ECE 5520
Advanced Power Electronics
Lecture 12
Modeling and Control of Power Electronics
(2)
Disclaimer – These handouts only provide highlights and should not be used to replace chapters or sections assigned in
the course textbook.
You may not possess, use, copy or disclose this document or any information in it, for any purpose, including without
limitation, to design, manufacture, or repair parts, to obtain any government approval to do so, or record audio or video of
the lecture associated with this document, without an express written permission from Prof. Ali M. Bazzi. Neither receipt or
possession of this document alone, from any source, constitutes such permission. Possession, use, copying, or
disclosure without express written permission from Prof. Ali M. Bazzi is not authorized and may result in criminal and/or
civil liability.
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 1
Acknowledgment
• This lecture, including figures, is mostly based on:
– Bin Wu, ‘High-Power Converters and AC Drives’, Wiley
IEEE Press, 2006
– Alexis Kwasinski, lecture notes available at:
http://users.ece.utexas.edu/~kwasinski/PWM%203D.ppt
– Texas Instruments, Random pulse width PWM
modulator for inverter-fed induction motor based on the
TMS320F240 DSP controller
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 2
Modulation Techniques
• Power converters require switching or modulation
techniques, to turn switches on and off
• Pulse width modulation was introduced with dc/dc
converters and inverters
• This lecture focuses more on such techniques for
dc/ac inverters, especially:
– Sinusoidal pulse width modulation (SPWM)
– Space vector pulse width modulation (SVPWM or SVM)
– Hysteresis control
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 3
Three-Phase Inverters
• Recap: Two-level three-phase inverters have
three phase legs, and six switching devices
P
• In order to switch a three- S1 S3 S5
phase inverter and achieve
a balanced three-phase A
Vd B
output voltage, switches C
have to be switched S2
S4 S6
symmetrically
N
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 4
SPWM
• SPWM compares a triangular carrier signal to a
balancedv set vof control
v cr
voltages
vmA v mB mC
Vˆcr Vˆm
0 t
• vcr is the carrier signal while vmA,mB,mC are the
reference or control signals
Vˆm
• The modulation index is: ma Vˆ
cr
f cr
• The frequency ratio is: m f f , where fcr
is the
m
carrier frequency (switching frequency), and fm is
the fundamental output frequency
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 5
SPWM
• Line-to-line voltage is generated as the difference
between two line-to-neutral or line-to-x voltages:
v vcr vmA vmB vmC
𝑉 , 𝑣 > 𝑣𝑐𝑟 Vˆcr Vˆm
𝑣𝐴𝑁 = ቊ 𝑑 𝑚𝐴 0 t
0, 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒
𝑉 ,𝑣 > 𝑣𝑐𝑟 v AN
𝑣𝐵𝑁 = ቊ 𝑑 𝑚𝐵
0, 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒 Vd
t
vBN
𝑉 , 𝑣 > 𝑣𝑐𝑟
𝑣𝐶𝑁 = ቊ 𝑑 𝑚𝐶 Vd
0, 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒 0 t
v
𝑉𝑑 v AB
AB1
𝑉𝐴𝐵,1 = 𝑚𝑎 3
2 Vd
0 t
p 2p
𝑉𝑑 3
𝑉𝐴𝐵,1𝑅𝑀𝑆 = 𝑚𝑎
2 2
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 6
SPWM
• We can derive the previous fundamental voltage
relationship as follows:
– Let the duty cycle be varying as a sinusoid, since the
modulating signal is sinusoidal:
1 1
