CEDT_Part6

transcript

Centre for Electronics Design and Technology

Multilevel inverter topologies with reduced power circuit complexity for medium voltage high power induction motor drives by cascading conventional two-level and three-level inverters

Sheron Figarado

Centre for Electronics

Design and Technology

Overview of the presentation Multilevel inverter topologies Three-level Common mode voltage elimination schemes Simulation and Experimental results Four-level scheme with CMV elimination and capacitor

balancing Simulation and Experimental results Five-level inverter scheme Simulation and Experimental results Conclusion

Advantages of Multilevel inverters over two-level inverter Devices of lower rating can be used thereby

enabling the schemes to be used for high voltage applications.

Reduced total harmonic distortion (THD). Since the dv/dt is low, the EMI from the system is

low. Lower switching frequencies can be used and

hence reduction in switching losses.

Disadvantages of multilevel inverters The number of isolated DC-links are more

compared to a two-level inverter. Neutral point voltage variations. Power bus structure and hence the control

schemes become complex as the number of levels increases.

Decrease in Reliability

Conventional two-level inverter

•Two-level inverters switches between + state (+Vdc/2) and – state(-Vdc/2) with respect to the O point.•The Inverter has 8 switching states for 7 phasor locations.

Three-level inverters- NPC

•A 3-level inverter has 3 levels of switching namely +Vdc/2 (+state), 0 and –Vdc/2 (- state).•The NPC inverter has 27 switching states for 19 locations.

Three-level inverters- cascaded

•Cascaded 3-level inverter has a simpler power bus structure and reduced device count.• It has switching states same as NPC 3-level inverter.

Three-level inverters- open end winding configuration

•The voltage rating of the DC bus is half that of 2-level inverter.•Two isolated DC-links are required to avoid zero sequence currents.•In this configuration we get 64 switching states for 19 vector locations, whereas the conventional 3-level NPC inverter gives only 27 switching states for 19 locations.

Reduced Switch Count Three-level Space phasor generation schemes with Common Mode Voltage Elimination using cascaded two-level inverters for an open- end winding IM drive

Common mode voltage- Definition Common mode voltage is defined as

AO BO COCM

AO BO CO

V +V +VV = 3where V ,V and V are the pole voltages

For an open end winding Common mode voltage is defined as

where is the common mode voltage of inverter 1 and is the common mode voltage of inverter 2.

CM CM CM

V V VV

Effect of common mode voltage

PWM inverters generate high frequency and high amplitude common mode voltages, which induces ‘shaft voltages’ on the rotor side.

When the induced shaft voltage exceeds the breakdown voltage of the lubricant in the bearings, result in large bearing currents

This causes premature failure of the motor bearings and also poses EMI issues.

In open end winding configuration, isolated DC links are needed to avoid heavy currents due to the common mode voltages in the phase windings.

The best solution for all these is to eliminate the CMV itself.

CMV groups

Switching states of 3–level inverter

Common mode voltages generated

A +++ Vdc/2B ++0, +0+, 0++ Vdc/3C + – +, ++ –, – ++, 00+, 0+0,

+00Vdc/6

D 000, 0+ –, 0 – +, +0 –, + – 0, – 0+, – +0

E – – +, – + –, + – –, 00 –, 0–0, – 00,

–Vdc/6

F – 0 –, 0 – –,0 – – –Vdc/3G – – – –Vdc/2

The switching states of the inverter can be classified in terms of the common mode voltage they generate.

If we select only those states with same common mode voltage then the variation in CMV will not be there.

2-level CMV elimination scheme

•We can select a 2-level structure with zero common mode voltage out of the 3-level structure.•The common mode eliminated structure has a 30 degree shift.

Five-level inverter scheme

•This 5-level scheme needs 4 isolated DC links and 24 switches.•Inverter is fed by two three-level inverters from both sides.

5-level scheme hexagonal structure •There are 729 states for 61

locations compared to 125 switching states for the conventional 5-level structure.•A 3-level structure with switching states of same CMV can be selected from this 5-level structure.

CMV groups for one inverter for open-end winding configuration (CMV at the poles)

Group Switching states of 3–level inverter

Number of

multiple states

Common mode

voltages generated

A +++ 1 Vdc/4B ++0, +0+, 0++ 3 Vdc/6C + – +, ++ –, – ++, 00+, 0+0,

+006 Vdc/12

D 000, 0+ –, 0 – +, +0 –, + – 0, – 0+, – +0

E – – +, – + –, + – –, 00 –, 0–0, – 00 6 –Vdc/12F – 0 –, 0 – –,0 – – 3 –Vdc/6G – – – 1 –Vdc/4

The switching states of the inverter can be classified in terms of the common mode voltage they generate.

CMV eliminated hexagons•Group C has CMV=+Vdc/12 in the pole voltages.•If the inverters on both sides uses the states from group C CMV in the phase voltage is eliminated.•36 switching states for 19 locations.•3 multiple switching states for each location in the inner hexagon.

