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Fig. 2. Trajectory of reference voltage vector and phase voltage waveform in mode I.
(12)
(13)
(14)
Fig. 3. Reference angle with regard to modulation index (solid line: numer- C. Overmodulation Mode II MI
ical, dashed line: piecewise linearized).
In mode I, the angular velocity of the compensated and
actual voltage reference vectors is both the same and constant
segment are expressed as for each fundamental period. Under such a condition, output
voltages higher than MI cannot be generated since
for (6) there exists no more surplus area to compensate for the voltage
loss even if the modulation index is increased above that.
In modulation ranges higher than 0.952, the actual voltage
reference vector is held at a vertex for particular time and
then moves along the side of the hexagon for the rest of
for (7) the switching period. The holding angle controls the time
interval the active switching state remains at the vertices,
which uniquely controls the fundamental voltage. A basic
concept of the mode II is similar to [10], where it lacks an
explicit explanation about how to derive the algorithm.
for (8)
Here, detailed expressions based on Fourier series expansion
just in the same way as in mode I will be developed. From
for
Fig. 4, the voltage equations in four segments are expressed as
for (18)
(10)
where
where and denote integral ranges of each voltage
function as shown in Fig. 2. Integrating (10) numerically, (19)
we can obtain the value of with regard to the
Since represents the peak value of the fundamental
component, from the definition of the modulation index of (1) (20)
MI (11)
The and are phase angles of the actual voltage reference
Thus, a relationship between the MI and the which gives a vector rotating for and
linearity of the output voltage is determined, which is plotted , respectively, as shown in Fig. 5.
in a solid line in Fig. 3. The two angles of and are derived as follows. The
For the voltage reference vector exceeding the side of the actual voltage reference vector rotates from to at
hexagon, the inverter cannot generate the output voltage as a little higher speed while the fundamental one is rotating at
large as the voltage reference since the maximum output is constant speed from to Equation (19)
LEE AND LEE: NOVEL OVERMODULATION TECHNIQUE FOR SPACE-VECTOR PWM INVERTERS 1147
Fig. 4. Trajectory of reference voltage vector and phase voltage waveform in mode II.
Fig. 6. Holding angle with regard to modulation index (solid line: numerical,
dashed line: piecewise linearized).
(21)
where is given by (6)–(9) in mode I and (15)–(18) in
Thereafter, the actual voltage reference vector is held at a mode II. A numerical integration of (22) shows that even-order
vertex while the fundamental one is continuously rotating harmonics and triplen harmonics are eliminated in the output
from to For , the voltage. The four lowest harmonic components (5th, 7th,
situation is reversed. The actual voltage reference vector is 11th, and 13th) versus the MI are illustrated in Fig. 7. Some
held at a vertex while the fundamental one is rotating from harmonic components are absent at the particular modulation
to At , the actual index. Fig. 8 shows voltage harmonic spectra through fast
voltage reference vector starts to rotate and is aligned with Fourier transform (FFT). The magnitude of each harmonic
the fundamental one at The same analogy as the component coincides well with the result of (22).
above for gives the expression The THD factor is defined as
of (20), which is also applied for
Substituting (15)–(18) into (10) and matching the result of THD (23)
its integral with (11), a relationship between the modulation
index and the holding angle is obtained, which is plotted in
where and are the rms value and fundamental component
a solid line in Fig. 6.
of the phase voltage, respectively. Fig. 9 shows THD factor
of the output voltage. As the modulation index increases,
III. HARMONIC ANALYSIS especially in mode II, the THD is deteriorated steeply and
In Section II, the reference angle and the holding angle it culminates to 0.311 at MI The THD for [8] and [10]
were derived which give a linear inverter gain in the is similar to that in this method. However, the THD in [11] is
complete overmodulation range. Here, harmonic components much higher, as shown in Fig. 9, since the voltage waveform
of the output voltage are analyzed using the Fourier series has jumps.
1148 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 6, NOVEMBER 1998
(a)
(b)
(c)
Fig. 11. Phase voltage waveforms. (a) MI = 0:78; (b) MI = 0:938; (c)
MI = 0:968; and (d) MI = 1:0:
(a)
(b)
(c)
(d) Fig. 14. Transient responses for dc-link voltage disturbance (experimental).
