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3, MAY/JUNE 2009
AbstractThis paper presents a novel sinusoidal pulsewidth However, it also requires additional circuits and special control
modulation control method with voltage balancing capability for methods to keep the capacitor voltages well balanced. For the
the diode-clamped five-level rectifier/inverter system. A complete three-level diode-clamped converter, because there are only one
analysis of the voltage balance theory is given. The voltage balanc-
ing effects of the third harmonic offset injection to all three-phase additional voltage junction, the neutral point, and the symmetry
voltages are discussed. The proposed control utilizes the offset of the upper and lower capacitors, it has self-voltage balancing
voltage to regulate the average currents flowing into and out of the potential. However, the neutral point has a low frequency ripple
inner junction without affecting output line-to-line voltage. The at three times of the fundamental frequency. Some new research
voltage balancing was achieved by selecting proper offset voltages works have addressed on eliminating or attenuating the low
for both sides. A five-level experimental system is built up and used
to prove the theory. frequency ripple [5][8].
However, the dc-bus voltage balancing for diode-clamped
Index TermsAC motor drive, active rectifier, multilevel multilevel converters with the number of levels greater than
converter.
three is more complicated. The multilevel converter capacitors
tend to overcharge or completely discharge. Eventually, the
I. I NTRODUCTION converter converges to a three-level converter. Corzine et al.
proposed a dcdc front end to regulate the center capacitor
I N RECENT YEARS, multilevel converters have begun to
play a more and more important role in medium-voltage
high-power applications. Compared with traditional two-level
voltage of a four-level converter [9]. PWM hysteresis control
method has been proposed to regulate the dc bus of a five-
voltage converters, the primary advantages of multilevel con- level rectifier [10]. Then, the multiband hysteresis comparator
verters are their smaller output voltage steps, which result control strategy has been extended to a five-level back-to-back
in higher power quality, lower harmonic components, higher system. Although the technique is simple, the characteristics
voltage capability, better electromagnetic compatibility, and are not sufficient as a motor drive system. Thus, an improved
lower switching losses [1], [2]. control strategy using the space vector PWM has also been
The multilevel converter synthesizes the staircase output proposed. The improved control strategy is able to solve the
voltage which follows the sinusoidal waveform with minimum voltage ripples in the dc link [11], [12]. Similar voltage balanc-
harmonics. In order to satisfy the same harmonic requirement, ing technique has also been discussed in [13][15].
the frequency needed by the multilevel converter is much lower A voltage balancing control method for the five-level back-
than the conventional converter. Therefore, the multilevel con- to-back rectifier/inverter system is presented in [16] and [17].
verter can achieve higher efficiency. The multilevel converters The method relies on coordination between the rectifier and
also have lower dV /dt [3], [4]. It has been found recently inverter switching angles to achieve capacitor charge balance
that the high dV /dt in the high-power pulsewidth modulation and, at the same time, minimize the switching harmonics of
(PWM) converter can induce corona discharge and lead to both the rectifier and inverter. Although the voltage balancing
bearing or winding insulation failure. can be achieved in all operation ranges, the output voltage still
The multiple dc-bus capacitors in multilevel converters pro- has lower order harmonic components due to limited switching
vide the capability of outputting multilevel voltage waveform. per cycle. This problem will get more prominent when the mod-
ulation index is low due to fundamental frequency switching
and the constraint of the charge balancing.
In this paper, the voltage balancing control theory is extended
Paper IPCSD-08-080, presented at the 2007 IEEE Applied Power Elec-
to sinusoidal PWM (SPWM), which is simple, easy to be
tronics Conference and Exposition, Anaheim, CA, February 25March 1, implemented, and able to effectively reduce the lower order
and approved for publication in the IEEE TRANSACTIONS ON INDUSTRY harmonic components. A per-unit approach is used to analyze
APPLICATIONS by the Industrial Power Converter Committee of the IEEE
Industry Applications Society. Manuscript submitted for review June 26, 2007
the average current flowing into or out of the inner junction.
and released for publication November 17, 2008. Current version published The voltage balancing effects of the third harmonic voltage
May 20, 2009. injection added to all three-phase voltages are discussed and
Z. Pan is with the ABB Corporate Research Center, Raleigh, NC 27606-5200
USA (e-mail: z.pan@ieee.org). utilized to balance the dc bus voltage. By selecting proper offset
F. Z. Peng is with the Department of Electrical Engineering, Michigan State voltages on both rectifier and inverter sides, the average current
University, East Lansing, MI 48824 USA (e-mail: fzpeng@egr.msu.edu). flowing into the inner junction can be adjusted to be equal to
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. that flowing out from it, therefore balancing the dc-bus voltage.
Digital Object Identifier 10.1109/TIA.2009.2018962 Meanwhile, the output voltage remains the same because of the
Fig. 2. Voltage and current waveforms of the rectifier and inverter side.