CMV eliminated hexagons•Group D has CMV=0 in the pole voltages.•If the inverters on both sides uses the states from group D CMV in the phase voltage is eliminated.•49 switching states for 19 locations.•4 multiple switching states for each location in the inner hexagon.

CMV eliminated hexagons•Group E has CMV= -Vdc/12 in the pole voltages.•If the inverters on both sides uses the states from group E CMV in the phase voltage is eliminated.•36 switching states for 19 locations.•3 multiple switching states for each location in the inner hexagon.

3-level CMV eliminated scheme

•Since there is no CMV, isolated DC links are not needed.

•The scheme gives CMV elimination in all modulation range up to 6 step mode.

•The linear modulation range is reduced to 0.5Vdc compared to SVPWM scheme where the linear range is 0.577Vdc.

Motivation for the Proposed scheme Even after the selective switching for the

common mode voltage elimination, the three-level structure have higher multiplicity in the switching states compared to the conventional NPC three-level inverter without CMV elimination.

This suggests that some optimization is possible in the power circuit.

States of individual switches for the group E CMV eliminated structureSwitching state of Inverter I

Switching state of Inverter II

S11 S21 S31 S13 S23 S33 S11’ S21’ S31’ S13’ S23’ S33’

+ – – – – + 1 x x x 0 0 x x 1 0 0 x00 – – – + 0 0 x 1 1 0 x x 1 0 0 x– + – – – + x 1 x 0 x 0 x x 1 0 0 x– + – 0 – 0 x 1 x 0 x 0 0 x 0 1 0 1– + – + – – x 1 x 0 x 0 1 x x x 0 0– 00 + – – x 0 0 0 1 1 1 x x x 0 0– – + + – – x x 1 0 0 x 1 x x x 0 0– – + 00 – x x 1 0 0 x 0 0 x 1 1 0– – + – + – x x 1 0 0 x x 1 x 0 x 00 – 0 – + – 0 x 0 1 0 1 x 1 x 0 x 0+ – – – + – 1 x x x 0 0 x 1 x 0 x 0+ – – – 00 1 x x x 0 0 1 0 0 0 1 1

Configuration I with switching states of group E

•The scheme has 18 switches and needs two isolated DC links.•The inverters on either side share the top inverter.•Thus both the inverters cannot be switched independently.•Thus all the states are not possible for the second inverter once the switching state of the other inverter is fixed.

Possible switching states of inverter II given the switching

state of Inverter IState of any

phase of inverter- I

Possible states of inverter- II

+ +,–0 0,–– +,0, –

Hexagonal space vector structure for Configuration I

•There is no multiplicity for the vector locations except for zero state.•Zero vector has a multiplicity of 3.

PWM signal generation for the proposed three-Level inverter with common mode voltage

elimination A SVPWM generation algorithm is used to generate the switching times for the phasor locations of the conventional three-level inverter.

The PWM generation is based only on the sampled amplitude of the reference voltages.

The algorithm has a linear relationship between output voltage fundamental and reference input.

For generating PWM, the space phasor locations of the proposed scheme is compared to that of a conventional three-level structure.

To compensate for the 30 degree shift, the reference itself is pre-shifted by 30 degree.

Mapping from conventional 3-level scheme to CMV eliminated 3-level scheme

The mapping of these signals of conventional three-level inverter to the proposed three-level scheme is implemented using a look- up method implemented in CPLD.

jS SV V e

Drive control scheme (V/f)

Simulation and experimental results for

configuration I

Results for 20Hz(2-level operation)-Configuration I

Pole voltages and phase voltage [Y axis 100V/division, X axis- 0.02s/div]

FFT of the pole voltage waveform [X axis- order of harmonic, Y axis- Normalized amplitude]

Phase voltage and phase current [Y axis voltage 100V/div, current 1A/div, Y axis-

0.02s/div]

FFT of the phase voltage waveform [X axis- order of harmonic, Y axis- Normalized

amplitude]

Phase voltage and phase current [Y axis- voltage 50V/div, current 1A/div, X axis –

0.05/div]

Pole voltages and phase voltage [Y axis voltage 100V/div, X axis-

0.01s/div]

FFT of the pole voltage waveform [X axis- order of harmonic, Y axis- Normalized

amplitude]

Phase voltage and no load phase current [Y axis voltage 50V/div, current 1A/div, X

axis- 0.01s/div]

Phase voltage and no load phase current [Y axis voltage 100V/div, current 1A/div,

0.01s/div]

amplitude]

Results for 46Hz(Overmodulation)-Configuration I

amplitude]

Pole voltages and phase voltage [Y axis- 100V/div, X axis- .02s/div]

0.01s/div]

amplitude]

Phase voltage and no load phase current Y axis -50V/div, current

1A/div, X axis- 0.01s/div]Phase voltage and no load phase current [Y axis voltage 100V/div, current 1A/div, X

axis- 0.01s/div]

amplitude]

Pole voltages and phase voltage [Y axis – voltage 100V/div, X axis –

0.01s/div]

amplitude]

