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APRIL 1992
404
Abstract-This paper describes a PWM pulse pattern optimization method using the pulse frequency modulation (PFM).
In conventional PWMs the pulse frequency is kept constant.
In the proposed PFM, however, the pulse frequency is adjusted. The PFM technique is aiming at not only reducing the
magnetic acoustic noises of driven motors but also at improving
the performance of sinusoidal inverters. The PWM pulse patterns are basically controlled so that the time-integral function
of the voltage vectors in the space vector notation may draw a
circular locus. In addition to this, the pulse frequency, practically the sampling frequency, of PWM is also controlled so that
the performance index (PI), which represents the degrees of
achieved objectives, may be minimized. Here, two PIS, one for
minimizing the distortion of output currents and the other for
minimizing the torque pulsation of driven motors, are employed. Finally, the method is implemented using a single-chip
microprocessor, and the experimental results demonstrate its
validity.
V,
I. INTRODUCTION
TH the advent of high-speed semiconductor
switching devices, sinusoidal inverters using PWM
have been popular in the area of ac drives. As for PWM
control, digital control methods have been prevailing over
analog counterparts because they facilitate the realization
of more flexible and reliable systems. Furthermore, with
the development of single-chip microprocessors, PWM
control can be realized by simpler hardware and softwarebased improvements in PWM such as optimization of
pulse patterns [l], [2] and correction of switching dead
time [3] are possible.
We have proposed several methods for optimizing
PWM pulse patterns for voltage source inverters in which
the loss factor [8], the sum of the square of inverter output
current harmonics, is employed as a performance index
to be minimized. One method is to optimize PWM pulse
patterns by means of pulse locations while keeping the
carrier frequency constant [l], and another method is by
means of carrier frequency [2]. In this paper the latter is
called pulse frequency modulation (PFM), where both the
pulse frequency and pulse width are modulated.
In these methods, the PFM technique provides various
output characteristics. For example, it is effective for improving output voltage waveforms in a high-voltage range,
= (V,
+ aVb + a2Vc)
= exp
(j2n/3).
(1)
There are six nonzero vectors, VI-V6, and one zero vector, Vo or V7, as shown in Fig. 2. The performance vector
U is defined as a time-integral function of V,:
V, dt
+ Uo.
(2)
Equation ( 2 ) indicates that U draws a locus that is determined by the kind and time width of the voltage vectors
used. If the output voltages are purely sinusoidal, the performance vector locus will be
U*
= -j(&
EM/^) exp ( j w r )
(3)
405
+ jc,.
(5)
+AT
IEI2dt =
Jm =
80C196
IO
U
Fig. 1 . Voltage source inverter.
J,,
10
+AT
(E;
+ E;)
dt
+ Jm,.
(6)
Then the total performance index is obtained by integrating Jmover a complete cycle as
N
pNAT
J =
(EI2dt =
C J,,,
m= I
m=l
+ Jm,)
(Jmr
J,
+ J,.
(7)
(a)
(b)
E.
AT
B. Performance Index
Introduce the error vector as
E =
U*.
(1 l(Nf>)g(@.
(8)
(b) Definition of
(4)
gfe)
= 1
+ lcos(68)
-I < l < 1
(9)
406
1.2
IS
I1
v
X
wc)
8
gz
n\
Z I-S
H
1.0
W
07
8
6id
L-
z o 0.8
&
wI S/I
c)
CONTROL
20
ANGLE40e' [ d e g ]
,--.
IS
_-
(a)
5'0
0.61
-1 .o
(b)
where { denotes the modulation depth of the pulse frequency that specifies the time variation range of the sampling interval A T . If { > 0, A Tis shortened around $ =
30" but is lengthened around 0 and 60" whereas, if { <
0, A Tis lengthened around I)= 30" but shortened around
0 and 60" as shown in Fig. 5.
Angle $ represents the phase angle of the output as
shown in Fig. 3 and is increased by the angle AI) = w A T
at each sampling instant. Thus, A$ varies in proportion
to the A T values. On the other hand, the control angle 8
is different from $ and is used only to calculate A T. Angle
8 increases by the constant angle A8 = 2 n / N at each sampling instant. Both angles coincide with each other at
every 60".
Ir
I
0.0
-0.5
1.0
0.5
MODULATION DEPTH 5
Fig. 6 . Dependence of performance index on modulation depth.
0.3
0.2
\'J
-0.3
-0.4
-0.5
'\
'\
'
I
0.2
0.6
0.8
MODULATION INDEX M
0.4
1.0
T, = To +
r= 1
T, cos (6rwt
+ 4,)
(1 1)
407
2.5-1
<=-0.456
.