For the multilevel converter, the back-to-back topology Then, we can get the charge balancing equation
can also regulate the voltage of each dc bus. Because of the
IR (cos R2 cos R1 ) = IL (cos I2 cos I1 ) (2)
symmetry of the system, the unbalance tendencies of both sides
have a potential to compensate each other. With a proper control where IR and IL are the amplitude of the rectifier current
strategy, net current flowing into each level can be regulated and the load current, respectively. Combined with other system
to zero. constraints, the switching angle combinations that satisfy the
Since the reactive components of the current for both the voltage balance requirement can be calculated, and the one with
rectifier and inverter have no effect on the voltage balance, only lowest total harmonic distortion (THD) is chosen [16].
the active components of the currents need to be considered
[16]. The voltage and the active current waveforms for a III. C ARRIER -B ASED SPWM C ONTROL
five-level back-to-back system are shown in Fig. 2. Fig. 2(a)
shows the voltage and current waveforms of the rectifier, where The carrier-based SPWM control is proven to be able to
VR and VR1 are the rectifier staircase voltage waveform and effectively reduce the lower harmonic components. Fig. 3(a)
its fundamental component, respectively, and iR is the active shows the five-level SPWM voltage waveform, where the mod-
rectifier current waveform. Fig. 2(b) shows the waveforms of ulation index M is 0.85. The sinusoidal reference voltage vref
the inverter. is given by
Because of the symmetry, we only need to balance the inner Vdc
vref = M sin . (3)
junction V4 . In order to balance junction V4 , the average net 2
1030 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 45, NO. 3, MAY/JUNE 2009
where s and e are the start and end angles of each pulse,
which are determined by the voltage reference Vref and the Fig. 4. Inner junction current for a given reference voltage. (a) Reference
voltage. (b) Duty cycle of inner junction current i4 . (c) Equivalent i4 .
triangular carrier, and Ipk is the peak value of the current.
The peak current Ipk is determined by the input/output power is Vdc /4, and the base value of the current is Ipk . Therefore,
and rectifier/inverter voltage, as shown in we have
vref
P 2P Vref = = 2M (9)
Ipk = 2 = . (5) Vdc /4
3VR 3 M 2Vdc2
iL = iL /Ipk = sin (10)
i4 = i4 /Ipk . (11)
Substitute (5) into (4), we can get
Accordingly, the voltages of the five dc-bus junctions become
4P (cos si cos ei ) 2, 1, and 0.
Iavg = i . (6)
3Vdc M The switching angles in (8) are determined not only by the
To simplify the analysis, the average inner junction current modulation index but also by carrier frequency factor and the
can be normalized by choosing the base value as phase angles of each carrier. Therefore, it is complicated to
calculate all the switching angles, particularly when the carrier
4P frequency factor mf is high. On the other hand, it can be
Iavg,base = . (7)
3Vdc seen from Fig. 3(b) that the envelope of the current waveform
follows the sinusoidal reference. The current waveform can be
Accordingly, the per-unit value of the average inner junction approximated to a series of current pulses whose duty cycle
current Iavg is given as is determined by the voltage reference. Therefore, when the
carrier frequency is far greater than the fundamental frequency,
(cos si cos ei )
Iavg = i . (8) the sinusoidal reference can be assumed as a constant value
M during each switching cycle. Thus, the duty cycle of the PWM
Since the voltage of the inner junction is based on the waveform can be calculated, and the duty cycle of the current
net current flowing into the junction, in order to balance the flowing into junction V4 can be written as
junction voltage, the average inner junction current flowing into
2 vref , if 1 vref 2
V4 in the rectifier side Iavg,in must be equal to the average Di4 = (12)
vref , if 0 vref 1.
inner junction current flowing out of V4 in the inverter side
Iavg,out . In the per-unit systems, the base value is determined It can be further simplified to
by the system operation point only, and the per-unit value is 1abs (1abs(2M sin )) , when
determined by the control method, modulation indexes, and Di4 () = (13)
0, when > .
switching angels. Since the Iavg,base values for both sides are
the same, we only need to compare the per-unit values Iavg Therefore, i4 can be approximated as the duty cycle times
the load current. Since the per-unit value of load current is a
for both sides. Once the control strategy is determined, Iavg
can be calculated without the actual voltage and current. The sinusoidal waveform with a peak value of one, the equivalent i4
usage of the per-unit value makes the analysis more simple and can be defined as
universal. i4eq () = Di4 () sin . (14)
Similarly, the per-unit value can be used for the reference
voltage Vref and the current iL , i4 . The base value of the Fig. 4 shows the approximate waveform of the duty cycle of
voltage chosen is the voltage of each dc-bus capacitor, which current i4 , where M equals 0.9. From Fig. 4(b), it can be seen
PAN AND PENG: PWM METHOD WITH VOLTAGE BALANCING CAPABILITY FOR DIODE-CLAMPED CONVERTERS 1031
Fig. 10. Offset voltage waveforms for M = 0.95. (a) Sinusoidal reference
and the offset voltage. (b) Phase reference voltage. (c) Equivalent inner junction
current.
Fig. 12. Simulation results for SPWM control when MR = 0.95 and
MI = 0.6.
Fig. 11. Offset voltage waveforms for M = 0.6. (a) Sinusoidal reference and
the offset voltage. (b) Phase reference voltage. (c) Equivalent inner junction
current.