Phase voltage and no load phase current [Y axis – voltage 100V/div, X

axis – 0.01s/div]

Phase voltage and no load phase current [Y axis – voltage 100V/div, current 1A/div, X

axis – 0.01s/div]

Results for 50Hz (6step mode)-Configuration I

FFT of the pole voltage waveform [X axis- order of harmonic, Y axis- Normalized amplitude]

Pole voltages and phase voltage [Y axis – 100V/div, X axis –

0.01s/div]

Pole voltages and phase voltage [Y axis – 100V/div, X axis – 0.02s/div]

Results for 50Hz (6step mode)-Configuration I

amplitude]

Phase voltage and no load phase current [Y axis – 100V/div, X axis –

0.01s/div]

axis – 0.01s/div]

Acceleration from 20-30Hz (two-level to three-level transition)

Phase voltage and no load phase current [Y axis – Voltage 100V/div, current 1A/div, X

axis – 0.05s/div]

Acceleration from 40-50Hz (linear range to 6 step through overmodulation)

Smooth transition phase voltage and phase current [Y axis – Voltage

100V/div, current 1A/div, X axis – 0.05s/div]

Smooth transition of phase voltage and phase current [Y axis – Voltage

100V/div, current 1A/div, X axis – 0.05s/div]

Speed Reversal from -20 to 20Hz

The profile of the phase current during speed reversal when the system is given a reversal command from 20Hz to -20 Hz

[Y axis –current 1A/div, X axis – 1s/div]

The profile of the phase current during speed reversal when the system is given a reversal command from 20Hz to -20 Hz

[Y axis –current 1A/div, X axis – 1s/div]

Upper cascaded structure

Configuration II with switching states of CMV group C

Possible switching states of inverter II given the switching state of Inverter I

State of any phase of inverter- I

Possible states of inverter- II

+ +,0, –0 +,0– +, –

The space vector hexagon for Configuration II

• The hexagonal structure has no multiplicity in switching states for any phasor location but zero phasor.

• The zero phasor has 3 switching states.

Simulation and experimental results for

configuration II

20Hz(2-level operation)-Configuration II

Pole voltages and phase voltage [Y axis- 50V/division, X axis-

0.01s/div ]

Phase voltage and no load phase current [Y axis voltage 50V/div, current 1A/div, Y axis-

0.01s/div ]

Pole voltages and phase voltage [Y axis 50V/division, X axis-

0.016s/div]

Phase voltage and no load phase current [Y axis voltage 100V/div, current 1A/div, Y axis-

0.014s/div]

20Hz(3-level operation)-Configuration II

0.005s/div ]

Phase voltage and no load phase current [Y axis voltage 50V/div, current 1A/div,

0.005s/div ]

0.01s/div]

Phase voltage and no load phase current [ Y axis voltage 50V/div, current 1A/div, X axis-0.01s/div]

46Hz(Overmodulation) operation-Configuration II

0.005s/div ]

Phase voltage and no load phase current [Y axis voltage 50V/div, current 1A/div, X axis-

0.005s/div]

0.01s/div]

Phase voltage and no load phase current [ Y axis voltage 50V/div, current 1A/div, X axis-

0.006s/div]

48Hz(Overmodulation) operation-Configuration II

0.005s/div]

Phase voltage and no load phase current [Y axis – voltage 50V/div, current 1A/div, X axis

– 0.005s/div ]

0.01s/div]

– 0.01s/div]

50Hz(6-step mode) operation-Configuration II

0.005s/div ]

axis – 0.005s/div ]

0.01s/div]

– 0.01s/div]

Acceleration from 20-30Hz (two-level to three-level transition)

axis – 0.025s/div]

Acceleration from 40-50Hz (linear range to 6 step through overmodulation)

Smooth transition phase voltage and phase current [Y axis – Voltage 50V/div, current

1A/div, X axis – 0.025s/div]

Reversal from -20 to 20Hz

The profile of the phase current during speed reversal when the system is given a reversal command from 20Hz to -20 Hz [Y

axis –current 1A/div, X axis – 1s/div]

Salient features of the drive schemes Only 18 switches are needed for a CMV eliminated 3-

level drive scheme compared to the previous configuration which has 24 switches.

CMV is eliminated in the entire modulation range upto 6 step mode.

Only two isolated dc-links are needed. An SVPWM algorithm which uses only sampled

amplitude of the reference signals for switching time computation is used which makes the implementation faster compared to the conventional methods.

A Four-level inverter scheme with Common mode voltage elimination and capacitor voltage balancing for an open-end winding Induction machine

Seven- level power circuit

• Six conventional two-level inverters and 6 isolated supplies to get a 7-level structure.•Inverter A is a four -level inverter formed by cascading 3 two-level inverters.•Motor is fed from both ends.

