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Abstract—Dc link current harmonics are the predominant series resistance. Usually the RMS value of the dc link
factor to be considered for dimensioning dc capacitors in current is used for the design but since the series
three phase PWM voltage source converters. In this article resistance of a capacitor ESR(ω) shows some dependency
an analysis of the dc link current harmonics applying on the frequency [5], [6] for detailed design it might be
double Fourier series is derived. The analytical results for necessary to determine the capacitor current spectra
the dc link current spectra of continuous and discontinuous explicitly. The dc current spectrum already has been
PWM are presented and compared with measurement calculated and measured for sine triangular modulation in
results taken from a converter test setup. A good match [3] and determined by experiment for space vector
between theoretically expected and actually obtained modulation as well [5].
experimental results can be stated. Moreover significant
differences between the investigated modulation strategies
This work contributes a comprehensive analytical
regarding their dc link current spectra can be found.
approach to determine the dc bus current spectra explicitly
for any kind of modulation strategy, thereby utilizing the
double Fourier series introduced in [7]. This approach has
I. INTRODUCTION been already applied successfully for the harmonics
calculation of the three phase currents of PWM voltage
Nowadays PWM voltage source converters constitute source converters as reported by various sources [8], [9].
the most important means to control adjustable speed
drives or generally to serve as an active rectifier with low In section II of this article the principles of pulse width
effects to the mains. An appropriate design of their power modulation are pointed out which will be important for the
section has to be done including the dc link capacitor. The analysis. Section III covers the derivation of the double
capacitor sizing basically aims two issues, dc ripple Fourier series according to Black and determination of the
voltage and more important capacitor lifetime which can dc bus harmonics. Computed results compared with
directly be linked to its power losses. These subjects are experimental ones are presented in section IV that is
affected in particular by the capacitor currents which followed by a conclusion.
coincide with the dc current harmonics in steady state
operation under certain presumptions. II. PRINCIPLES OF PULSE WIDTH MODULATION
There are already several articles on the calculation of Basis for the analysis is a converter topology as shown
the RMS value of the dc link ripple current [1]–[3] which by fig. 1 operated with pulse width modulation. Fig. 2
eventually all lead to the same results regardless of the depicts the corresponding pulse scheme for switches V1 -
modulation strategy. This value is only affected by the V3 during an exemplary switching period. Involving these
duty cycles of the active space vectors and thus it will be switches only into consideration is sufficient since the dc
of the same quantity for all modulation waveforms as long link current id,conv can be composed of the switched
as only one converter is considered to be the source of currents iV1 - iV3. For this example the instantaneous
harmonics on the dc bus. Another numerical approach is voltage command space vector is located in the first sector
presented in [4] where the interference of two different of the vector space that is spanned by the six possible
PWM converters connected to the same dc bus is switching states of the basic space vectors. It is well
examined. There it turns out that the phase shift of the known that the command space vector resembles the
respective switching periods would have an effect on the sliding mean value of switched basic space vectors V1, V2
dc bus ripple current. However using different and V0, V7 being turned on for the time period t1, t2, t0 and
modulation strategies or switching frequencies as applied t7 respectively during the switching period Ts [9]. These
only to a single converter does not influence the dc link space vectors in turn correspond to specific switching
ripple current but the dispersion of the dc link current combinations of the six semiconductor switches, see fig.
spectra. Hence the dc link current spectrum has to be 2. During the time period t0 all upper switches (fig. 1) are
analyzed for any applied modulation method to predict
resulting capacitor ripple voltage for instance. id,conv id,load
As the dc link capacitor constitutes an integrating filter V1 V2 V3
on the dc link current a change of the modulation strategy VL
and thus of the current spectra leads to a change of the iL1 iV1 iV2 iV3 iC
ripple voltage. This inherently can be seen in [2] where iL2
different modulation methods are compared analytically VC
iL3
but only in time domain.
Regarding the aging of the capacitor, its heating and V4 V5 V6
thus power losses have to be taken into account. These
power losses are a function of the capacitor current and its
Figure 1. Three phase voltage source converter topology
t7/2 t7/2 3π
β V2
y = x/p
V1 2π
(V1,V2,V6)
V2 π
y = ωt
V3 0
V1
V0 V*
(V1,V4,V6)
(V1,V2,V3) t1/2 t1/2
0
V7 α t2/2 iV (ωt)
(V4,V5,V6) t2/2 0 π 2π 3π
t0 x = ω ct
TS
Figure 2. Switching scheme for upper bridge valves in the first sector Figure 3. The geometric wall model as applied on a cosine
of the complex plane modulation function in combination with a triangular carrier
turned on whereas during t7 only the lower ones are turned assumption of unipolar switching introduces an erroneous
on. However during both time periods t0 and t7 the ac load dc component when the line voltage harmonics are
is short circuited and the dc bus current flow is regarded [8]. But since the resulting pulse widths directly
interrupted. While the switches are turned on the switch agree with the switch duty cycles tn/TS, this model is a
currents match the corresponding line currents. Hence perfect match of the pulse pattern as given by fig. 2.