𝐷 = 1 + 𝑚(𝑡) = [1 + 𝑚𝑎 cos 𝜔𝑡 ]
2 2
∞ sin 𝑛𝜋 𝑚 𝑡
𝑚 𝑡 𝑉𝑑 2 +
𝑣𝐴𝑁 𝑡 = + 𝑉𝑑 2 2 cos(𝑛𝜔𝑡 − 𝑛𝜑0 )
2 𝜋 𝑛
𝑛=1
𝑚𝑎 𝑉𝑑
𝑉𝐴𝑁,1 =
2
𝑉𝑑 𝑉𝑑 3
𝑉𝐴𝐵,1 = 𝑚𝑎 3 𝑉𝐴𝐵,1𝑅𝑀𝑆 = 𝑚𝑎
2 2 2
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 7
SPWM
• Typically, ma < 1 to have some control over the
output voltage RMS
• If ma>1, over-modulation occurs
• A special case of over modulation is when
ma>>1, and the inverter switches with square-
wave switching
– Over-modulation leads to increase in the fundamental
output voltage, however, it also increases low-
frequency harmonics, close to fm
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 8
SPWM
• Over-modulation:
2
v mA v mB v mC
1 v cr
-1
-2
v AB
Vd
0
p 2p 3p
iA
0
p 2p 3p
V AB n / V d
V AB 1 0.744 Vd
0.2
0.1
0
1 5 10 15 20 25 30 35 40 45 50 55 60 n
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 9
SPWM
• Square-wave switching: 𝑣𝐴𝐵 𝑡
𝑉𝑑
∞
4 sin 𝑛𝜋 /2
𝑣𝐴𝐵 𝑡 = 𝑉𝑑 cos(𝑛𝜔𝑡 − 𝑛𝜑0 )
𝜋 𝑛 𝑡
𝑛=1
4
𝑉𝐴𝐵,1 = 𝑉
𝜋 𝑑 −𝑉𝑑
𝑣𝐴𝐵 𝑡
𝑉𝑑
• Quasi-square-wave switching:
∞ 𝛿 𝑡
2 sin 𝑛𝜋 /2
𝑣𝐴𝐵 𝑡 = 𝑉𝑑 [cos 𝑛𝜔𝑡 − cos 𝑛𝜔𝑡 − 𝑛𝛿 ]
𝜋 𝑛
𝑛=1
4 −𝑉𝑑
𝑉𝐴𝐵,1 = 𝑉𝑑 cos(δ)
𝜋
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 10
SVPWM
• SVPWM treats an ac voltage as a vector, with
magnitude Vref and angle θ
• The voltage is considered a reference voltage,
Vref, which the switching scheme is used to
r jb r
realize V
OPO
V
3
PPO
2
SECTOR
II
SECTOR III r SECTOR I
Vref
r r
V4 q V1
a
OPP PPP OOO POO
r
V0
SECTOR IV SECTOR VI
SECTOR V
OOP r r POP
V5 V6
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 11
SVPWM
• The voltages at each phase are found as
follows:
Switching Leg A Leg B Leg C
State S1 S4 V AN S3 S6 V BN S5 S2 VCN
P On Off Vd On Off Vd On Off Vd
O Off On 0 Off On 0 Off On 0
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 12
SVPWM
• We define 8 switching states as follows:
S1 S3 S5
iA
A
iB
Vd B O
iC
C
LOAD
S4 S6 S2
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 13
SVPWM
• This is translated to the 6-sector diagram shown
below:
r jb r
V3 V2
OPO PPO
SECTOR
II
SECTOR III r SECTOR I
Vref
r r
V4 q V1
a
OPP PPP OOO POO
r
V0
SECTOR IV SECTOR VI
SECTOR V
OOP r r POP
V5 V6
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 14
SVPWM
• The α-β coordinates are
where the real and r jb r
V V2
imaginary components OPO
3
PPO
SECTOR
of the voltage phasor SECTOR III II
r SECTOR I
aligned, respectively r
Vref
r
V4 q V1
a
OPP PPP OOO POO
r
V0
• We need to perform SECTOR IV
SECTOR V
SECTOR VI
coordinate OOP r r POP
V5 V6
transformation
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 15
SVPWM
• Assuming a balanced three-phase voltage set, the
zero-component (residual voltage) is zero
v AO (t ) v BO (t ) vCO (t ) 0
• The transformation is as follows (Park’s
transformation)
2p 4p v AO (t )
va (t ) 2 cos 0 cos cos
3 3 v (t )
v (t ) 3 sin 0 sin 2p 4p BO
b
3 vCO (t )
sin
3
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 16
SVPWM
• Where each voltage can be represented as a
vector:
r
V (t ) va (t ) j vb (t )
r
V (t ) v AO (t ) e j 0 v BO (t ) e j 2p / 3 vCO (t ) e j 4p / 3
2
e jx cos x j sin x
3
• For each switching state, a voltage Vk can be
found where k=1…6:
r 2 j ( k 1)
p
Vk Vd e 3
3
2 1 1
• Example: [POO] AO v (t ) V d , v BO ( t ) Vd v CO ( t ) Vd
3 3 3
r 2
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved.