CMV groups of the switching statesCMV group Generated

CMVSwitching states

A +Vdc/2 333B +4Vdc/9 332,323,233C +7Vdc/18 322,232,223,331,133,313D +Vdc/3 330,303,033,321,312,213,231,123,132,222E +5Vdc/18 320,302,230,203,023,032,311,131,113,221,212

,122F +2Vdc/9 310,301,130,103,013,031,220,202,022,211,112

,121G +Vdc/6 300,030,003,210,201,120,102,012,021,111H +Vdc/9 200,020,002,110,101,011I +Vdc/18 100,010,001J 0 000

Four level CMV eliminated space vector structure

•4096 switching states for 127 vector locations. •Four level CMV eliminated structure formed out of 7-level structure.•Only 4 CMV groups namely D,E, F and G can form four-level structure.• E and F have 144 switching states and D and G have 100 switching states for 37 locations.

Four-level CMV eliminated scheme ( group F)

•Switching states of CMV group F are selected. •Since there is no CMV, the dc links for Inverter A and Inverter B can be connected together .

Voltage phasor locations and number of redundant states of the CMV eliminated 4-level inverter

Switching states corresponding to the vector locations of 60o sector C1’-O’-C4’Phasor location

Switching states

O’(12) (022,022), (220,220), (202,202), (112,112), (211,211), (121,121), (013,013), (031,031), (103,103), (130,130),

(301,301), (310,310)A1’(8) (310,211), (220,121), (121,022), (211,112),

(112,013), (202,103), (130,031), (301,202)

A2’(8) (121,112), (211,202), (220,211), (130,121), (031,022), (310,301),(022,013),

(112,103)B1’(4) (310,112), (220,022), (211,013), (301,103)B2’(5) (220,112), (310,202), (211, 103), (121,013),

(130,022)B3’(4) (130,112), (121,103), (031,013),(220,202)C1’(1) (310,013)C2’(2) (220,013),(310,103)C3’(2) (220,103),(130,013)C4’(1) (130,103)

Model of the four level inverter

Phase winding connections for switching states corresponding to phasor location O’ (ZV)

•Switching states are has no effect of the capacitor currents.

Two-level(2L) group switching states (phasor location A1’)

IC3= iaIC2=–ic IC1= ia- ic

IC3= -icIC2= ia- icIC1= –ia

IC3= ia- ic IC2= ia- icIC1= 0

Two-level(2L) group switching states (phasor location A1’)-Continued

IC3= ia- icIC2= - icIC1= ia

IC3= ia- icIC2= iaIC1= - ic

IC3= - icIC2= iaIC1= ia- ic

Two-level(2L) group switching states (phasor location A1’)-Continued

IC3= iaIC2= ia- icIC1= - ic

IC3= ia- icIC2= 0IC1= ia- ic

Two-level(2L) group switching states

Vector Switching state DC-link Capacitor currentsIC3 IC2 IC1

Two-level(2L) group switching statesA1’(1,0,-1) (202,103) ia -ic ia-ic

(310,211) -ic ia-ic ia(130,031) ia-ic ia-ic 0(220,121) ia-ic -ic ia(301,202) -ic ia ia-ic(121,022) ia-ic ia -ic(112,013) ia ia-ic -ic(211,112) ia-ic 0 ia-ic

Three-level(3L) group switching states (phasor location B1’)

IC3= iaIC2= 0IC1= - ic

IC3= - icIC2= 0IC1= ia

IC3= ia- icIC2= 0IC1= 0

IC3= 0IC2= 0IC1= ia- ic

IC3= ia+ ib- icIC2= 0IC1= ia+ ib

IC3= ia- icIC2= ia+ ibIC1= ib

IC3= ib- icIC2= ia+ ibIC1= ia

IC3= ia+ ibIC2= ib IC1= ia-ic

IC3= ia+ ibIC2= ia IC1= ib-ic

Three-level(3L) group switching states

Three-level(3L) group switching statesB1’(2,0,-2) (310,112) -ic 0 ia

(211,013) ia 0 -ic(220,022) ia-ic 0 0(301,103) 0 0 ia-ic

B2’(1,1,-2) (220,112) ia+ib-ic 0 ia+ib(130,022) ia-ic ia+ib ib(310,202) ib-ic ia+ib ia(211,103) ia+ib ib ia-ic(121,013) ia+ib ia ib-ic

Four-level(4L) group switching states

Four-level(4L) group switching statesC1’(3,0,-3) (310,013) 0 0 0C2’(2,1,-3) (220,013) ia+ib 0 ib

(310,103) ib ib ia

Phasor location C1’

Phasor location C2’

Principle of capacitor voltage balancing•If the capacitor is sized for the reactive current, the DC- link capacitor voltages will not get unbalanced under no load conditions.•Only active component of the load causes capacitor voltage imbalance.• At any instant, active component of the current vector is in the same direction as that of the voltage phasor.

cos( ), cos(120 ), cos(120 )d d dφ φ φι ι ι •Projections of active component on the axes are

Capacitor current as a function of active components of the motor phase currents

IC3= iaIC2= - icIC3= ia–ic

•Vector here is (1,0,-1)•φ =30o

IC1= ia’IC2= ic’IC3= ia’+ ic’