(a)
(b) from the operating dc-link voltage. Since the inverter input
! mode voltage is decreased, the modulation index is boosted so that
!
Fig. 13. Transient responses for motor frequency change. (a) Linear
I and (b) mode I mode II. the fundamental component of the output voltage can be kept
the same. In Fig. 15, at a similar condition to that in Fig. 14,
torque ripples due to current harmonics are generated, but the
value averaged over each switching period for easy moni- average torque is kept constant. Since the torque ripples are
toring. The phase currents corresponding to each voltage in filtered by the motor inertia, the motor speed is little changed.
Fig. 11 are illustrated in Fig. 12. According to the increase of Fig. 16 shows FFT spectra of the phase voltage analyzed
the modulation index, the phase currents are more distorted. by a digital oscilloscope of which the results are the same as
Fig. 13 shows transient responses of the voltage and current those in Fig. 8.
for the change of the motor frequency. Since a linearity of If the hardware memory cannot allow lookup tables for the
the voltage modulation is guaranteed, the motor current is not reference angle and the holding angle, they can be calculated
changed abruptly, but smoothly. in real time by piecewise-linear approximation as shown in
When a disturbance in the dc-link voltage occurs, the dashed lines in Figs. 3 and 5. Then, a transfer characteristic of
inverter is often operated in overmodulation range. Fig. 14 the output to the modulation index is shown in Fig. 17, from
shows the transient responses in case of the decrease of 10% which it is known that the nonlinearity is sufficiently tolerable
1150 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 6, NOVEMBER 1998
APPENDIX
The equations of the reference and holding angle piecewise
linearized as a function of the MI are as follows.
A. Mode I
B. Mode II
MI MI
MI MI
MI MI
REFERENCES
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[4] V. Blasko, “A hybrid PWM strategy combining modified space vector
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inverter output voltage was obtained up to MI by elimination and voltage control in thyristor inverters: Part I—Harmonic
a novel overmodulation strategy. The method is based on elimination,” IEEE Trans. Ind. Applicat., vol. 9, pp. 310–317, May/June
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a graphical transformation between complex voltage vectors Trans. Ind. Applicat., vol. 16, no. 6, pp. 830–836, 1980.
and the phase voltage in time domain is used implicitly. [7] R. J. Kerkman, B. J. Seibel, D. M. Brod, T. M. Rowan, and D. Leggate,
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In addition, each harmonic component and the THD of the Trans. Ind. Electron., vol. 43, no. 1, pp. 132–141, 1996.
output voltage were analyzed. The THD factor in this scheme [10] J. Holtz, W. Lotzkat, and A. M. Khambadkone, “On continuous control
was shown to be lower than that of other method. In spite of of PWM inverters in the overmodulation range including the six-step
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LEE AND LEE: NOVEL OVERMODULATION TECHNIQUE FOR SPACE-VECTOR PWM INVERTERS 1151
Dong-Choon Lee (S’90–M’95) was born in Korea G-Myoung Lee was born in Korea in 1970. He
in 1963. He received the B.S., M.S., and Ph.D. received the B.S. degree from Kyungil University,
degrees in electrical engineering, all from Seoul Korea, in 1995 and the M.S. degree from Yeungnam
National University, Seoul, Korea, in 1985, 1987, University, Kyungbuk, Korea, in 1997, both in elec-
and 1993, respectively. trical engineering. He is currently working toward
He was a Research Engineer at Daewoo Heavy the Ph.D. degree at Yeungnam University.
Industry from 1987 to 1988. He also was at the His research interests are motor drives and con-
Research Institute of Science Engineering of Seoul trols and PWM converters and inverters.
National University under a Post-Doctoral Fellow-
ship for one year. He has been a Faculty Member of
the School of Electrical and Electronic Engineering,
Yeungnam University, Kyungbuk, Korea, since 1994. Also, he is currently a
Visiting Scholar at the Department of Electrical Engineering, Texas A&M
University, College Station. His research interests include ac machine drives,
static power converters, and DSP applications.