-Il, pp. 695-703, 1975. [5] G. S. Buja and G. B. Indri, "Optimal modulation for feeding ac motors," IEEE Trans. Ind. Appl., vol. IA-13, pp. 38-44, 1977.
[6]
A. B.

K. R.

Jardan, S. B. Dewan, and

G. R.

Slemon,

"General

analysis

of

2
al

60

hysteresis comparator control scheme

[7]
[8]

IEEE-IAS Conf. Rec., 1979, pp.

G.

Plunkett,
A.

"A current controlled PWM transistor drive," in

785-792.

56

Weschta, and A. Wick, "Design and experimental results of a brushless ac servo-drive," in IEEE-IAS Conf. Rec., 1982, pp.

Pfaff,

52

mproposed control schemce

48

692-697. J. Holtz and S. Stadtfeld, "A predictive controller for the stator current vector of ac machines fed from switched voltage source," in JIEE

[9]
0 300 600 900 1200 1500 rotor speed Erpmn

[10]

IPEC-Tokyo Conf. Rec., 1983, pp. 1665-1675. D. M. Brod and D. W. Novotny, "Curren, control of VSI-PWM inverters," in IEEE-IAS Conf. Rec., 1984, pp. 418-425.
A. Kawamura and R. G.

PWM inverters with

Fig. 12.

Comparison of noise levels.

[11]

aided

vol. IA-20, pp. 769-775, 1984. P. D. Ziogas, E. P. Wiechmann, and V. R. Stefanovic, in

adaptive hysteresis,"

Hoft,

"Instantaneous feedback controlled IEEE Trans. Ind.

Appl.,

"A

analysis and design approach for static voltage source inverters," IEEE-IAS Cenf. Rec., pp. 900-907, 1984.
Akira Nabae

computer

60_-

60rpm

(M'79)
from

was

born in Ehime Prefec1924.

-20msWMn0-

20ms
~~~600

ture,
the

Japan,
in

on

September 13,

He

received

B.S.

degree

Tokyo University, Tokyo,

Japan,
He

1947, and Dr.Eng. degree from Wasada

Toshiba
he was

University, Japan.
joined
to

6-'

60

1951

1970,

Corporation in engaged in the

1951.

From

research

and

development
Tsurumi

of rectifier and inverter

technology

at

Works

Engineering

Department.

From

iu

60A

60A4

1970 to

1978,

he was involved in research and

0-1-

Fig. 13.

(b) (a) Transient response characteristics. (a) Hysteresis comparator control scheme. (b) Proposed control scheme.

development of power electronics, especially ac drive systems at the Heavy Apparatus Engineering Laboratory. Also, from 1972 to 1978, he was nonoccupied Lecturer of Waseda Uriversity, Japan. Since 1978, he has been a Professor at the Technological University of Nagaoka, Japan. He is now interested in the energy conversion and control systems. Dr. Nabae is a member of the Institute of Electrical Engineers of Japan. Ogasawara was born in Kagawa Prefecon July 27, 1958. He received the B.S. and M.S. degrees in electrical and electronic engineering for Technological University of Nagaoka,
Satoshi

step variation in both control schemes. Also, the lower harmonic current content is seen in the proposed control scheme. That is, this control scheme has excellent controllability in both transient state and steady state by switching over
both states.

ture, Japan,

Niigata, Japan,
Since

the

in 1981 and 1983, respectively. 1983, he has been an Assistant Professor Technological University of Nagaoka.
He

at
is

VII. CONCLUSION

The authors propose a novel control scheme for currentcontrolled PWM inverters. It has high-speed current response characteristics in transient state and low harmonic current content in steady state. The features of the proposed control scheme are summarized as follows. 1) The circuit configuration is simplified by using the feedback control and ROM's. 2) It is independent of the load constants. 3) The average switching frequency is kept constant. 4) The output harmonic current content is decreased, and the low acoustic noise level drive system is realized. 5) High-speed current response is attained in the transient state. Experiments using the perma-

.l

engaged

in

research

on

ac

lMr.Ogasawara is

systems. member of the Institute of

drive

Electrical

Engineers

of

Japan.

Hirofumi Akagi was born in Okayama Prefecture, Japan, on August 19, 1951. He received the B.S. degree from Nagoya Institute of Technology, Nafrom Tokyo Institute of Technology, Tokyo, Japan, in 1976 and 1979, respectively, all in electrical engineering. Since 1984, he has been an Associate Professor at

goya, Japan,

in

1974

and

the

M.S.

and

Ph.D.

degrees

Dr.

Akagi

the Technological University of Nagaoka, Japan. He is engaged in research on ac motor drive systems and reactive power compensator systems. is a member of the Institute of Electrical Engineers of Japan.