Capacitor currents- Two-level(2L) group switching states

Vector Switching state

DC-link Capacitor currents Relative magnitudes of active

components of the phase currents

IC3 IC2 IC1

Two-level(2L) group switching statesA1’(1,0,-

1)(202,103) i+a' ic' ia'+ic' ib'=0,ia'=ic'

(310,211) ic' ia'+ic' ia' ib'=0,ia'=ic'(130,031) ia'+ic' ia'+ic' 0 ib'=0,ia'=ic'(220,121) ia'+ic' ic' ia' ib'=0,ia'=ic'(301,202) ic' ia' ia'+ic' ib'=0,ia'=ic'(121,022) ia'+ic’ ia' ic' ib'=0,ia'=ic'(112,013) ia' ia'+ic' ic' ib'=0,ia'=ic'(211,112) ia'+ic' 0 ia'+ic' ib'=0,ia'=ic'

Capacitor currents- Three-level(3L) group switching states

IC3 IC2 IC1

Three-level(3L) group switching statesB1’(2,0,-

2)(310,112) ic' 0 ia' ib'<ia'=ic'

(211,013) ia' 0 ic' ib'<ia'=ic'(220,022) ia'+ic' 0 0 ib'<ia'=ic'(301,103) 0 0 ia'+ic' ib'<ia'=ic'

B2’(1,1,-2)

(220,112) ia'+ib'+ic' 0 ia'+ib' ib=ia'<ic'

(130,022) ia'+ic' ia'+ib' ib' ib'=ia'<ic'(310,202) ib'+ic' ia'+ib' ia' ib'=ia'<ic'(211,103) ia'+ib' ib' ia'+ic' ib'=ia'<ic'(121,013) ia'+ib' ia' ib'+ic' ib'=ia'<ic'

Capacitor currents- Four-level(4L) group switching states

IC3 IC2 IC1

Four-level(4L) group switching statesC1’(3,0,-

3)(310,013) 0 0 0 ib'=0,ia'=ic'

C2’(2,1,-3)

(220,013) ia'+ib' 0 ib' ib'<ia'<ic'

(310,103) ib' ib' ia’ ib'<ia'<ic'

Operation at sector B1’- C1’- C2’ Vector Switching

stateIC3 IC2 IC1 Relative

magnitude

B1’(2,0,-2)

(310,112) ic' 0 ia' ib'<ia'=ic'

(211,013) ia' 0 ic' ib'<ia'=ic'(220,022) ia'+ic' 0 0 ib'<ia'=ic'(301,103) 0 0 ia'+ic' ib'<ia'=ic'

C1’(3,0,-3)

(310,013) 0 0 0 ib'=0,ia'=ic'

C2’(2,1,-3)

(220,013) ia'+ib' 0 ib' ib'<ia'<ic'

(310,103) ib' ib' ia’ ib'<ia'<ic'•It can be seen that none of the switching states of vector B1’ affect the middle capacitor C2, but affects the top and bottom capacitors.•Switching state of vector C1’ do not affect any capacitor voltages.•It can be seen that it is not possible to operate only with DC-link.

Modified power circuit

•The middle capacitor is supplied with a DC- source of voltage rating Vdc/6.•Now, the Capacitor balancing problem is between C1 and C3.•Even in this case, there are cases where the currents of the redundant states are not exactly opposite.•Thus an open loop capacitor voltage balancing scheme is not possible.

Operation in open -loop Vector Switching

stateIC3 IC1 Relative

magnitudeB1’(2,0,-

2)(310,112) ic' ia' ib'<ia'=ic'

(211,013) ia' ic' ib'<ia'=ic'(220,022) ia'+ic' 0 ib'<ia'=ic'(301,103) 0 ia'+ic

'ib'<ia'=ic'

C1’(3,0,-3)

(310,013) 0 0 ib'=0,ia'=ic'

C2’(2,1,-3)

(220,013) ia'+ib' ib' ib'<ia'<ic'

(310,103) ib' ia’ ib'<ia'<ic'

•Capacitor balancing problem is between C1 and C3.•Even in this case there are cases where the currents of the redundant states are not exactly opposite.•Thus an open loop capacitor voltage balancing scheme is not possible.

Complementarypair

Operation in open-loop Vector Switching

2)(310,112) ic' ia' ib'<ia'=ic'

'ib'<ia'=ic'

C1’(3,0,-3)

(310,013) 0 0 ib'=0,ia'=ic'

C2’(2,1,-3)

(220,013) ia'+ib' ib' ib'<ia'<ic'

(310,103) ib' ia’ ib'<ia'<ic'

Complementarypair

Operation in open-loop Vector Switching

2)(310,112) ic' ia' ib'<ia'=ic'

'ib'<ia'=ic'

C1’(3,0,-3)

(310,013) 0 0 ib'=0,ia'=ic'

C2’(2,1,-3)

(220,013) ia'+ib' ib' ib'<ia'<ic'

(310,103) ib' ia’ ib'<ia'<ic'