during time period t1 the instantaneous value of line Moreover in this case it is valid for the entire range of one
current iL1 determines the dc bus current and during time fundamental period. The intersections of the line y = x/p
span t2 the dc bus current equals the sum of currents with the modulation waveforms x = π/2 ((2n+1) ± cos(ωt))
iL1 + iL2. For the presented analysis the line currents are indicate a pulse transition of iL(ωt). Here p is the carrier
assumed to be purely sinusoidal. ratio (p = ωc/ω), ωc is the carrier angular frequency and ω
The presented calculus is derived by considering is the fundamental angular frequency. For illustration
carrier based PWM. In [9] - [11] the direct relation purposes the most simple case was chosen: a sinusoidal
between space vector and naturally sampled carrier based modulation waveform along with natural sampling. The
PWM is explained. These relations yield the conclusion modulation waveforms are symmetrically arranged around
that the carrier function that would be applied according to lines of multiples of π to realise a model that supports a
fig. 2 is a triangular function which can be deduced from triangular carrier wave shape. As the widths of the
the symmetrical arrangement of switching duty cycles. resulting pulses are equal to the switching duty cycles of
Moreover with this analogy the switching period Ts would one semiconductor switch and the instantaneous value of
be equal to the carrier function period of a comparable the corresponding phase current is assigned to their height,
carrier based PWM. The corresponding modulation these pulses resemble the outline of one of the switch
waveform is determined by the duty cycles of the two currents iV1, iV2, iV3 consequently. These currents solely
different zero space vectors. differ from each other by the phase shift of the respective
modulation function and phase current. Evidently the sum
III. DC LINK CURRENT SPECTRA DESCRIBED BY iV1+iV1+iV3 of all instantaneous valve currents finally
DOUBLE FOURIER SERIES delivers the instantaneous dc bus current value id,conv.
It should be remarked that by applying this method
A. The Geometric Wall Model even the influence of any other PWM inverter that is
In general the determination of the analytical spectra of connected to the dc bus can be taken into account by
pulse width modulated values is a tedious issue. Even if simply adding its current portions to the foregoing sum.
solved, the appropriate equations yield infinite series
comprising complex terms. One approach to determine the B. Evolution of the Double Fourier Series
dc link current spectra analytically is given by [3]. The As the wall pattern is periodic in 2π for both axes, the
standard approach utilizing the geometric wall model [7] pulse function F(x,y) may be expressed as a double
resulting in double Fourier series is presented here. This Fourier series (1).
method provides a fairly simple way to obtain expressions A ∞
for the Fourier coefficients of line side or dc side current F ( x, y ) = 00 + ∑ [ A0 n cos(ny ) + B0 n sin(ny )]
harmonics generated by any modulation strategy. 2 n =1
Initially the geometric wall model was applied for the ∞
+ ∑ [ Am 0 cos(mx) + B m 0 sin( mx)] (1)
analysis of asynchronous sinusoidal modulation schemes m =1
to overcome the problems caused by non periodic ∞ ±∞
behaviour of the pulse waveform [8]. A plain view for the +∑ ∑ [Amn cos(mx + ny ) + B mn sin(mx + ny )]
actually three dimensional considered model is given by m =1 n = ±1
f/fc f/fc
Figure 8. The calculated dc link current spectra for Mod 1 (cosine Figure 11. The measured dc link current spectra for Mod 1 (cosine
modulation waveform) combined with a triangular carrier function, modulation waveform) combined with a triangular carrier function,
M = 1, ϕ = 0 M = 1, ϕ = 5°
ν ν
îC/ 1îL îC/ 1îL
f/fc f/fc
Figure 9. The calculated dc link current spectra for Mod 2 (space Figure 12. The measured dc link current spectra for Mod 2 (space
vector modulation with equal utilization of zero space vectors) vector modulation with equal utilization of zero space vectors)
combined with a triangular carrier function, M = 1, ϕ = 0 combined with a triangular carrier function, M = 1, ϕ = 5°
ν ν
îC/ 1îL îC/ 1îL
f/fc f/fc
Figure 10. The calculated dc link current spectra for Mod 3 Figure 13. The measured dc link current spectra for Mod 3
(discontinuous modulation waveform according to fig. 4) combined (discontinuous modulation waveform according to fig. 4) combined
with a triangular carrier function, M = 1, ϕ = 0 with a triangular carrier function, M = 1, ϕ = 5°
iV 1 = ∫ ⋅
mn
e e e dy
j 4π 2 m 0
π π
j m ⋅ −ϕ 2π j − m ⋅ ⋅ M ⋅ cos ( y )
j ( n +1 ) y
−e ∫e ⋅e dy
2 2
0
3π π
j m ⋅ + ϕ 2π j m ⋅ ⋅ M ⋅ cos ( y )
j ( n −1 ) y
+e ∫e ⋅e dy
2 2
(10)
0
π
j m ⋅ +ϕ 2π
j ( n −1 ) y
π
j − m ⋅ ⋅ M ⋅ cos ( y )
−e ∫e ⋅e dy
2 2
0
With the identity given by (11), see also [7], (10) can be
turned into (12) comprising Bessel functions of first kind
and nth order.
j − n 2π jZ ⋅cos(α ) jn ⋅α
J n (Z ) = ⋅ ∫e e dα (11)
2π 0