V 1 V d e j0
17
3
SVPWM
• In summary: Space Vector
Switching State
(Three Phases)
On-state Switch
Vector
Definition
Zero r [PPP] S1 , S 3 , S 5 r
P V0 V0 0
Vector [OOO] S4 , S6 , S2
S1 S3 S5 r r 2
V1 [POO] S1 , S 6 , S 2 V1 Vd e j 0
3
r p
r 2 j
A V2 [PPO] S1 , S 3 , S 2 V2 Vd e 3
Vd B 3
r 2p
C r 2 j
V3 [OPO] S4 , S3 , S2 V3 V d e 3
Active 3
S4 S6 S2 Vector r r 2 j
3p
V4 [OPP] S4 , S3 , S5 V4 Vd e 3
3
N r r 2 j
4p
V5 [OOP] S4 , S6 , S5 V5 V d e 3
3
r r 2 j
5p
V6 [POP] S1 , S 6 , S 5 V6 V d e 3
3
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 18
SVPWM
• Given the reference vector Vref, how is the
switching sequence determined?
• Assume that Vref falls in Sector 1: three voltages
can be achieved: V1, V2, and 0 V
r
2
• The inverter has to spend:
SECTOR I
– Ta in state 1 Tb r
V2
r
Vref
Ts Q
– Tb in state 2
– T0 in state 0 q r
V1
Ta r
V1
– Ta+Tb+T0=Tcr=Ts Ts
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 19
SVPWM
• To determine the dwell times Ta,Tb, and T0
2 1
Re : V ref (cos q ) Ts V d Ta Vd Tb
3 3
Im : Vref (sin q ) Ts 1 Vd Tb
3
r r 2 r 2 j
p
r
Vref Vref e , V1 Vd V2 Vd e 3 V0 0
jq
3 3
3 Ts Vref p
a T sin ( q )
Vd 3
3 Ts Vref
bT sin q 0 q p /3
Vd
T0 Ts Ta Tb
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 20
SVPWM
• Dwell times vary with the reference vector location
within a sector:
r p p p p p
V ref Location q 0 0 q q q q
6 6 6 3 3
Ta 0 Ta 0
Dwell Times Ta Tb Ta Tb Ta Tb
Tb 0 Tb 0
• The modulation index can be defined as:
p
T
a Ts
m a
sin ( q )
3 3 Vref
Tb Ts ma sin q ma
Vd
T0 Ts Tb Tc
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 21
SVPWM
• To optimize switching
and minimize switching Vr 0
r
V1
r
V2
r
V0
r
V2
r
V1
r
V0
losses, we cause one OOO POO PPO PPP PPO POO OOO
v AN
switching action at a 0
Vd
time v BN
Vd
0
• To achieve a v CN Vd
0
symmetrical output T0 Ta Tb T0 Tb Ta T0
voltage, we split dwell 4 2 2 2 2 2 4
times across the center Ts
of the output voltage
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 22
SVPWM
• Switching sequence summary:
Sector Switching Sequence
r r r r r r r
V0 V1 V2 V0 V2 V1 V0
I
OOO POO PPO PPP PPO POO OOO
r r r r r r r
V0 V3 V2 V0 V2 V3 V0
II
OOO OPO PPO PPP PPO OPO OOO
r r r r r r r
V0 V3 V4 V0 V4 V3 V0
III
OOO OPO OPP PPP OPP OPO OOO
r r r r r r r
V0 V5 V4 V0 V4 V5 V0
IV
OOO OOP OPP PPP OPP OOP OOO
r r r r r r r
V0 V5 V6 V0 V6 V5 V0
V
OOO OOP POP PPP POP OOP OOO
r r r r r r r
V0 V1 V6 V0 V6 V1 V0
VI
OOO POO POP PPP POP POO OOO
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 23
SVPWM
• Example:
Sector
VI VI
V V
IV IV
III III
II II
I I
v AB
Vd
0
p 2p 3p
v AO
2Vd / 3
0
iA
0
p 2p 3p
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 24
SVPWM
• Maximum voltage that can be achieved is:
2 3 Vd
Vref , max Vd
3 2 3
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 25
SVPWM
Image Source: Switchcraft.org
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 26
Random PWM
• Random PWM allows for switching frequency (fsw
or fs) variations from an average value fsw0
• The allowed range is Δfsw, and the random
number R is between -1 and 1
• The main benefit is spreading the harmonic
spectrum
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 27
Random PWM
• Example:
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 28
Hysteresis Control
• Hysteresis control is mainly used for current
reference tracking
• The most common form of hysteresis control does
not have a fixed switching frequency, since
switches turn on or off to track a reference
irrespective of a time stamp
• Also known as bang-bang control
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 29
Hysteresis Control
• An example of current tracking with a hysteresis
band h is as follows:
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 30
Reading Material
• No additional readings
11/18/2019 Copyright ©2019 Ali M. Bazzi. All rights reserved. 31