No effect

Operation at sector B1’- C1’- C2’ Vector Switching

2)(310,112) ic' ia' ib'<ia'=ic'

'ib'<ia'=ic'

C1’(3,0,-3)

(310,013) 0 0 ib'=0,ia'=ic'

C2’(2,1,-3)

(220,013) ia'+ib' ib' ib'<ia'<ic'

(310,103) ib' ia’ ib'<ia'<ic'

No Complementary

states

Closed loop control of the capacitor voltages • ΔV= VC3-VC1

•If ΔV>0 then controller state is CH

•If ΔV=0 then controller state is CN

•If ΔV<0 then controller state is CL

Switching state and the corrective actionVector Switching state Relative magnitudes of the

capacitor currentsCorrective action for

A1’(1,0,-1) (202,103) IC3< IC1 CH

(310,211) IC3= IC1 CN

(130,031) IC3> IC1 CL

(220,121) IC3> IC1 CL

(301,202) IC3< IC1 CH

(121,022) IC3> IC1 CL

(112,013) IC3= IC1 CN

(211,112) IC3= IC1 CN

B1’(2,0,-2) (310,112) IC3= IC1 CN

(211,013) IC3= IC1 CN

(220,022) IC3> IC1 CL

(301,103) IC3< IC1 CH

B2’(1,1,-2) (220,112) IC3> IC1 CL

(130,022) IC3> IC1 CL

(310,202) IC3> IC1 CL

(211,103) IC3< IC1 CH

(121,013) IC3< IC1 CH

C1’(3,0,-3) (310,013) IC3= IC1 CN

C2’(2,1,-3) (220,013) IC3> IC1 CL

(310,103) IC3< IC1 CH

Simulation results

Steady state results-Two- level operation

Pole voltages, phase voltage and controller state (X- axis 50 ms/div, Y axis- 100V/div)

Phase voltage and no load phase current (X- axis 50 ms/div, Y axis- voltage- 100V/div, current- 1A/div

FFT of the phase voltage (X axis- order of harmonics, Y axis- normalized magnitude)

VA’O

Controller state

Steady state results -Three-level operation

VA’O

Controller state

Pole voltages, phase voltage and controller state (X axis- 50 ms/div, Y axis- 100V/div)

Phase voltage and no load phase current (X axis- 50 ms/div, Y axis- voltage- 100V/div, current- 1A/div )

Steady state results -Four-level operation

VA’O

Controller state

Phase voltage and no load phase current (X axis- 10 ms/div, Y axis- voltage- 100V/div, current- 2A/div)

Steady state results-18-step operation

VA’O

Controller state

Phase voltage and no load phase current (X axis- 20 ms/div, Y axis- voltage- 100V/div, current- 2A/div)

Capacitor voltage balancing during two-level operation

(X axis- 0.2 s/div, Y axis- 2V/div)

•During two-level operation, since the second source is across the C2 capacitor, the power is directly delivered to the load from the source.•Again, all the locations in the two-level case have complementary switching pairs.•So chance of getting large unbalanced state is minimal.

Capacitor voltage balancing during three-level operation

X axis- 0.2 s/div, Y axis- 20V/div

Normal operationWhen the controller is disabled momentarily and enabled again

X axis- 0.2 s/div, Y axis- 20V/div

Capacitor voltage balancing during four-level operation

Capacitor voltage balancing during 18-step mode of operation

Experimental results

Two-level operation

(X- axis – 25ms/div, Y- axis- trace 1- 50V/div, trace 2- 10V/div, trace 3- 10V/div, trace 4-

500mA/div)

VAA’

VC3,VC1

VAA’

VA’O

Controller state(X- axis – 25ms/div, Y- axis- trace 1- 50V/div,

trace 2- 50V/div, trace 3 - 50V/div, trace 4- 1V/div)

Three-level operation

(X- axis –10ms/div, Y- axis- trace 1- 50V/div, trace 2- 10V/div, trace 3- 10V/div, trace 4-

500mA/div)

VAA’

VC3,VC1

VAA’

VA’O

Controller state (Y axis -Trace 1- 50V/div, Trace 2 - 50V/div,

trace 3-100V/div, trace 4- 1V/div, X axis - 10ms/div)

Four-level operation

500mA/div)

VAA’

VC3,VC1

VAA’

VA’O

(X- axis –5ms/div, Y- axis- trace 1- 50V/div, trace 2- 50V/div, trace 3- 100V/div, trace 4- 1V/div)

Controller state

18 step operation

500mA/div)

VAA’

VC3,VC1

VAA’

VA’O

Controller state(X- axis –5ms/div, Y- axis- trace 1- 50V/div, trace

2- 50V/div, trace 3- 50V/div, trace 4- 1V/div)

Corrective action of the controller when the control is disabled and enabled again-Three-level operation

VC3,VC1

VAA’

(X- axis –250ms/div, Y- axis- trace 1- 20V/div, trace 2- 20V/div, trace 3--

500mA/div)

Corrective action of the controller when the control is disabled and enabled again-Four-level operation

VC3,VC1

VAA’

(X- axis –250ms/div, Y- axis- trace 1- 20V/div, trace 2- 20V/div, trace 3—

500mA/div)

Corrective action of the controller when the control is disabled and enabled again-18 step operation

VC3,VC1

VAA’

(X- axis –250ms/div, Y- axis- trace 1- 20V/div, trace 2- 20V/div, trace 3—

500mA/div)

Acceleration from three-level operation to four-level operation

Phase voltage and phase current (X axis- 100ms/div, Y axis- trace 1- 50V/div, trace 2-

1A/div

Salient features of the drive schemes A four-level CMV eliminated drive scheme using 6 two-

level inverters is proposed. The scheme needs 36 switches.