........... -----.
.
.................._ ..........._.__...
....,--------
2.0-
<=0.287. 02=0.04627
1.5
....,
I2
W
1.0
0.5
I
0
30
60
90
120
150
180
40
20
60
80
100
54.0,
HARMONIC ORDER n
02=0.03321
30
60
90
PHASE ANGLE $
120
150
180
[deg]
lh
1.0.
0.05
0.5
I
30
60
90
120
PHASE ANGLE 11, [des]
150
180
-1.0
-0.5
0.0
MODULATION DEPTH 5
0.5
(b)
Fig. 9. (a) Motor constants used for torque calculation. (b) Dependence
of the dispersion of torque pulsation on modulation depth.
PT
u2 = (1/T)
(T,/To - 1)2 dt
(12)
where T = 1/(6f).
Fig. 9(a) shows the equivalent circuit of an induction
motor used for calculation, and (b) shows the variation in
the torque dispersion in terms of { under M = 1, f = 50
Hz and the slip (s) = 1%. It indicates that { = -0.432
provides a minimal u 2 value, which is very close to the {
= -0.456 that provides a minimal J$ value. Under other
conditions, i.e., different M , f , and/or s values, optimal {
1)
(13)
408
E
E
1.0
n
I
Interrupt
Ks versus $
Read 5 & A8 f r o m T a b l e 1 1 1
in (16).
Both the optimal [ values (Fig. 7 ) and division number
N (Fig. 11) in terms of M are tabulated
[ versus M , and N versus M
=
Read Kc($)
from Table
Calculate t
Schedule tq
011
HSO unit
B. Experimental Results
Fig. 13 shows the current waveform of a 100-V
0.75-kW induction motor under f = 30 Hz, N = 96. The
average switching frequency, 1.44 kHz, is not as high but
almost sinusoidal currents are obtained.
Fig. 14 shows the measured spectra of the line voltage.
409
<=0.287 (min. J)
8
z
20-
3
s
1.0
2.0
FREQIIENCY
1.0
50 Hz.
-2.01
-0.5
ZOHz, M=0.4
0.0
MODULATION DEPTH
5.0
0.25
1.0
2.0
FREQUENCY
3.0
4.0
5.0
[kHz]
Fig. 16. Comparison of measured line voltage spectra with and without
pulse frequency modulation, f = 20 Hz, M = 0.4, and N = 120.
-0.25
4.0
[ kHz]
2.0
FREQUENCY [kHz]
3.0
0.5
<
V . CONCLUSION
A pulse frequency modulation (PFM) technique for the
purpose of improving the current distortion or torque pulsation of driven motors is proposed, and a method realizing PFM by use of a single-chip microprocessor is described. PFM is one of the most effective measures to
improve inverter performance without increasing the
number of switchings of devices.
PFM introduces an additional control variable, the
modulation depth of the pulse frequency, which results in
widening the selection range of inverter characteristics
compared with conventional PWMs. Various optimal
modulation depths can be selected according to the desired objectives: for example, to minimize torque pulsation or current harmonics.
There is a possibility that the selection of an appropriate PFM function g ( 0 ) may eliminate harmonics in a specified frequency range, e.g., 1-3 kHz, which has strong
effects on acoustic noises. This is one of the subjects that
should be investigated in the future.
REFERENCES
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technique for inverter control, in Con5 Rec. IEE of Japan Industry
Applications Society, no. 91, 1988, p. 425.
[2] -,
Optimization of PWM pulse pattern by carrier frequency modulation, in Con5 Rec. IEE of Japan Industry Applications Society,
1989, p. 489.
[3] -,
Sinusoidal PWM control method using a single-chip microprocessor, in Con5 Rec. IEEE Industrial Electronics Society
IECON88, 1988, p. 495.
[4] Y. Murai et al., New PWM method for fully digitized inverters,
IEEE Trans. Industry Applications, vol. IA-23, no. 5, p. 887, 1987.
410
[5] -,
Discussion on PWM method for reduction of torque pulsations
of an inverter fed induction motor, IEE Japan Trans., vol. B-101,
no. 6, p. 315, 1981.
[6] M. Daijo et al., On the magnetic noise of an induction motor driven
by PWM inverter, IEE Japan Trans., vol. D-108, no. 3, p. 237,
1988.
[7] H. Jonokuchi et al., A carrier frequency modulation for sinusoidal
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[lo] M. Daijo er al., On PWM pattern and harmonic analysis of a general
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[ l l ] C. C. Chen et al., New method for analyzing inverter induction
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