CMV is eliminated in the entire modulation range upto 6 step mode.

The capacitor balancing is not possible since all the locations do not have redundant switching states with opposite/no effect on the capacitor voltages.

A closed loop capacitor voltage balancing scheme is implemented. This achieves the capacitor balancing and thus needs only two-isolated DC- sources.

A Reduced Five-level inverter scheme for an open- end winding Induction machine

A five-level inverter circuit

•One 3-level NPC inverter from one side and a 2-level inverter from the other side.•The devices of the two-level inverter has to withstand the whole DC-link voltage•Two isolated supplies are used.

Space vector locations for individual inverters

Inverter I Inverter II

•27 switching states for 19 locations

•8 switching states for 7 locations

•27 Together they constitute a five-level structure with 216 switching states for 61 locations

One leg of the power circuit for the five- level inverter scheme

Voltage level

Inverter I

Inverter II

+Vdc/2 S11 S2’+Vdc/4 S12&S13 S2’

0S14 S2’S11 S1’

-Vdc/4 S12&S13 S1’-Vdc/2 S14 S1’

Space vector structure generated by the five-level scheme

• 216 switching states corresponding to the 61 vector locations.•Multiplicity is very less compared to the 5- level structure given in the first scheme, which has a multiplicity of 729 for 61 vector locations.•But still high as compared to conventional NPC inverter scheme where the number of switching states are 125 for 61 locations.

Comparison with conventional Five-level schemesConfiguration Number of

controlled switches

Number of power diodes

Number capacitors

Number of DC sources

MPC (Multi-point clamped) 24 18(36) 4 4Cascaded H- bridge 24 Nil 6 6Cascaded structure with two 2-level and one 3-level NPC structure

24 6 4 4

Flying capacitor topology 24 Nil 1+9 capacitors(4+18 cap)

Open-end winding (symmetric case)

24 12 4 4

Open-end winding (asymmetric-two-level on one side)

12+6 6 3(4) 3

Challenges in implementation If isolated supplies are used from both sides, then

there will be phase opposition of the DC-sources which will cause voltage variations in DC- links.

One solution is to use the same DC- link for inverters of both the side thereby avoiding subtraction. But, if isolation is not provided, there will be huge triplen currents through the phases.

This triplen currents has to be taken care of.

Power circuit for the five- level inverter scheme

•One 3-level NPC inverter from one side and a 2-level inverter from the other side.•The devices of the two-level inverter has to withstand the whole DC-link voltage•Two isolated supplies are used.•By using Sine-triangle modulation scheme, the CMV is eliminated in an average sense

Five-level sine-triangle modulation

Triangle 1

Triangle 2(Primary triangle)

Triangle 2

Triangle 4

CMV elimination in an average sense Sine triangle modulation scheme is used for modulation Since the pole voltages are equal to the reference sinusoids in an

average sense, the sum (VAO+VBO+VCO)= (Vas+Vbs+Vcs) in an average sense.

For a balance three-phase system, (Vas+Vbs+Vcs) =0 By definition, VCM= (VAO+VBO+VCO)/3 Therefore, VCM =0 in the average sense.

CMV elimination in an average sense

1[ ( )]( 1) 21[ ( )]( 1) 2

1[ ( )]( 1) 2

dcAO avg ga S a

dcBO avg gb S b

dcCO avg gc S c

V nV T T IT nV nV T T I

V nV T T IT n

2( )34( )3

V V Sin t

sas as

sbs bs

scs cs

T nT VV

( 1)[ ]2( 1)[ ]2( 1)[ ]2

ga as a S

Sgb bs b

gc cs c S

nT T I T

CMV elimination in an average sense

( )1 1 1[ ( ) ( )3 ( 1) 2 2

1 1 1 1( ) ( ) ( ) ( )]2 2 2 23( 1)1 [ ( )3 ( 1) 2

dcas a S SCM avg bs b

cs c a cS S S Sb

dcas cs a c S Sbs b

V n nV T I T T I TT nn n n nT I T T I T I T I

V nT T T I I I T TT n

3( 1) ( ) ]21 [ ]3 ( 1)

a cS Sb

dcas csbs

nT I I I T

V T T TT n

For a balanced system

( 1) 0sas cs as csbs bs

n TT T T V V V V

( )1 [ ] 03 ( 1)

dcas csCM avg bs

VV T T TT n

V/f control scheme

Simulation results

20Hz operation- steady state results

Trace 1- Phase voltage, trace 2- no load phase current, trace 3- common mode current (X axis- 0.01s/div,Y axis- 10V/div,1A/div)

Trace1-pole voltage of inverter I, trace 2- phase voltage, trace 3- pole voltage of inverter II, trace 4- common mode voltage (X axis- 0.01s/div, Y axis- 20V/div)

VAA’

VA’O

Trace1-pole voltage of Inverter I, trace 2- phase voltage, trace 3 pole voltage of Inverter II, trace 4- common mode voltage (X axis- 0.01s/div, Y axis- 40V/div)

VAA’

VA’O

Trace1-pole voltage of Inverter I, trace 2- phase voltage, trace 3- pole voltage of Inverter II, trace 4- common mode voltage (X axis- 0.01s/div, Y axis- 40V/div)

VAA’

VA’O

VAA’

Transient results

Trace 1- Phase voltage, trace 2- phase current, trace 3- common mode current (X axis- 0.05s/div,Y axis- 20V/div,1A/div)

Phase voltage, no load phase current and common mode current while the machine is accelerated from 20Hz to 30Hz.

Phase voltage, no load phase current and common mode current during speed reversal(-20Hz to 20Hz

Trace 1- Phase voltage, trace 2- phase current, trace 3- common mode current (X axis- 0.05s/div,Y axis- 20V/div,1A/div)

Experimental results

Trace 1- pole voltage of Inverter II (X axis-10ms/div,Y axis- 50V/div), trace 2- pole voltage of Inverter II (X axis-10ms/div,Y axis- 50V/div), trace 3-phase voltage(X axis-10ms/div,Y axis- 100V/div), trace 4- no load phase current(X axis-10ms/div,Y axis- 1A/div)

VAA’

VA’O

VAA’

VBB’

VCC’

20 Hz FFT of the pole voltages and phase voltage

(X axis-harmonic order, Y axis-

Relative magnitude

normalized to the phase voltage fundamental)

FFT of Pole voltage of inverter I FFT of Pole voltage of inverter II

FFT of phase voltage

VAA’

VA’O

VAA’

VBB’

VCC’

Trace 1- pole voltage of Inverter II (X axis-10ms/div,Y axis- 50V/div), trace 2- pole voltage of Inverter II (X axis-10ms/div,Y axis- 50V/div), trace 3-phase voltage (X axis-10ms/div,Y axis- 100V/div), trace 4- no load phase current (X axis-10ms/div,Y axis- 1A/div)

Relative magnitude

VAA’

VA’O

VAA’

VBB’

VCC’

Trace 1- pole voltage of Inverter II (X axis-10ms/div,Y axis- 50V/div), trace 2- pole voltage of Inverter II (X axis-10ms/div,Y axis- 50V/div), trace 3-phase voltage (X axis-10ms/div,Y axis- 100V/div), trace 4- no load phase current (X axis-10ms/div,Y axis- 1A/div)

Relative magnitude

Triplen current in the phase current at the no load current

Triplen current (trace 1) and phase current (trace 2) at modulation index 1(X axis- 5ms/div,Y axis- 1A/div)

Transient results – acceleration and Speed reversal

Phase voltage (trace 1- X axis- 5ms/div,Y axis- 50V/div) and phase current (trace 2- X axis- 5ms/div,Y axis- 2A/div) during speed reversal

VAA’

Phase voltage (trace 1- X axis- 5ms/div,Y axis- 50V/div) and phase current (trace 2- X axis- 5ms/div,Y axis- 1A/div) during the acceleration from modulation index 0.4 to modulation index 0.8

Salient features of the drive schemes The scheme needs a conventional three- level NPC inverter on

one side and a two-level inverter. The DC- link voltage requirement is only half compared to the

conventional schemes. Only two isolated dc-links are needed. The common mode voltage is suppressed in an average sense

using sine- triangle modulation technique. Hence isolated power supplies are not needed. Inverter II (the two-level inverter) is always in square wave

operation irrespective of the modulation index. This scheme can be extended to higher level by only changing

inverter I.

Publications S. Figarado, T. Bhattacharya, G. Mondal and K. Gopakumar,

“Three-level inverter scheme with reduced power device count for an induction motor drive with common-mode voltage elimination” IET Power Electron., 2008, Vol. 1, No. 1, pp. 84–92.

Sheron Figarado, K. Gopakumar*, Gopal Mondal, K. Sivakumar,N.S Dinesh, ”Three-Level Inverter Fed Open- end Winding IM Drive with Common Mode Voltage Elimination and Reduced Power Device Count” The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON), Nov. 5-8, 2007, Taipei, Taiwan

Sheron Figarado, K. Sivakumar, Rijil Ramchand,Anandarup das,Chantan Patel and K. Gopakumar, “A Five-level inverter scheme for an open- end winding Induction machine drive with less number of switches.” Accepted in IET Power Electronics,UK.

Thank You

CEDT_Part6

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